技术领域technical field
本发明涉及一种混合驱动柔索并联机构，尤其涉及一种空间三平动自由度混合驱动缠绕式柔索并联机构。The invention relates to a hybrid drive flexible cable parallel mechanism, in particular to a space three-translation degree of freedom hybrid drive winding type flexible cable parallel mechanism.
背景技术Background technique
混合驱动柔索并联机构作为柔性并联机构中的一种，是近10年来国际机构学的研究热点和学科前沿，也是我国学者在国际上具有重要学术影响的研究领域之一。混合驱动柔性并联机构是一个多闭环多弹性体非线性系统，它兼容了传统柔索机构的高效率、高承载力及伺服驱动机构柔性可调的优点，又弥补了传统柔索机构伺服电机驱动时机构不能承受大载荷的缺陷，而且可以产生很大的加速度，相比于常规柔索并联机构拥有更好的灵活性和更强的适应性，以其结构简单、易拆装、可重组、模块化程度高、负载能力强、运动速度快以及价格低廉等特点，在加工制造业、装配业、医疗卫生、海洋探测和航天等领域广泛应用。As a kind of flexible parallel mechanism, the hybrid-driven flexible cable parallel mechanism has been a research hotspot and a frontier of international mechanism science in the past 10 years, and it is also one of the research fields that Chinese scholars have important academic influence in the world. The hybrid drive flexible parallel mechanism is a multi-closed-loop multi-elastic nonlinear system, which is compatible with the advantages of high efficiency, high bearing capacity and flexible and adjustable servo drive mechanism of the traditional flexible cable mechanism, and makes up for the advantages of the traditional flexible cable mechanism driven by servo motors. The mechanism cannot withstand large loads, and can generate a large acceleration. Compared with the conventional flexible cable parallel mechanism, it has better flexibility and stronger adaptability. It is simple in structure, easy to disassemble, reorganize, With the characteristics of high modularity, strong load capacity, fast movement speed and low price, it is widely used in the fields of processing and manufacturing, assembly industry, medical and health, ocean exploration and aerospace.
中国专利200910233341.2公开的《空间三维平动自由度混合驱动柔索并联机构》中，提出的混合驱动柔索并联机构继承了传统并联机构的优势，具有高承载、高精度、速度可调的工作输出，并且实现了高性能运动的输出。然而近年来，随着柔索并联机构在工程领域的应用不断扩大，也对混合驱动柔索并联机构提出了更高的要求，不仅需要具有高承载、高精度、速度可调的工作输出，而且需要提供不同的工作空间。《空间三维平动自由度混合驱动柔索并联机构》的驱动机构是混合驱动的平面五连杆机构，柔索直接连接在五连杆上，柔索的长度固定不变，从而导致柔索并联机构的工作空间无法变化，柔索并联机构工作空间大、柔性高、自适应强的特点被限制，无法充分体现出来。目前，混合驱动五连杆柔索并联机构还无法解决这一问题。Chinese patent 200910233341.2 discloses "Spatial Three-Dimensional Translational Freedom Hybrid Drive Flexible Cable Parallel Mechanism", the proposed hybrid drive flexible cable parallel mechanism inherits the advantages of traditional parallel mechanisms, and has high load, high precision, and adjustable speed work output , and realize the output of high-performance motion. However, in recent years, with the continuous expansion of the application of flexible cable parallel mechanisms in the engineering field, higher requirements have been put forward for hybrid drive flexible cable parallel mechanisms. Different workspaces need to be provided. The driving mechanism of "Spatial Three-Dimensional Translational Freedom Mixed-Drive Flexible Cable Parallel Mechanism" is a hybrid-driven planar five-linkage mechanism. The flexible cable is directly connected to the five-linkage. The length of the flexible cable is fixed, resulting in a flexible cable parallel connection. The working space of the mechanism cannot be changed, and the flexible cable parallel mechanism has the characteristics of large working space, high flexibility, and strong self-adaptation, which cannot be fully reflected. At present, the hybrid drive five-link flexible cable parallel mechanism cannot solve this problem.
发明内容Contents of the invention
发明目的：为了克服现有技术中常规混合驱动柔索并联机机构柔索不能缠绕、工作空间固定的不足，本发明提供一种三自由度混合驱动缠绕式柔索并联机构，不仅能够实现大负载运转、高性能运动输出，且具备运动速度可调的特点，同时可以应用于大范围的工作空间。Purpose of the invention: In order to overcome the shortcomings of the conventional hybrid drive flexible cable parallel mechanism in the prior art that the flexible cable cannot be wound and the working space is fixed, the present invention provides a three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism, which can not only realize large loads Running, high-performance motion output, and has the characteristics of adjustable motion speed, and can be applied to a wide range of workspaces.
技术方案：为实现上述目的，本发明采用的技术方案为：Technical scheme: in order to achieve the above object, the technical scheme adopted in the present invention is:
三自由度混合驱动缠绕式柔索并联机构，包括三组呈品字形分布的混合驱动五连杆缠绕结构单元、一个呈正三棱柱结构的索塔支架和三根柔索；A three-degree-of-freedom hybrid drive winding flexible cable parallel mechanism, including three sets of hybrid drive five-link winding structural units distributed in a zigzag shape, a cable tower bracket in a regular triangular prism structure, and three flexible cables;
所述索塔支架包括三根索塔棱柱和两端分别与相邻两根索塔棱柱固定的索塔横梁，所述索塔棱柱的上端安装有滑轮支架，所述滑轮支架上安装有滑轮；所述索塔支架安装在三组混合驱动五连杆缠绕结构单元的内侧，且每一组混合驱动五连杆缠绕结构单元分别正对一根索塔棱柱安装；The pylon support includes three pylon prisms and two ends of the pylon beams fixed with two adjacent pylon prisms respectively, the upper end of the pylon prism is equipped with a pulley bracket, and a pulley is installed on the pulley bracket; The cable tower support is installed on the inner side of the three sets of hybrid drive five-link winding structure units, and each set of hybrid drive five-link winding structure units is respectively installed facing a cable tower prism;
所述混合驱动五连杆缠绕结构单元包括基座、常速电机、减速器、A曲柄、A连杆、伺服电机、小皮带轮、皮带、大皮带轮、B曲柄、B连杆和绞盘，所述绞盘的中心转轴线与基座位置固定；所述常速电机通过减速器驱动A曲柄转动；所述小皮带轮、皮带和大皮带轮构成皮带传动机构，伺服电机驱动小皮带轮转动，大皮带轮驱动B曲柄转动；所述A曲柄和A连杆一端之间、B曲柄和B连杆一端之间、A连杆另一端和B连杆另一端之间均通过可360°旋转的转动副铰接，同时铰接A连杆另一端和B连杆另一端的转动副同时与绞盘偏心铰接，所述绞盘可绕中心转轴线作连续圆周转动；所述A曲柄、A连杆、B曲柄、B连杆和绞盘工作在同一个平面内；The hybrid drive five-link winding structure unit includes a base, a constant speed motor, a reducer, an A crank, an A connecting rod, a servo motor, a small pulley, a belt, a large pulley, a B crank, a B connecting rod and a winch. The central axis of rotation of the winch is fixed to the position of the base; the constant speed motor drives the A crank to rotate through the reducer; the small pulley, the belt and the large pulley form a belt transmission mechanism, the servo motor drives the small pulley to rotate, and the large pulley drives the B crank Rotation; between the A crank and one end of the A connecting rod, between the B crank and one end of the B connecting rod, and between the other end of the A connecting rod and the other end of the B connecting rod are all hinged through a 360°rotatable revolving pair, and are hinged at the same time The rotating pair at the other end of the A connecting rod and the other end of the B connecting rod are eccentrically hinged with the winch at the same time, and the winch can make continuous circular rotation around the central axis of rotation; the A crank, the A connecting rod, the B crank, the B connecting rod and the winch work in the same plane;
所述三根柔索的一端分别缠绕在三个绞盘上，另一端依次绕过相对应的滑轮后与位于索塔支架内的重物固定；所述相对应的绞盘、柔索和滑轮工作在同一个平面内。One end of the three flexible cables is respectively wound on three capstans, and the other end is fixed to the weight located in the tower bracket after going around the corresponding pulleys in turn; the corresponding winches, flexible cables and pulleys work at the same time. within a plane.
本案中，常速电机通过减速器减小转速、增大力矩，驱动A曲柄；伺服电机通过皮带传送机构驱动B曲柄；在A曲柄和B曲柄的驱动下，A连杆和B连杆同步运动，绞盘在A连杆和B连杆的共同运动带动下运动，可以绕中心转轴线作连续圆周转动，实现对柔索的缠绕，柔索经过导向滑轮改变方向，从而驱动重物动作，实现搬运与吊装，完成重物空间三平动自由度的运转。In this case, the constant speed motor drives the A crank through the reducer to reduce the speed and increase the torque; the servo motor drives the B crank through the belt transmission mechanism; driven by the A crank and the B crank, the A connecting rod and the B connecting rod move synchronously , the winch moves under the joint motion of the A connecting rod and the B connecting rod, and can make continuous circular rotation around the central axis of rotation to realize the winding of the flexible cable. And hoisting to complete the operation of the three translational degrees of freedom in the heavy object space.
本案提供的机构，具有结构简单、工作空间大、易拆装、可重组、模块化程度高、负载能力强、运动速度快等优点；能够为机床、机器人、微动操作手等提供新机型。The mechanism provided in this case has the advantages of simple structure, large working space, easy disassembly and assembly, reorganization, high degree of modularization, strong load capacity, and fast movement speed; it can provide new models for machine tools, robots, micro-manipulators, etc. .
优选的，所述伺服电机和小皮带轮之间、常速电机和减速器之间均通过联轴器连接。Preferably, the servo motor and the small pulley, and the constant speed motor and the reducer are all connected by couplings.
优选的，所述每个滑轮支架上安装有两个滑轮，所述两个滑轮之间存在0～90°夹角。Preferably, two pulleys are installed on each pulley bracket, and there is an included angle of 0-90° between the two pulleys.
优选的，所述滑轮支架通过转动机构安装在索塔棱柱的上端；这样，随着柔索角度的改变，导向滑轮可以相对索塔支架转动，自动调整方向，确保柔索始终位于导向滑轮的导向槽内，不脱轨。Preferably, the pulley bracket is installed on the upper end of the cable tower prism through a rotating mechanism; like this, as the angle of the cable changes, the guide pulley can rotate relative to the cable tower bracket, automatically adjust the direction, and ensure that the cable is always positioned at the guide of the guide pulley. In the groove, not derailed.
所述柔索为钢丝索。The flexible rope is a steel wire rope.
所述三组混合驱动五连杆缠绕结构单元协同工作，随着柔索长度的增加或者缩短，重物将会在上下左右前后六个方向进行搬运与吊装，完成空间三平动自由度的工作The three sets of mixed drive five-link winding structural units work together. With the increase or shortening of the length of the cable, the heavy objects will be transported and hoisted in six directions, up, down, left, right, front, back, and complete the work of three translational degrees of freedom in space.
有益效果：本发明提供的三自由度混合驱动缠绕式柔索并联机构，相比于常规的混合驱动五连杆机构，引入了可以缠绕的驱动机构，使每根柔索的长度可以大幅度收放，机构的工作空间得以改变，重物可以达到常规混合驱动柔索并联机构难以达到的位置；并且该机构继承了常规的机构的高效率、高承载力及伺服驱动机构柔性可调的优点，甚至承载能力还有所增加，提高了系统控制的灵活性能；同时该机构将混合驱动机构和柔索并联机构更加完美的融合到了一起，提供了一种能够完成大负载地运转、高输出性能、实现复杂的运动规律的装置，是一种结构简单、而且工作空间大、价格低廉的新一代机构，具有深远的理论意义和实际工程应用价值。Beneficial effects: the three-degree-of-freedom hybrid drive winding flexible cable parallel mechanism provided by the present invention, compared with the conventional hybrid drive five-bar linkage mechanism, introduces a drive mechanism that can be wound, so that the length of each flexible cable can be greatly shortened. The working space of the mechanism can be changed, and the heavy object can reach the position that is difficult to reach by the conventional hybrid drive flexible cable parallel mechanism; and this mechanism inherits the advantages of high efficiency, high bearing capacity and flexible and adjustable servo drive mechanism of the conventional mechanism. Even the carrying capacity has been increased, which improves the flexibility of the system control; at the same time, the mechanism perfectly integrates the hybrid drive mechanism and the flexible cable parallel mechanism, providing a kind of operation that can complete large loads, high output performance, The device for realizing complex motion laws is a new-generation mechanism with simple structure, large working space and low price, which has far-reaching theoretical significance and practical engineering application value.
附图说明Description of drawings
图1为本发明的主视结构示意图；Fig. 1 is the front view structure schematic diagram of the present invention;
图2为本发明的俯视结构示意图；Fig. 2 is the top view structure schematic diagram of the present invention;
图3为混合驱动五连杆缠绕机构单元的主视结构示意图；Fig. 3 is a front structural schematic diagram of a hybrid drive five-link winding mechanism unit;
图4为混合驱动五连杆缠绕机构单元的俯视结构示意图。Fig. 4 is a schematic top view structural diagram of a hybrid drive five-link winding mechanism unit.
具体实施方式Detailed ways
下面结合附图对本发明作更进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.
如图1、图2所示为一种三自由度混合驱动缠绕式柔索并联机构，包括三组呈品字形分布的混合驱动五连杆缠绕结构单元1、一个呈正三棱柱结构的索塔支架2、三根柔索16和重物21；所述柔索16为钢丝索。As shown in Figure 1 and Figure 2, it is a three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism, including three sets of hybrid drive five-link winding structure units 1 distributed in a zigzag shape, and a cable tower bracket in a regular triangular prism structure 2. Three flexible cables 16 and weights 21; the flexible cables 16 are steel wire ropes.
所述索塔支架2包括三根索塔棱柱17和两端分别与相邻两根索塔棱柱17固定的索塔横梁18，所述索塔棱柱17的上端安装有滑轮支架20，所述滑轮支架20能够相对索塔棱柱17发生转动；所述滑轮支架20上安装有两个滑轮19，所述两个滑轮19之间存在夹角；所述索塔支架2安装在三组混合驱动五连杆缠绕结构单元1的内侧，且每一组混合驱动五连杆缠绕结构单元1分别正对一根索塔棱柱17安装；Described cable tower support 2 comprises three cable tower prisms 17 and the cable tower beam 18 that two ends are respectively fixed with adjacent two cable tower prisms 17, and the upper end of described cable tower prism 17 is equipped with pulley support 20, and described pulley support 20 can rotate relative to the pylon prism 17; two pulleys 19 are installed on the pulley bracket 20, and there is an angle between the two pulleys 19; the pylon bracket 2 is installed on three sets of hybrid drive five-link The inner side of the winding structure unit 1, and each group of hybrid drive five-link winding structure unit 1 is respectively installed facing a cable tower prism 17;
如图3、图4所示，所述混合驱动五连杆缠绕结构单元1包括基座3、常速电机4、减速器5、A曲柄6、A连杆7、伺服电机13、小皮带轮9、皮带10、大皮带轮8、B曲柄11、B连杆12和绞盘14，所述绞盘14的中心转轴线与基座3位置固定；所述常速电机4通过减速器5驱动A曲柄6转动；所述小皮带轮9、皮带10和大皮带轮8构成皮带传动机构，伺服电机13驱动小皮带轮9转动，大皮带轮8驱动B曲柄11转动；所述A曲柄6和A连杆7一端之间、B曲柄11和B连杆12一端之间、A连杆7另一端和B连杆12另一端之间均通过可360°旋转的转动副铰接，同时铰接A连杆7另一端和B连杆12另一端的转动副同时与绞盘14偏心铰接，所述绞盘14可绕中心转轴线作连续圆周转动；所述A曲柄6、A连杆7、B曲柄11、B连杆12和绞盘14工作在同一个平面内；所述伺服电机13和小皮带轮9之间、常速电机4和减速器5之间均通过联轴器15连接。As shown in Figure 3 and Figure 4, the hybrid drive five-link winding structure unit 1 includes a base 3, a constant speed motor 4, a reducer 5, an A crank 6, an A connecting rod 7, a servo motor 13, and a small pulley 9 , belt 10, large pulley 8, B crank 11, B connecting rod 12 and capstan 14, the central axis of rotation of the capstan 14 is fixed with the base 3 positions; the constant speed motor 4 drives the A crank 6 to rotate through the reducer 5 The small pulley 9, the belt 10 and the large pulley 8 constitute a belt transmission mechanism, the servo motor 13 drives the small pulley 9 to rotate, and the large pulley 8 drives the B crank 11 to rotate; between the A crank 6 and the A connecting rod 7 one ends, Between the B crank 11 and one end of the B connecting rod 12, between the other end of the A connecting rod 7 and the other end of the B connecting rod 12 are all hinged through a 360° rotatable rotary pair, and at the same time hinge the other end of the A connecting rod 7 and the B connecting rod The revolving pair at the other end of 12 is eccentrically hinged with the capstan 14 at the same time, and the capstan 14 can make continuous circular rotation around the central axis of rotation; the A crank 6, the A connecting rod 7, the B crank 11, the B connecting rod 12 and the capstan 14 work In the same plane; between the servo motor 13 and the small pulley 9, between the constant speed motor 4 and the reducer 5 are all connected by a coupling 15.
所述三根柔索16的一端分别缠绕在三个绞盘14上，另一端依次绕过相对应的滑轮19后与位于索塔支架2内的重物21固定；所述相对应的绞盘14、柔索16和滑轮19工作在同一个平面内。One end of described three flexible ropes 16 is wound on three capstans 14 respectively, and the other end walks around corresponding pulley 19 successively and is fixed with the weight 21 that is positioned at the cable tower support 2; Described corresponding capstan 14, flexible Cable 16 and pulley 19 work in the same plane.
该结构中，三组混合驱动五连杆缠绕机构单元1作为位置和动力的发起者，由三根柔索16作为媒介和牵引，通过索塔支架2确定总体工作空间，共同实现重物21空间三平动自由度的搬运与吊装。常速电动机4和伺服电机13同时作为混合驱动五连杆缠绕机构1的驱动装置，伺服电机13控制机构的输出速度，常速电机4为机构提供主要力矩，常速电机4通过减速器5驱动A曲柄6，增加力矩提供，伺服电机13通过皮带传动机构和B曲柄11相连，减小输出速度，两者均是通过联轴器15将输出运动传递给下一级装置。A连杆7和B连杆12的铰接点(即五连杆的中心输出点)用来作为输出点，在一定的控制条件下，可以作固定的圆周运动，驱动绞盘14的旋转；绞盘14对柔索16进行收缩和释放，处于索塔支架2内部的柔索16长度会增加或者缩短。其中，柔索16通过导向滑轮19改变方向时，由于重物21位置的变化，柔索16的角度也会发生一些变化，这时导向滑轮19的滑轮支架20可以呈一定角度旋转，自适应柔索16的角度的变化，保证柔索16不会脱轨。柔索16跨过索塔支架2后，伸入到索塔支架2的内部，连接到需要搬运的重物21上面，随着柔索16长度的增加或者缩短，重物21将会在上下左右前后六个方向进行搬运与吊装，完成空间三平动自由度的工作。In this structure, three sets of mixed-drive five-link winding mechanism units 1 are used as the initiators of position and power, and three flexible cables 16 are used as media and traction, and the overall working space is determined by the cable tower bracket 2, and the three-level space of heavy objects 21 is jointly realized. Freedom of movement and lifting. The constant speed motor 4 and the servo motor 13 are simultaneously used as the driving device for the hybrid drive five-link winding mechanism 1, the servo motor 13 controls the output speed of the mechanism, the constant speed motor 4 provides the main torque for the mechanism, and the constant speed motor 4 is driven by the reducer 5 A crank 6 provides increased torque, and the servo motor 13 is connected to the B crank 11 through a belt drive mechanism to reduce the output speed. Both of them transmit the output motion to the next-level device through the coupling 15. The hinge point of A connecting rod 7 and B connecting rod 12 (i.e. the central output point of five connecting rods) is used as an output point, and under certain control conditions, it can make a fixed circular motion to drive the rotation of winch 14; winch 14 The flexible cable 16 is contracted and released, and the length of the flexible cable 16 inside the cable tower bracket 2 can be increased or shortened. Wherein, when flexible cable 16 changes direction by guide pulley 19, due to the variation of weight 21 position, the angle of flexible cable 16 also can have some changes, at this moment the pulley support 20 of guide pulley 19 can be a certain angle rotation, self-adaptive flexible The change of the angle of rope 16 guarantees that flexible rope 16 can not derail. After the flexible cable 16 crosses the cable tower support 2, it stretches into the interior of the cable tower support 2, and is connected to the heavy object 21 to be transported. As the length of the flexible cable 16 increases or shortens, the heavy object 21 will move up, down, left, right Carrying and hoisting in six directions, front and back, to complete the work of three translational degrees of freedom in space.
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201310166792.5ACN103240737B (en) | 2013-05-08 | 2013-05-08 | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310166792.5ACN103240737B (en) | 2013-05-08 | 2013-05-08 | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism |
| Publication Number | Publication Date |
|---|---|
| CN103240737A CN103240737A (en) | 2013-08-14 |
| CN103240737Btrue CN103240737B (en) | 2015-02-04 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310166792.5AExpired - Fee RelatedCN103240737B (en) | 2013-05-08 | 2013-05-08 | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism |
| Country | Link |
|---|---|
| CN (1) | CN103240737B (en) |
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| CN101700657A (en)* | 2009-10-09 | 2010-05-05 | 中国矿业大学 | Three-dimensional translational degrees of freedom mixed-driven flexible cable parallel mechanism |
| CN201519962U (en)* | 2009-10-09 | 2010-07-07 | 中国矿业大学 | Three-dimensional translational degrees of freedom mixed-driven flexible cable parallel mechanism |
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| 《混合驱动柔索并联机器人的设计与分析》;訾斌等;《机械工程学报》;20110930;第47卷(第17期);1-8* |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20150204 Termination date:20170508 |