CN1799788A - Parallel robot with fluid-driven artificial muscle - Google Patents

Abstract

The invention relates to a fluid-driven parallel robot of artificial muscles, which belongs to the application technical field of robots, machines and machine tools. The parallel robot of the present invention is driven by artificial muscles. The elastic wave shell in the artificial muscle expands after being inflated as the muscle power. The inflated elastic wave shell can be bent and twisted to a certain extent, so the artificial muscle has flexibility. Structure I is similar to the 6-SPS parallel robot, the mobile pair is changed to artificial muscle drive, and the spherical universal joint is vertically connected at the center of the circumscribed circle between the base platform and the working platform to form a parallel robot with three rotational degrees of freedom. Structure II is similar to the 3-PTT parallel robot. The axis line of the symmetrically distributed artificial muscles is in the same plane as the axis line of the spherical universal joint in the middle, and the moving pair is changed to be driven by artificial muscles. The spherical universal joint is vertically connected to the center of the circular working platform to form a parallel robot with two rotational degrees of freedom.

Description

Parallel robots with fluid-driven artificial muscles

Technical field:

The invention relates to a parallel robot with fluid-driven artificial muscles. The parallel robot can be used as various joints such as wrists and ankles of humanoid robots, base parts and special flexible couplings of flexible working heads of machine tools, as The actuator and flexible mechanical structure of automation equipment belong to the application technical field of robots, machines and machine tools.

Background technique:

Before the present invention, in prior art, for parallel robot, existing parallel robot all adopts rigid structure or flexible bar/arm, does not adopt the artificial muscle that has flexibility (can be bent and twisted) to drive. Parallel robots. The base part and the special flexible coupling of the flexible working head (such as the polishing head) have not adopted the structure of compliant artificial muscles (as an air spring with adjustable inner cavity pressure, thereby adjusting the rigidity of the system).

Invention content:

The purpose of the present invention is to overcome the above disadvantages. The parallel robot of the present invention is driven by a compliant artificial muscle. The elastic wave shell in the artificial muscle expands after being inflated as the muscle power. The inflated elastic wave shell can be bent and twisted to a certain extent. Therefore, the artificial muscle has flexibility. The 6-SPS parallel robot and its improved structure are parallel robots with 4, 5, and 6 degrees of freedom, while the parallel robot of the present invention is a parallel robot with only 3 rotational degrees of freedom. The 3-PTT parallel robot and its improved structure are parallel robots with 4, 5, and 6 degrees of freedom, while the parallel robot of the present invention is a parallel robot with only 2 rotational degrees of freedom. As the base part of the flexible working head and the special flexible coupling, a compliant artificial muscle is used, and its closed elastic wave shell acts as an air spring with adjustable inner cavity pressure, which can adjust the rigidity of the system and change the vibration of the system characteristics, so as to obtain different cushioning effects.

Main solution of the present invention is realized like this:

The composition of the artificial muscle of the present invention is: the shape of the longitudinal section is "V", "U", "Ω" shape (accompanying drawing 2 has only provided " V " shape structure) Elastic wave shell 3 is clamped by swivel jacket 2 Close to the bayonet joints of headstock 1 and tailstock 4, there are three threaded holes for installing spherical hinges 14 on the end surfaces of headstock 1 and tailstock 4, and the elastic wave shell 3, headstock 1 and tailstock 4 constitute The cavity is closed; the fluid enters the cavity of the artificial muscle through the right-angle joint 5, and the sealing ring 6 seals between the right-angle joint 5 and the tailstock 4; the above-mentioned parts constitute an independent fluid-driven component—artificial muscle 9.

Embodiment 1 of the parallel robot of the present invention is: as shown in accompanying drawing 3, similar to the 6-SPS parallel robot structure, the working platform 7 and the base platform 10 are equilateral triangles, and three identical parts are cut off at three corners. A small equilateral triangle forms a hexagon with three long sides and three short sides; the two ends of the short sides of the base platform 10 are respectively connected with two artificial muscles 9 by a ball joint 14, and the other ends of the two artificial muscles 9 are respectively connected by Spherical joint 14 is connected with the long side two ends of working platform 7, and this parallel robot has six artificial muscles 9 and twelve spherical joints 14; Section 8, forming a parallel robot with 3 rotational degrees of freedom.

Embodiment II of the parallel robot of the present invention is: as shown in accompanying drawing 4, similar to the structure of the 3-PTT parallel robot, three struts 12 are fixed symmetrically on the circular base platform 13, and the struts 12 respectively pass through the spherical hinge 14 It is connected with the artificial muscle 9, and the other end of the artificial muscle 9 is respectively connected with the circular working platform 11 through the spherical joint 14. This parallel robot has three artificial muscles 9 and six spherical joints 14; The center of the working platform 11 is vertically connected with the spherical universal joint 8; the axis line of the symmetrically distributed artificial muscle and the axis line of the spherical universal joint in the middle are in the same plane, forming a parallel joint with two rotational degrees of freedom. robot.

As shown in accompanying drawing 5, in embodiment I and embodiment II, the structure and installation form of the spherical universal joint are the same; the structure of the ball joint 14 is shown in accompanying drawing 6.

The fluid drive referred to in the present invention can be air pressure, hydraulic pressure, hydraulic power, liquid viscosity transmission and their serial and parallel compound drives.

Compared with the prior art, the present invention has the following advantages:

The parallel robot of the present invention is driven by a flexible artificial muscle, and the elastic wave shell in the artificial muscle expands after being inflated as the muscle power, and the inflated elastic wave shell can be bent and twisted to a certain extent, so it has flexibility; the structure is similar to 6-SPS For the parallel robot, the moving pair is changed to be driven by artificial muscles. Because of the flexibility of the elastic wave shell of the artificial muscles, a spherical universal joint is vertically connected in the middle between the base platform and the working platform, forming a three-degree-of-rotation freedom. Parallel robots. The structure is similar to that of a 3-PTT parallel robot. The axis line of its symmetrically distributed artificial muscles is in the same plane as the axis line of the spherical universal joint in the middle. Parallel robots. As the base part of the flexible working head and the special flexible coupling, a compliant artificial muscle is used, and its closed elastic wave shell acts as an air spring with adjustable inner cavity pressure, which can adjust the rigidity of the system and change the vibration of the system characteristics, so as to obtain different cushioning effects.

Description of drawings:

Fig. 1 is the A-A sectional view of the artificial muscle of parallel robot of the present invention

Fig. 2 is the front view of the artificial muscle of the parallel robot of the present invention

Fig. 3 is a schematic diagram of the spatial structure of the parallel robot embodiment I of the present invention

Fig. 4 is a schematic diagram of the spatial structure of the parallel robot embodiment II of the present invention

Fig. 5 is the structure and installation diagram of the spherical universal joint of the parallel robot embodiment I of the present invention

Fig. 6 is the structural diagram of the spherical joint of the parallel robot of the present invention

Detailed ways:

Below in conjunction with embodiment 1 of the invention, the operating principle and working process of parallel robot are illustrated:

Three spaced artificial muscles 9 enter the pressure fluid at the same time, and the other three spaced artificial muscles 9 are squeezed to discharge fluid, so that the working platform 7 rotates counterclockwise around the vertical axis of the spherical universal joint 8; any adjacent two The artificial muscles 9 enter the pressure fluid at the same time, and the rest of the artificial muscles 9 are squeezed to discharge the fluid, which makes the working platform 7 rotate around the horizontal axis determined by the spherical universal joint 8 .

Claims (3)

1. the parallel robot of a fluid-driven artificial muscle, in prior art, for parallel robot, existing parallel manipulator adopts rigid structure or flexible bar/arm per capita, there is not to adopt the parallel robot of artificial-muscle driving with compliance, the feature of the artificial muscle of the present invention is: vertical sectional shape is " V ", " U ", the elastomeric bellow (3) of " Ω " shape is by on the bayonet socket that revolves chuck (2) and be clamped in headstock (1) and tailstock (4), three screwed holes that ball pivot (14) is installed are all arranged, elastomeric bellow (3) on the end face of headstock (1) and tailstock (4), the enclosed cavity that headstock (1) and tailstock (4) constitute; Fluid enters the artificial-muscle cavity by angle coupling (5), and sealing ring (6) sealing is arranged between angle coupling (5) and tailstock (4); Constituted parts a---artificial-muscle (9) that independent fluid drives by above-mentioned part.

2. the parallel robot of a fluid-driven artificial muscle, with respect to 6-SPS parallel robot and improvement structure thereof, the present invention has used artificial-muscle (9) and the universal ball joint (8) with compliance, it is characterized in that: the minor face two ends of base platform (10) are connected with artificial-muscle (9) by ball pivot (14) respectively, the other end of artificial-muscle (9) is connected with the two ends, long limit of workbench (7) by ball pivot (14) respectively, and this parallel robot has six artificial-muscles (9); Place, circumcenter at base platform (10) and workbench (7) vertically has been connected universal ball joint (8), forms the parallel robot with three rotational freedoms.

3. the parallel robot of a fluid-driven artificial muscle, with respect to 3-PTT parallel robot and improvement structure thereof, the present invention has used artificial-muscle (9) and the universal ball joint (8) with compliance, it is characterized in that: cup dolly platform (13) is gone up and has been fixed three poles (12) with being symmetrically distributed, pole (12) is connected with artificial-muscle (9) by ball pivot (14) respectively, the other end of artificial-muscle (9) is connected with circular workbench (11) by ball pivot (14) respectively, and this parallel robot has three artificial-muscles (9); Circle centre position at cup dolly platform (13) and circular workbench (11) vertically has been connected universal ball joint (8); The axial line of the universal ball joint of the axial line of its symmetrical distribution artificial-muscle and centre forms the parallel robot with two rotational freedoms in same plane.

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