A Static Balance Device for Rod Parallel Mechanism

Abstract

The invention discloses a static balancing device for a rod type parallel mechanism. The static balancing device comprises a fixed base, a movable platform and a plurality of electric cylinders, wherein extending sleeves of the electric cylinders can move axially under the action of an electric cylinder motor; the static balancing device further comprises rotating nuts, a pulling force mechanism and brake cables; the plurality of electric cylinders are hinged to the fixed base; the tail ends of the plurality of electric cylinders are hinged to the movable platform; the rotating nuts are arranged on the extending sleeves of the electric cylinders correspondingly; the rotating nuts are in threaded fit with the extending sleeves, can only rotate relative to the sleeves and cannot axially move; the rotating nuts of the plurality of electric cylinders are connected with the brake cables; one ends of the brake cables are wound on the rotating nuts, and the other end of the brake cables are connected with the pulling force mechanism; and the pulling force mechanism provides pulling force to the brake cables, and the brake cables pull the rotating nuts to rotate so as to generate pulling force or pushing force, opposite to movable platform load component force, to the extending sleeves. According to the static balancing device, the purpose that the parallel mechanism can balance most loads at any position is realized, and the load of the motor is reduced.

Description

technical field [0001] The invention belongs to the field of parallel mechanisms, in particular to a static balance device for a rod-type parallel mechanism. Background technique [0002] The mechanism achieves static balance, which means that the mechanism can be in a hovering state at any position in the working space, without the need for the drive motor to output additional torque to overcome the static load of the mechanism. The static balance device installed on the mechanism can significantly reduce the output power of the motor or reduce the work intensity of the manual operator of the machine, greatly reduce the dynamic range of the motor, and improve the dynamic characteristics, stability and working accuracy of the mechanism. [0003] Chinese patent CN 107288830 A discloses an energy storage electric cylinder, which stores or releases energy by means of a coil spring assembly installed on the transmission shaft of the reducer; however, the driving torque and balan...

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Problems solved by technology

[0003] Chinese patent CN 107288830 A discloses an energy storage electric cylinder, which stores or releases energy by means of a coil spring assembly installed on the transmission shaft of the reducer; however, the driving torque and balance torque of the electric cylinder all act on the driving screw On the one hand, the burden on the lead screw is increased, which only has an effect on reducing the burden on the drive motor; the electric cylinder can only work in a vertical working condition alone, and cannot build a parallel mechanism with a balancing function

[0004] Chinese patent CN 103676964 A discloses a parallel mechanism with a balance device. The patent consists of a driving leg to form a parallel mechanism. On this basis, a passive air pressure balance leg is added; member interference

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