技术领域technical field
本发明涉及机器人机构学、医疗器械、定位装置等领域，尤其是一种含绳驱动关节的三支链六自由度并联机构。The invention relates to the fields of robot mechanics, medical equipment, positioning devices, etc., especially a three-branched six-degree-of-freedom parallel mechanism with rope-driven joints.
背景技术Background technique
并联机构是一组由两个或两个以上的分支机构并联而成的机构。它的特点是所有分支机构可同时接受驱动器输入，而最终共同给出输出，在机构学上属于多路闭环机械系统。以并联机构作为传动进给机构的数控机床、机器人操作机以及由此组成的制造单元统称为并联构型装备，是近年来发展起来的一种有着广阔应用前景的新型制造装备。并联机器人机构广泛应用于大型模拟设备、机器人、数控机床、传感器、微操作器、雕刻机和测量机等技术领域。Stewart平台是一种典型的并联机器人机构，该机构具有6个自由度，首次用于并联机器人和数控机床被认为是二十世纪以来机床结构的一次革命，在这以后发明了多种6自由度并联机构。A parallel mechanism is a group of institutions formed by parallel connection of two or more branches. Its characteristic is that all branches can accept the driver input at the same time, and finally give the output together, which belongs to the multi-channel closed-loop mechanical system in terms of mechanism. Numerical control machine tools, robot manipulators and manufacturing units composed of parallel mechanisms as transmission and feed mechanisms are collectively referred to as parallel configuration equipment, which is a new type of manufacturing equipment developed in recent years with broad application prospects. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, sensors, micro-manipulators, engraving machines, and measuring machines. The Stewart platform is a typical parallel robot mechanism, which has 6 degrees of freedom. It was first used in parallel robots and CNC machine tools. parallel mechanism.
目前已有的6自由度并联机构的驱动方式主要有两种形式：一是由电动机驱动方式，即由电机-丝杆-螺母等部件组合在一起形成直线滑移运动，并通过滑移运动驱动运动平台到达预期的位置和姿态；另一种方式是采用流体传动方式，即利用液压缸或者气缸的伸缩来驱动运动平台进行运动。就目前的应用实践来看，这两种驱动方式各有利弊。利用电机驱动具有响应速度快，传动效率高，运动精度高，易于控制等优点，但是也存在成本高、环境适应性差、刚性差、负载能力不高等不足；而对于液压缸驱动方式而言，具有承载能力大、环境适应性强、运动平稳等优点，但也存在着维护成本高、易泄露、运动精度差等缺点。At present, there are mainly two types of driving methods for the existing 6-DOF parallel mechanism: one is driven by a motor, that is, the motor-screw-nut and other components are combined to form a linear sliding motion, and the driving method is driven by the sliding motion. The motion platform reaches the expected position and attitude; another way is to use fluid transmission, that is, to use the expansion and contraction of hydraulic cylinders or cylinders to drive the motion platform to move. As far as the current application practice is concerned, these two driving methods have their own advantages and disadvantages. The use of motor drive has the advantages of fast response, high transmission efficiency, high motion precision, and easy control, but it also has disadvantages such as high cost, poor environmental adaptability, poor rigidity, and low load capacity; It has the advantages of large carrying capacity, strong environmental adaptability, and smooth movement, but there are also disadvantages such as high maintenance costs, easy leakage, and poor movement accuracy.
在工程应用中，有些特定的场合例如医疗手术辅助器械、危险品搬运等等，往往需要一些兼顾上述两种驱动方式优点的一种驱动方式，而目前尚没有相关的专利。In engineering applications, some specific occasions, such as medical surgical auxiliary equipment, dangerous goods handling, etc., often require a driving method that takes into account the advantages of the above two driving methods, but there is no related patent yet.
发明内容Contents of the invention
本发明的目的是克服现有技术存在的上述不足，提出一种含绳驱动关节的三支链六自由度并联机构，通过利用绳驱动直线关节，使得机构具有响应速度快、传动效率高、环境适应性强、运动平稳等优点。The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, and propose a three-branched six-degree-of-freedom parallel mechanism with rope-driven joints. By using ropes to drive linear joints, the mechanism has fast response speed, high transmission efficiency, and environmental protection Strong adaptability, stable movement and other advantages.
本发明的技术方案：Technical scheme of the present invention:
一种含绳驱动关节的三支链六自由度并联机构，由固定平台、运动平台和联接上述两平台的三条结构形式完全相同的运动支链组成；其中每条运动支链由固定平台到运动平台均由驱动电机和减速机装置、绳轮、驱动绳、绳驱动转动关节、绳驱动直线关节和球铰链组成；A three-branch six-degree-of-freedom parallel mechanism with rope-driven joints, which consists of a fixed platform, a motion platform, and three kinematic branch chains that connect the two platforms with the same structure; each kinematic branch chain is connected from the fixed platform to the kinematic The platform is composed of drive motor and reducer device, rope pulley, drive rope, rope-driven rotary joint, rope-driven linear joint and ball hinge;
所述的驱动电机和减速机装置有两套，分别安装在与固定平台固联的电机座上，并分别用于驱动绳驱动转动关节和绳驱动直线关节；运动支链中的绳驱动直线关节的上端通过球铰链与运动平台相连，绳驱动直线关节的下端通过绳驱动转动关节与固定平台相连。There are two sets of drive motors and reducer devices, which are respectively installed on the motor bases fixedly connected with the fixed platform, and are respectively used to drive the rope-driven rotary joints and the rope-driven linear joints; the rope-driven linear joints in the motion branch chain The upper end of the joint is connected to the motion platform through a ball hinge, and the lower end of the linear joint driven by a rope is connected to the fixed platform through a rotary joint driven by a rope.
所述的绳驱动直线关节包括套装在一起并可伸缩的空心外套和伸缩内杆，伸缩内杆的下端经过空心外套底部的介轮与第一驱动绳连接，第二驱动绳由空心外套上端的介轮折返向下并与伸缩内杆的下端连接，两根驱动绳的另一端均与驱动电机和减速机装置输出轴上的绳轮固定并反向缠绕。The rope-driven linear joint includes a telescopic hollow jacket and a telescopic inner rod that are set together. The lower end of the telescopic inner rod is connected to the first driving rope through the intermediate wheel at the bottom of the hollow jacket, and the second driving rope is connected by the upper end of the hollow jacket. The intermediate wheel turns back downwards and is connected with the lower end of the telescopic inner rod, and the other ends of the two driving ropes are all fixed and reversely wound with the sheave on the output shaft of the drive motor and the reducer device.
所述的绳驱动转动关节包括与绳驱动直线关节下端固定的转动轮，该转动轮通过铰轴安装在固定平台上，转动轮与驱动电机和减速机装置输出轴上的绳轮之间通过两根反向缠绕的驱动绳驱动。The rope-driven rotary joint includes a rotating wheel fixed to the lower end of the rope-driven linear joint. The rotating wheel is installed on the fixed platform through a hinge shaft. Driven by a counter-wound drive rope.
当同时驱动所有三条运动支链的六个电机进行正转或者反转时，运动支链会产生伸长或者缩短以及正转或者反转运功，从而带动运动平台达到不同的位置，实现不同的姿态。When the six motors of all three motion branch chains are driven to rotate forward or reverse at the same time, the motion branch chains will produce elongation or shortening, forward rotation or reverse movement, so as to drive the motion platform to reach different positions and realize different functions. attitude.
而且，所述的绳驱动转动关节当电机和减速机带动绳轮转时会拽动第三驱动绳并同时松放第四驱动绳，从而实现绳驱动转动关节的转动；相类似，当电机和减速机带动绳轮反向旋转时会拽动第四驱动绳并同时松放第三驱动绳，从而实现绳驱动转动关节的反向转动。Moreover, when the rope-driven rotary joint is rotated by the motor and the reducer, it will pull the third drive rope and release the fourth drive rope at the same time, thereby realizing the rotation of the rope-driven rotary joint; similarly, when the motor and the speed reducer When the motor drives the sheave to reversely rotate, it will pull the fourth drive rope and simultaneously release the third drive rope, thereby realizing the reverse rotation of the rope-driven rotary joint.
而且，所述的绳驱动直线关节当电机和减速机带动绳轮旋转时会拽动第一驱动绳并同时松放第二驱动绳时，从而实现绳驱动直线关节的伸长；相类似，当电机和减速机带动绳轮反向旋转时会拽动第二驱动绳并同时松放第一驱动绳，从而实现绳驱动直线关节的缩短。Moreover, when the motor and the reducer drive the sheave to rotate, the said rope-driven linear joint will pull the first driving rope and release the second driving rope at the same time, thereby realizing the elongation of the rope-driven linear joint; similarly, when When the motor and the reducer drive the sheave to reversely rotate, the second driving rope will be pulled and the first driving rope will be released simultaneously, thereby realizing the shortening of the rope-driven linear joint.
本发明的优点和有益效果：Advantages and beneficial effects of the present invention:
1、利用绳驱动关节实现了三支链并联机构具有六自由度运动输出，这对于克服通常的六支链六自由度并联机构的不足提出了有效的解决方案。1. Using the rope-driven joints to realize the three-branch parallel mechanism with six degrees of freedom motion output, this is an effective solution to overcome the shortcomings of the usual six-branch six-degree-of-freedom parallel mechanism.
2、机构的所有驱动电机完全放置于固定平台之上，大大减少了机构整体的运动惯性，从而可以实现机构的高速运动、提高机构的运动灵活性。2. All the driving motors of the mechanism are completely placed on the fixed platform, which greatly reduces the overall motion inertia of the mechanism, so that the high-speed movement of the mechanism can be realized and the movement flexibility of the mechanism can be improved.
3、由于采用绳驱动方式，使得机构的驱动电机和机构本身之间具有较大的布局空间，非常适用于对电气装置非常不利的环境，如水下环境的操作等。3. Due to the rope drive method, there is a large layout space between the driving motor of the mechanism and the mechanism itself, which is very suitable for the environment that is very unfavorable to electrical devices, such as the operation of the underwater environment.
4、由于采用了绳驱动关节，使得机构的各支链在运动过程中大大减少了震颤的出现，因此在手术辅助器械、危险品搬运等领域具有广泛的应用前景。4. Due to the use of rope-driven joints, the tremors of each branch chain of the mechanism are greatly reduced during the movement process, so it has a wide application prospect in the fields of surgical auxiliary equipment and dangerous goods handling.
附图说明Description of drawings
图1是本发明的一种含绳驱动关节的三支链六自由度并联机构结构示意图。Fig. 1 is a schematic structural diagram of a three-branch six-degree-of-freedom parallel mechanism with a rope-driven joint according to the present invention.
图2是本发明的一条运动支链中的绳驱动直线关节的工作原理图。Fig. 2 is a working principle diagram of a rope-driven linear joint in a kinematic branch chain of the present invention.
图3是本发明的绳驱动直线关节的局部放大示意图。Fig. 3 is a partially enlarged schematic view of the cable-driven linear joint of the present invention.
图4是本发明的绳驱动转动关节的工作原理图。Fig. 4 is a working principle diagram of the rope-driven rotary joint of the present invention.
图中，1 运动平台，2球铰链，3绳驱动直线关节，4电机座，5电机及减速器装置1，6绳轮1，7绳轮2，8电机及减速器装置2， 9绳驱动转动关节， 10固定平台，11第一驱动绳，12第二驱动绳，13绳驱动转动关节中的铰轴，14绳驱动直线关节外套，15绳驱动直线关节伸缩内杆，16 介轮，17 绳驱动转动关节中的转动轮，18 第三驱动绳，19 第四驱动绳。In the figure, 1 motion platform, 2 ball hinge, 3 rope-driven linear joint, 4 motor seat, 5 motor and reducer device 1, 6 rope wheel 1, 7 rope wheel 2, 8 motor and reducer device 2, 9 rope drive Swivel joint, 10 fixed platform, 11 first drive rope, 12 second drive rope, 13 rope drives the hinge shaft in the swivel joint, 14 rope drives linear joint jacket, 15 rope drives linear joint telescopic inner rod, 16 intermediate wheel, 17 The rope drives the rotating wheel in the revolving joint, 18 the third driving rope, and 19 the fourth driving rope.
以下结合本发明的实施例参照附图进行详细叙述。The following will be described in detail in conjunction with the embodiments of the present invention with reference to the accompanying drawings.
具体实施方式Detailed ways
一种含绳驱动关节的三支链六自由度并联机构，该机构由固定平台、运动平台和联接上述两平台的三条结构形式完全相同的运动支链组成；其中每条运动支链由固定平台到运动平台均由驱动电机和减速机装置、绳轮、驱动绳、绳驱动转动关节、绳驱动直线关节和球铰链组成；A three-branch six-degree-of-freedom parallel mechanism with rope-driven joints, the mechanism is composed of a fixed platform, a motion platform, and three kinematic branch chains with the same structure connecting the above two platforms; wherein each kinematic branch chain is composed of a fixed platform The motion platform is composed of a drive motor and a reducer device, a rope wheel, a drive rope, a rope-driven rotary joint, a rope-driven linear joint and a ball hinge;
所述的驱动电机和减速机装置有两套5、8，分别安装在与固定平台10固联的电机座4上，并分别用于驱动绳驱动转动关节9和绳驱动直线关节3；运动支链中的绳驱动直线关节的上端通过球铰链2与运动平台1相连，绳驱动直线关节的下端通过绳驱动转动关节与固定平台10相连。The drive motor and reducer device have two sets of 5, 8, which are respectively installed on the motor base 4 fixedly connected with the fixed platform 10, and are respectively used to drive the rope-driven rotary joint 9 and the rope-driven linear joint 3; The upper end of the rope-driven linear joint in the chain is connected with the motion platform 1 through the ball hinge 2, and the lower end of the rope-driven linear joint is connected with the fixed platform 10 through the rope-driven rotary joint.
所述的绳驱动直线关节包括套装在一起并可伸缩的空心外套14和内部的伸缩内杆15（参见图3），伸缩内杆的下端经过空心外套底部的介轮与第一驱动绳11连接，第二驱动绳12由空心外套上端的介轮16折返向下并与伸缩内杆的下端连接，两根驱动绳11、12的另一端均与驱动电机和减速机装置5输出轴上的绳轮6固定并反向缠绕。The rope-driven linear joint includes a telescoping hollow jacket 14 and an internal telescopic inner rod 15 (see Figure 3). The lower end of the telescopic inner rod is connected to the first driving rope 11 through the intermediate wheel at the bottom of the hollow jacket , the second driving rope 12 is turned back downward by the intermediate wheel 16 at the upper end of the hollow outer cover and is connected with the lower end of the telescopic inner rod. Wheel 6 is fixed and wound in opposite directions.
所述的绳驱动转动关节9包括与绳驱动直线关节下端固定的转动轮17（参见图4），该转动轮通过铰轴13安装在固定平台10上，转动轮与驱动电机和减速机装置8输出轴上的绳轮7之间通过两根反向缠绕的驱动绳18、19驱动。The rope-driven rotary joint 9 includes a rotating wheel 17 fixed to the lower end of the rope-driven linear joint (see FIG. 4 ). The rotating wheel is mounted on the fixed platform 10 through a hinge shaft 13 . The sheave 7 on the output shaft is driven by two oppositely wound drive ropes 18,19.
当同时驱动所有三条支链的六个电机进行正转或者反转时，支链会产生伸长或者缩短以及正转或者反转运功，从而带动运动平台达到不同的位置，实现不同的姿态。When the six motors of all three branch chains are driven to rotate forward or reverse at the same time, the branch chains will produce elongation or shortening and forward or reverse movement, thereby driving the motion platform to reach different positions and achieve different postures.
而且，所述的绳驱动转动关节当电机和减速机带动绳轮旋转时会拽动第三驱动绳并同时松放第四驱动绳时，从而实现绳驱动转动关节的转动；相类似，当电机和减速机带动绳轮反向旋转时会拽动第四驱动绳并同时松放第三驱动绳，从而实现绳驱动转动关节的反向转动。Moreover, when the rope-driven rotary joint is driven by the motor and the reducer to rotate the sheave, it will pull the third drive rope and release the fourth drive rope at the same time, thereby realizing the rotation of the rope-driven rotary joint; similarly, when the motor When the reducer drives the sheave to rotate in the opposite direction, the fourth drive rope will be pulled and the third drive rope will be loosened simultaneously, so as to realize the reverse rotation of the rope-driven rotary joint.
而且，所述的绳驱动直线关节当电机和减速机带动绳轮旋转时会拽动第一驱动绳并同时松放第二驱动绳时，从而实现绳驱动直线关节的伸长；相类似，当电机和减速机带动绳轮反向旋转时会拽动第二驱动绳并同时松放第一驱动绳，从而实现绳驱动直线关节的缩短。Moreover, when the motor and the reducer drive the sheave to rotate, the said rope-driven linear joint will pull the first driving rope and release the second driving rope at the same time, thereby realizing the elongation of the rope-driven linear joint; similarly, when When the motor and the reducer drive the sheave to reversely rotate, the second driving rope will be pulled and the first driving rope will be released simultaneously, thereby realizing the shortening of the rope-driven linear joint.
尽管为说明目的公开了本发明的实施例和附图，但是本领域的技术人员可以理解：在不脱离本发明及所附权利要求的精神和范围内，各种替换、变化和修改都是可能的，因此，本发明的范围不局限于实施例和附图所公开的内容。Although the embodiments and drawings of the present invention are disclosed for the purpose of illustration, those skilled in the art can understand that various replacements, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims Therefore, the scope of the present invention is not limited to what is disclosed in the embodiments and drawings.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410700723.2ACN104476566A (en) | 2014-11-28 | 2014-11-28 | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint |
| Application Number | Priority Date | Filing Date | Title |
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| CN201410700723.2ACN104476566A (en) | 2014-11-28 | 2014-11-28 | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint |
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| CN104476566Atrue CN104476566A (en) | 2015-04-01 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410700723.2APendingCN104476566A (en) | 2014-11-28 | 2014-11-28 | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint |
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| CN113180830A (en)* | 2021-04-15 | 2021-07-30 | 北京理工大学 | Rope-driven parallel reconfigurable surgical navigation positioning robot |
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| CN114347007A (en)* | 2022-02-22 | 2022-04-15 | 青岛科技大学 | A drive device for rope-driven serpentine manipulators |
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| Date | Code | Title | Description |
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| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20150401 |