CN1814416A - Six-degree-of-freedom steel band parallel robot mechanisw - Google Patents
Six-degree-of-freedom steel band parallel robot mechanisw Download PDFInfo
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- CN1814416A CN1814416A CN 200610049643 CN200610049643A CN1814416A CN 1814416 A CN1814416 A CN 1814416A CN 200610049643 CN200610049643 CN 200610049643 CN 200610049643 A CN200610049643 A CN 200610049643A CN 1814416 A CN1814416 A CN 1814416A
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- servomotor
- steel band
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 38
- 239000010959 steel Substances 0.000 title claims abstract description 38
- 150000001875 compounds Chemical class 0.000 claims abstract description 19
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The invention relates to six degrees of freedom steel band parallel connection robot structure that includes base and moving platform. Three sets of servo motor assembly that locate on three lines to form a triangle is hinge on the base. Each assembly has two servo motor assemblies. And each servo motor assembly has a servo motor and the roller on the base. The roller is parallel to the output shaft of the servo motor. The roller connects to the output shaft by drive structure. Cardinal axis is plumbed to the output shaft of the servo motor. The moving platform hinges three compound ball pivots. Each compound ball pivot connects to one set servo motor assembly through two steel bands. The head of the steel band is fixed to the roller. And the end is hinged to the compound ball pivots. The benefit effect is that it has large working space, easy to use and control, the moving accuracy is improved.
Description
(1) technical field
The present invention relates to a kind of six-degree-of-freedom steel band parallel robot mechanisw.
(2) background technology
Domestic and international existing parallel robot is divided into bar supports in parallel mechanism and rope traction and parallel-connection mechanism two big classes by the version of kinematic chain.
Bar supports in parallel mechanism is good by means of its structural rigidity, bearing capacity is strong, accumulated error is little, the anti-advantages such as model is simple, parts are simple of separating of moving, at home and abroad machine industry dominates the market gradually, and will become main force's equipment of 21 century High Speed Light digital control processing.But the calculating that it exists, and working space is less, can't reach the purpose of driving and direct kinematics on the singular point is problem such as complexity very, uses for engineering and has brought a lot of difficulties, and control is got up very complicated.
Characteristics such as that rope traction and parallel-connection mechanism has is simple in structure, inertia is little, the translation working space is big and movement velocity is fast.But because rope can only bear pulling force, can not bear pressure, its mechanism must adopt redundant constraint control scheme, the difficulty of its forward kinematics solution analysis and Singularity Analysis is bigger, the control system of its mechanism is the nonlinear system with height coupling of constraint traction, must carry out linearisation and decoupling zero processing to kinetic model.Rope traction and parallel-connection mechanism also must solve rope in engineering is used long accurate control, the rope of strain, rope must keep key issues such as straight line, and it also is very complicated that control is got up.
The above feature limits of parallel robot this mechanism in other industrial circles, further use, as the crane in the shipbuilding industry, need accurate location and initiatively adjust container hanging, complex-terrain personnel's the active search and rescue of pose and space telescope etc.These applications all need mechanism that bigger working space and better simply version and control mode are arranged.
(3) summary of the invention
In order to overcome the deficiency of parallel robot mechanism control mode complexity in the prior art, the invention provides a kind of six-degree-of-freedom steel band parallel robot mechanisw simple, that working space is big of controlling.
The technical scheme that the present invention solves its technical problem is:
A kind of six-degree-of-freedom steel band parallel robot mechanisw comprises base and moving platform, is hinged with three groups of servomotor assemblies on the described base, and three groups of servomotor assemblies lay respectively on three straight lines, and these three straight lines intersect triangle of formation; Every group of servomotor assembly is made up of two servomotor assemblies, each servomotor assembly comprises servomotor and is installed in spool on the support of servomotor, described spool is parallel with the output shaft of described servomotor, this spool is connected with the output shaft of described servomotor by transmission mechanism, and the hinge that is used to connect described base and servomotor assembly is vertical with the output shaft of servomotor;
Also be hinged with three compound spherical hinges on the described moving platform, each compound spherical hinge is corresponding with one group of servomotor assembly, each compound spherical hinge is by two steel bands and one group of corresponding servomotor assembly connection, the head end of described steel band and described spool are affixed, and the end of described steel band and described compound spherical hinge are hinged;
Described compound spherical hinge comprises first free bearing and is positioned at second free bearing of described first free bearing below, on described first free bearing first hinge is arranged, second hinge and the 3rd hinge are arranged on described second free bearing, described first hinge, second hinge, the 3rd hinge are vertical in twos, the end of described steel band is laterally hinged with on described first hinge, described first free bearing is laterally hinged with on described second hinge, and described moving platform vertically is hinged on described the 3rd hinge.
Further, three of three groups of servomotor places crossing triangles of being formed of straight lines are equilateral triangle.
Further, the end of described steel band has articulation block, and described articulation block is hinged on described first hinge.
Further, the end of described steel band is circular-arc.
Further, the output shaft of described spool and described servomotor is connected by driving-belt.
Operation principle of the present invention is to control the variation of steel band length by the rotation of servomotor, thereby realizes the six-freedom motion of moving platform.Entire mechanism is when work, and the servomotor assembly rotates around its hinge; One end of steel band is around the spool scrolling, and the other end rotates around first hinge; First free bearing rotates around second hinge; Moving platform rotates around the 3rd hinge.
Beneficial effect of the present invention is: 1. the working space of six degree of freedom steel band parallel structure provided by the invention is big, and engineering is used simple, and control mode is simple.
2. do not have the gap substantially between each kinematic pair of the present invention, improved kinematic accuracy.
3. each kinematic pair of the present invention produces the friction that rubs when running more less, and protection easily produces thermal deformation, has improved kinematic accuracy.
4. parallel institution of the present invention is simple in structure, rationally distributed.
(4) description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the structural representation of compound spherical hinge.
(5) specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
With reference to Fig. 1,2, a kind of six-degree-of-freedom steel band parallel robot mechanisw comprises base 1 and moving platform 2, is hinged with three groups of servomotor assemblies on the described base 1, three groups of servomotor assemblies lay respectively on three straight lines, and these three straight lines intersect equilateral triangle of formation.Every group of servomotor assembly is made up of two servomotor assemblies, each servomotor assembly comprises servomotor 3 and is installed in spool 4 on the support of servomotor, described spool 4 is parallel with the output shaft of described servomotor, this spool 4 is connected with the output shaft of described servomotor 3 by driving-belt 5, and the hinge that is used to connect described base 1 and servomotor assembly is vertical with the output shaft of servomotor 3.
Also be hinged with three compound spherical hinges on the described moving platform 2, each compound spherical hinge is corresponding with one group of servomotor assembly, each compound spherical hinge is by two steel bands 6 and one group of corresponding servomotor assembly connection, the head end of described steel band 6 and described spool 4 are affixed, and the end of described steel band 6 and described compound spherical hinge are hinged.
Described compound spherical hinge comprises first free bearing 7 and is positioned at second free bearing 8 of described first free bearing below, on described first free bearing 7 first hinge 9 is arranged, second hinge 10 and the 3rd hinge 11 are arranged on described second free bearing 8, described first hinge 9, second hinge 10, the 3rd hinge 11 is vertical in twos, the end of described steel band 6 is circular-arc and articulation block 12 is arranged, described articulation block 12 is hinged on described first hinge 9, by articulation block steel band is connected on the hinge stable useful to the steel band motion, circular-arc end makes steel band 6 have certain rigidity when bearing side force.Described first free bearing 7 is laterally hinged with on described second hinge 10, and described moving platform 2 vertically is hinged on described the 3rd hinge 11.
Operation principle of the present invention is to control the variation of steel band length by the rotation of servomotor, thereby realizes the six-freedom motion of moving platform.Entire mechanism is when work, and the servomotor assembly rotates around its hinge; One end of steel band is around the spool scrolling, and the other end rotates around first hinge; First free bearing rotates around second hinge; Moving platform rotates around the 3rd hinge.
When the crossing triangle of being formed of three straight lines at three groups of servomotor assembly places is equilateral triangle, the structure of entire mechanism is the most reasonable, in fact, form triangle as long as three straight lines at three groups of servomotor assembly places intersect, parallel robot structure of the present invention just can realize running.
Claims (5)
1. six-degree-of-freedom steel band parallel robot mechanisw, comprise base and moving platform, it is characterized in that: be hinged with three groups of servomotor assemblies on the described base, three groups of servomotor assemblies lay respectively on three straight lines, and these three straight lines intersect triangle of formation; Every group of servomotor assembly is made up of two servomotor assemblies, each servomotor assembly comprises servomotor and is installed in spool on the support of servomotor, described spool is parallel with the output shaft of described servomotor, this spool is connected with the output shaft of described servomotor by transmission mechanism, and the hinge that is used to connect described base and servomotor assembly is vertical with the output shaft of servomotor;
Also be hinged with three compound spherical hinges on the described moving platform, each compound spherical hinge is corresponding with one group of servomotor assembly, each compound spherical hinge is by two steel bands and one group of corresponding servomotor assembly connection, the head end of described steel band and described spool are affixed, and the end of described steel band and described compound spherical hinge are hinged;
Described compound spherical hinge comprises first free bearing and is positioned at second free bearing of described first free bearing below, on described first free bearing first hinge is arranged, second hinge and the 3rd hinge are arranged on described second free bearing, described first hinge, second hinge, the 3rd hinge are vertical in twos, the end of described steel band is laterally hinged with on described first hinge, described first free bearing is laterally hinged with on described second hinge, and described moving platform vertically is hinged on described the 3rd hinge.
2. six-degree-of-freedom steel band parallel robot mechanisw as claimed in claim 1 is characterized in that: it is equilateral triangle that three straight lines at three groups of servomotor places intersect the triangle of being formed.
3. six-degree-of-freedom steel band parallel robot mechanisw as claimed in claim 2 is characterized in that: the end of described steel band has articulation block, and described articulation block is hinged on described first hinge.
4. six-degree-of-freedom steel band parallel robot mechanisw as claimed in claim 4 is characterized in that: the end of described steel band is circular-arc.
5. six-degree-of-freedom steel band parallel robot mechanisw as claimed in claim 4 is characterized in that: the output shaft of described spool and described servomotor is connected by driving-belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100496430A CN100360285C (en) | 2006-02-28 | 2006-02-28 | Six-degree-of-freedom steel band parallel robot mechanisw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100496430A CN100360285C (en) | 2006-02-28 | 2006-02-28 | Six-degree-of-freedom steel band parallel robot mechanisw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1814416A true CN1814416A (en) | 2006-08-09 |
| CN100360285C CN100360285C (en) | 2008-01-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100496430A Expired - Fee Related CN100360285C (en) | 2006-02-28 | 2006-02-28 | Six-degree-of-freedom steel band parallel robot mechanisw |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100432457C (en) * | 2007-04-10 | 2008-11-12 | 南京航空航天大学 | Three axis junction equivalent compound sphere joint |
| CN101852243A (en) * | 2010-04-28 | 2010-10-06 | 清华大学 | CAC-shaft composite hinge |
| CN102152301A (en) * | 2011-03-03 | 2011-08-17 | 浙江工业大学 | Six-freedom-degree parallel steel belt robot mechanism with roller device |
| CN101262086B (en) * | 2008-04-21 | 2012-08-08 | 上海大学 | Parallel antenna structure system |
| CN105755680A (en) * | 2016-04-25 | 2016-07-13 | 天津工业大学 | Robot needling device |
| CN105773576A (en) * | 2016-01-27 | 2016-07-20 | 大族激光科技产业集团股份有限公司 | Parallel robot |
| CN106217351A (en) * | 2016-08-04 | 2016-12-14 | 珠海格力智能装备有限公司 | Fixing base, fixing base assembly and parallel robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2576434Y (en) * | 2002-11-18 | 2003-10-01 | 哈尔滨工业大学博实精密测控有限责任公司 | Six-freedom precision paralleled robot |
| CN1256220C (en) * | 2003-11-10 | 2006-05-17 | 哈尔滨工业大学 | Three-branched chain scaling type mixed parallel robot with six degrees of freedom |
| CN1297373C (en) * | 2004-03-17 | 2007-01-31 | 哈尔滨工业大学 | High precision flexible parallel robot with six degreed of freedom and large travel |
| CN1332785C (en) * | 2004-07-07 | 2007-08-22 | 哈尔滨工业大学 | Steel band decoupling complete translation parallel robot |
| CN2880407Y (en) * | 2006-02-28 | 2007-03-21 | 浙江工业大学 | Six free degree steel band paralleling robot mechanism |
-
2006
- 2006-02-28 CN CNB2006100496430A patent/CN100360285C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100432457C (en) * | 2007-04-10 | 2008-11-12 | 南京航空航天大学 | Three axis junction equivalent compound sphere joint |
| CN101262086B (en) * | 2008-04-21 | 2012-08-08 | 上海大学 | Parallel antenna structure system |
| CN101852243A (en) * | 2010-04-28 | 2010-10-06 | 清华大学 | CAC-shaft composite hinge |
| CN102152301A (en) * | 2011-03-03 | 2011-08-17 | 浙江工业大学 | Six-freedom-degree parallel steel belt robot mechanism with roller device |
| CN105773576A (en) * | 2016-01-27 | 2016-07-20 | 大族激光科技产业集团股份有限公司 | Parallel robot |
| CN105755680A (en) * | 2016-04-25 | 2016-07-13 | 天津工业大学 | Robot needling device |
| CN106217351A (en) * | 2016-08-04 | 2016-12-14 | 珠海格力智能装备有限公司 | Fixing base, fixing base assembly and parallel robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100360285C (en) | 2008-01-09 |
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Granted publication date: 20080109 Termination date: 20130228 |