Belt-driven variable-drive kinematic chain and parallel robot with same

A variable drive and belt transmission technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of small working space, uncontrollable terminals, and increased mechanism volume, and achieve the effect of small system quality.

CN108115654AInactive Publication Date: 2018-06-05TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2018-06-05
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a belt-driven variable-drive kinematic chain and parallel robot with the same. The kinematic chain comprises a supporting module, a driving module, a drive switching device, two-stage rods and a belt transmission system. The driving module comprises a servo motor, a center shaft and a motor cover, the drive switching device comprises an electromagnetic clutch and an electromagnetic brake, the two-stage rods are sequentially connected outwards from a driving end through a rotating pair, and the belt transmission system is connected with the driving module and a two-stage rod rotating joint. By switching of electrification states of the electromagnetic clutch or the electromagnetic brake, acting positions of a driving torque and a reaction torque are changed, configuration modes of driving and driven rods and the joint are changed, and three driving modes can be realized by a single kinematic chain. By introduction of the belt transmission system and the drive switching device to a traditional kinematic chain, mechanism mass distribution is slightly changed; by the kinematic chain, variable-drive parallel robots in various configurations can be formed, and mechanism performances are improved through drive variation under the condition that mechanism configuration and size are unchanged.
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Description

technical field

[0001] The invention relates to the fields of mechanics and parallel robots, in particular to a variable drive kinematic chain with belt transmission and a parallel robot with the kinematic chain. Background technique

[0002] Parallel robots, as a complementary type of serial robots, are multi-closed-loop mechanisms based on multi-branch connections. After nearly 30 years of development, parallel robots have been widely researched and applied in fields such as motion simulators and high-speed sorting. Parallel robots have many potential advantages, the more prominent ones are the characteristics of high stiffness, high speed, high acceleration and high load-carrying capacity brought by its closed-loop structure. However, the multi-closed-loop mechanism also brings some disadvantages to the parallel robot, the most prominent of which is the small working space and complex singular problems inside the working space. The singular trajectory in the workspace d...

Examples

Embodiment Construction

[0034]The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0035] A variable drive kinematic chain with belt transmission in the present invention is schematically shown as figure 1 As shown, the structural assembly diagram of the variable drive kinematic chain is shown in figure 2 shown. A variable drive kinematic chain with belt transmission includes a support module, a drive module, a drive switching device, a connecting rod assembly and a belt transmission system. The support module includes support plate 5, bearing seat I11 and bearing seat II12; the drive module includes servo motor 7, motor cover 8 and central shaft 23; the drive switching device includes electromagnetic brake I6, electromagnetic brake II9, electromagnetic clutch I10 and electromagnetic clutch II13; The connecting rod assembly includes a primary connecting rod 3 and a secondary connecting rod 4; the belt transmission system inc...