CN202100903U - Three-rotation and one-movement DOF (degree of freedom) parallel-connection mechanism driven by rope rod in mixed way - Google Patents

Abstract

The utility model relates to a parallel mechanism with three rotations and one moving degree of freedom driven by a mixture of ropes and poles. One end of the active telescopic branch chain is vertically fixedly connected to the static platform, and the other end is connected to the dynamic platform. The branch chain provides directional movement and support for the dynamic platform. The rope-rod mixed-drive branch chain is used as the active branch chain, which has the characteristics of large working space, simple structure, low manufacturing cost and easy installation. This mechanism can be used in the feed support system of large radio telescopes.

Description

Three rotations and one movement degree of freedom parallel mechanism driven by rope-rod hybrid drive

technical field

The utility model belongs to the field of industrial robots and machinery manufacturing, in particular to a parallel mechanism with three rotations and one degree of freedom of movement driven by a rope rod, which can be applied to feed source support systems of large radio telescopes and other application occasions. the

Background technique

The rope-rod hybrid drive parallel mechanism is a new type of mechanism, which combines the advantages of rope drive and rod support parallel mechanism. It has the characteristics of simple structure, small inertia, large working space volume ratio and fast response. And tactile devices, large-scale motion simulators, feed support systems for large radio telescopes, ultra-high-speed robots, light robots with large workspaces, wind tunnel support systems, large-scale ship manufacturing and machining, etc. have good application prospects. the

Since the rope can only bear tension and cannot bear pressure, the parallel mechanism driven by pure rope generally adopts redundant drive, that is, to output n degrees of freedom in the end effector, there must be at least n+1 ropes to drive the mechanism. Generally, an over-constrained control scheme is used. the

Utility model content

The purpose of the utility model is to provide a non-redundant drive parallel mechanism with mixed drive of rope and rod, and the end can realize three rotations and one degree of freedom of movement. The mechanism can be applied to a wind tunnel support system, and its structural feature is that three rope-driven active branch chains are composed of an active telescopic branch chain connected to a vertically fixed static platform. the

The utility model is composed of a dynamic platform, a static platform and four branch chains, and each branch chain is connected between the dynamic platform and the static platform. Among the four branch chains, the structure of three branch chains is the same rope-driven active branch chain, which is axisymmetrically distributed in space. One end of the other active telescopic branch chain is vertically fixed to the static platform, and the other end is fixed to the dynamic platform. Connect and provide directional movement and support for the moving platform. The whole mechanism has three rotations and one movement degree of freedom. The moving platform can only rotate around the three coordinate axes of the connection point and move axially along the active telescopic rod. sports. The three rope-driven active branch chains are pulled by the motor-driven runners through the ropes. A telescoping rod on an active telescoping branch is hydraulically or ball screw driven for axial movement. The active branch chain driven by the rope is composed of a revolving pair, a Hooke hinge, a motor, a runner, a rope, a pulley, a Hooke hinge and a revolving pair. The motor drives the runner to rotate and then pulls the rope to change the length of the rope. Pull on the Hook hinge. The combination of the revolving pair on the rope-driven active branch chain and the Hooke hinge can be replaced by a combination of three revolving axes perpendicular to each other, and the revolving pair connected with the dynamic and static platform can be perpendicular to the dynamic and static platform or parallel to the dynamic and static platform. The combination of the revolving pair and the Hooke hinge on the rod-driven and rope-driven active branch chains can be replaced by a ball hinge. One end of the active telescopic branch chain driven by a rod is vertically fixedly connected to the static platform, and the other end is connected to the moving platform through a Hooke hinge and a rotating pair. The axis of the rotating pair on the branch chain is parallel to the active telescopic rod and connected to the static platform. vertical. The combination of the Hooke hinge and the revolving pair on the active telescopic branch chain driven by the rope and the rod can be replaced by a revolving pair combination with three rotation axes perpendicular to each other. The three rope-driven active branch chains are distributed axisymmetrically in space, the connection between the rope-driven active branch chain and the moving platform is distributed in an equilateral triangle, and the connection between the rope-driven active branch chain and the static platform is distributed in an equilateral triangle. One end of the Hooke hinge on the active branch driven by the rod is connected to the moving platform through a rotating pair, and the other end of the Hooke hinge is connected to the active telescopic rod through the rotating pair, and the active telescopic rod is vertically fixed on the static platform superior. A motor, a runner and a tether hook are installed on the end face of the Hooke hinge connected with the static platform on the active branch chain driven by the rope, and a pulley is installed on the end face of the Hooke hinge connected with the moving platform on the active branch chain. the

Both the cable-driven and rod-driven upper Hooke hinges on active branch chains can be replaced by the combination of two revolving pairs whose rotation axes are perpendicular to each other. The shape of the moving platform is similar to that of the static platform. The triangle formed by the connection between the rope-driven active branch chain and the moving platform is similar to the triangle formed by the connection between the rope-driven active branch chain and the static platform. The active telescopic rod on the rod-driven active branch chain is fixed vertically on the geometric center of the static platform. the

The utility model adopts the rope-rod hybrid driving branch chain as the active branch chain, and has the characteristics of large working space, simple structure, low manufacturing cost and easy installation. The mechanism can be used in the feed source support system of large radio telescopes. the

Description of drawings

Fig. 1 is the structural representation of the utility model. the

In the figure: 1 static platform, 2 revolving pair, 3 Hooke hinge, 4 motor, 5 tether hook, 6 rope, 7 pulley, 8 Hooke hinge, 9 revolving pair, 10 moving platform, 11 Hooke hinge, 12 Rotating pair, 13 runners, 14 active telescopic rods. the

Detailed ways

As shown in Figure 1, the static platform 1 of the base is fixed, and four branch chains are connected between the static platform 1 and the dynamic platform 10, three of which are active branch chains driven by ropes, which are distributed axially symmetrically in space, and the other one is active One end of the telescopic branch chain is fixedly connected with the static platform 1, and the other end is connected with the moving platform 10 through the rotating pair 12 and the Hooke hinge 11. the

The active branch chains driven by the three ropes have the same structure, and are composed of a rotating pair 2, a Hooke hinge 3, a motor 4, a tether hook 5, a runner 13, a rope 6, a pulley 7, a Hooke hinge 8 and a rotating pair 9, wherein the motor 4 Drive the runner 13 to rotate and then pull the rope to change the length of the rope. The rope is pulled by the pulley 7 to the Hooke hinge 8. Due to the directional movement and support function of the active telescopic branch chain, three rotations and one movement degree of freedom of the moving platform can be realized exercise. The three revolving pairs are distributed in equilateral triangles on both the moving platform and the static platform. The Hooke hinge 3 is connected with the static platform 1 through the rotating pair 2, the Hooke hinge 8 is connected with the moving platform 10 through the rotating pair 9, the pulley 7 is connected with the runner 13 and the string hook 5 through the rope 6, and the runner 13 is connected by Driven by a motor, the string hook 5 is fixedly connected to the upper end surface of the Hooke hinge 3, the motor 4 is installed on the upper end surface of the Hooke hinge 3, the lower end surface of the Hooke hinge 3 is connected to the static platform 1 through the rotating pair 2, and the Hooke hinge 8 The upper surface of the upper end is connected with the moving platform 10 through the rotating pair 9, and the pulley 7 is installed on the Hooke hinge 8. the

The active telescopic branch chain is composed of a Hooke hinge 11, a rotating pair 12 and an active telescopic rod 14. The lower end of the active telescopic branch chain is vertically fixedly connected to the static platform 1. The platform is connected, and the rotating shaft of the swivel pair is parallel to the active telescopic rod 14, all perpendicular to the static platform. the

Claims (15)

1. three rotation one-movement-freedom-degree paralleling mechanisms of the bar combination drive of restricting; It is characterized in that the paralleling mechanism structure is made up of silent flatform, moving platform and four side chains; Wherein three ropes drive active branched chain distribution axisymmetricly in the space; Another is the end vertical fixing connection silent flatform of telescopic branched chain initiatively, and the other end links to each other with moving platform, and this side chain plays moving platform orientation movement and supporting effect are provided.

2. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1 is characterized in that three ropes drive active branched chain and realized pulling through rope by the motor driving runner.

3. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1 is characterized in that a flexible rod on the active telescopic branched chain drives the realization axial motion by hydraulic pressure or ball screw.

4. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1; The active branched chain that it is characterized in that the rope driving is made up of revolute pair, Hooke's hinge, motor, runner, rope, pulley, Hooke's hinge and revolute pair; Wherein the motor driving runner rotates and then pulls the length that rope changes rope, and rope is realized pulling Hooke's hinge through pulley.

5. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 2; It is characterized in that combination that rope drives revolute pair and Hooke's hinge on the active branched chain by three the orthogonal revolute pairs combination of rotating shaft replacements, the revolute pair that is connected with the sound platform also is parallel to the sound platform perpendicular to the sound platform.

6. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 3 is characterized in that bar drives the revolute pair and the combination of Hooke's hinge that drive on the active branched chain with rope and replaces by spherical hinge.

7. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1; It is characterized in that the active telescopic branched chain one end vertical fixing that has a bar to drive connects silent flatform; The other end is connected on the moving platform through Hooke's hinge, revolute pair; The parallel axes of the revolute pair on this side chain is in the active flexible rod, and vertical with silent flatform.

8. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 2 is characterized in that combination that rope drives Hooke's hinge and revolute pair on the active telescopic branched chain that drives with bar is by three the orthogonal revolute pairs combination of rotating shaft replacements.

9. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1; It is characterized in that three ropes drive active branched chain and in the space, distribute axisymmetricly; The joint that rope drives active branched chain and moving platform is the equilateral triangle distribution, and the joint that rope drives active branched chain and silent flatform is the equilateral triangle distribution.

10. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 3; Be connected through revolute pair between an end face that it is characterized in that the Hooke's hinge on the active branched chain that bar drives and the moving platform; The other end of Hooke's hinge is connected on the active flexible rod through revolute pair, and initiatively flexible rod vertically is cemented on the silent flatform.

11. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1; Above the end face of the Hooke's hinge that it is characterized in that being connected with silent flatform on the active branched chain that rope drives motor, runner and tether are installed and are linked up with, on the end face of the Hooke's hinge that is connected with moving platform on the active branched chain pulley is installed.

12. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1 is characterized in that rope drives on the active branched chain that drives with bar Hooke's hinge and makes up by two orthogonal revolute pairs of rotating shaft and replace.

13. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1 is characterized in that moving platform is similar with the silent flatform shape.

14. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1 is characterized in that rope drives the triangle of the triangle of active branched chain and moving platform joint formation similar in appearance to rope driving active branched chain and silent flatform joint formation.

15. three rotation one-movement-freedom-degree paralleling mechanisms of a kind of bar combination drive of restricting according to claim 1 is characterized in that the active flexible rod on the active branched chain that bar drives vertically is cemented on the geometrical center of silent flatform.

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