Spatial three-dimensional translational degree of freedom (DOF) combination drive flexible cable parallel mechanism

A hybrid drive, three-dimensional translation technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of driving parallel robots with flexible cables, etc., and achieve the effects of wide practicability, easy disassembly and assembly, and large working space.

Inactive Publication Date: 2010-05-05
CHINA UNIV OF MINING & TECH
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  • Abstract
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Problems solved by technology

However, due to the limitations of servo motor power and torque, there is no direct

Method used

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  • Spatial three-dimensional translational degree of freedom (DOF) combination drive flexible cable parallel mechanism
  • Spatial three-dimensional translational degree of freedom (DOF) combination drive flexible cable parallel mechanism
  • Spatial three-dimensional translational degree of freedom (DOF) combination drive flexible cable parallel mechanism

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Embodiment Construction

[0012] The present invention will be further described below in conjunction with the embodiment in the accompanying drawings:

[0013] The present invention realizes the space three-dimensional translation degree of freedom hybrid drive flexible cable parallel mechanism, which is composed of four sets of hybrid drive double crank five-link mechanism 1 with the same structure, a cable tower bracket 18 and four flexible cables 20 for pulling heavy objects 19 . Four sets of hybrid drive double crank five linkage mechanisms 1 are symmetrically arranged in a cross shape, and the cable tower bracket 18 is arranged on the inner side of four sets of hybrid drive double crank five linkage mechanisms. Crossbeam 16 under the tower and crossbeam 17 on pylon constitute, are parallelogram, all are provided with soft cable guide pulley 13 on every column, flexible cable guide pulley 13 is two, arranges at right angles, is fixed on column by pulley support 12. The hybrid drive double-crank f...

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Abstract

The invention discloses a spatial three-dimensional translational degree of freedom (DOF) combination drive flexible cable parallel mechanism which comprises four groups of combination drive double-crank five-connecting link mechanisms which are arranged symmetrically in a cross way, a cable support tower bracket, and flexible cables which are respectively connected with the four groups of combination drive double-crank five-connecting link mechanisms and used for drawing a weight block. Each combination drive double-crank five-connecting link mechanism comprises a three-phase asynchronous motor, a servo motor, a speed reducer, a pulley transmission mechanism, and a double-crank five-connecting link mechanism; the cable support tower bracket comprises four stand columns, cable support tower upper beams and cable support tower lower beams which are respectively connected with the four stand columns; and each stand column is provided with a flexible cable leading sheave. The combination drive mechanism combined by two drive mechanisms integrates the high efficiency and the high bearing capacity of a traditional mechanism and the adjustable flexibility of the servo drive mechanism and makes up the defects that the traditional drive mechanism is lack of flexibility and the servo drive mechanism can not bear large load; therefore, the combination drive mechanism has the advantages of the high efficiency and the high bearing capacity of the traditional mechanism and the adjustable flexibility of the servo drive mechanism.

Description

technical field [0001] The invention relates to a flexible cable parallel mechanism, in particular to a hybrid drive flexible cable parallel mechanism for realizing three-dimensional translational freedom in space. Background technique [0002] The flexible cable parallel mechanism refers to the parallel robot that uses the flexible cable instead of the traditional connecting rod as the traction element, and the joint drive mechanism of the flexible cable parallel robot is one of the important parts of the robot. For a drive mechanism, what is concerned is the size of the output power and the degree of work adaptability. For the former, it is hoped that the output power of the mechanism is as high as possible, while for the latter, it is hoped that the degree of job adaptability is as high as possible. Usually, there are two kinds of motors, ordinary normal speed motor and servo motor, which are driven separately in the robot system. Ordinary normal-speed motors have high ...

Claims

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Application Information

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IPC IPC(8): B25J19/00
Inventor 訾斌朱真才
Owner CHINA UNIV OF MINING & TECH
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