Spring-support mechanism for parallel robots

Patent metadata

Field	Value
Publication number	US-10717199-B2
Application number	US-201816235160-A
Country	US
Kind code	B2
Filing date	Dec 28, 2018
Priority date	Jun 28, 2018
Publication date	Jul 21, 2020
Grant date	Jul 21, 2020

Abstract

The purpose of the presented invention propose a spring-support mechanism for the parallel robot, and this mechanism is applied to parallel robot models to reduce the load on the actuators. The spring-support mechanism for the parallel robot are composed of: sets of rotated joints to adjust the direction of the support mechanism to match the direction of the moving frame of robot, rhombus mechanism with hinges in four vertices transform displacement of moving frame to elasticity of springs, guiding plates used to adjust the springs length so that the thrust force generated by springs is constant, set of springs is assembled parallel and fixtures for the springs.

First claim

What is claimed is:

1. The spring-support mechanism for a parallel robot comprising:
Sets of rotated joints to adjust a first amount movement in a first direction of moving of a first portion of the spring support mechanism to match a second amount of movement in a second direction of moving of a second portion of the spring support mechanism;
Springs having a length;
a Rhombus mechanism with hinges in four vertices for transforming a displacement of the second portion of the spring support mechanism to an elasticity of springs;
Guiding plates used to adjust the length of said springs so that a thrust force generated by said springs is constant; wherein
Said springs comprise a set of springs assembled in parallel, and
Comprising fixtures for said springs.

2. The spring-support mechanism for parallel robot according to claim 1 , said Rhombus mechanism further comprising plural pivots, wherein:
When the second portion of the spring support mechanism moves in the second direction, said springs are compressed and a length of the spring support mechanism decreases; Then the rhombus mechanism will be flattened, The movement of the rhombus mechanism is passed to the guiding plates through first ones of said plural pivots, When the rhombus mechanism is compressed, the first ones of said plural pivots touch the guiding plates and move them apart, wherein the guiding plates are provided with first guiding and second locating grooves, the locating grooves adjust the displacement of second ones of the pivots on the rhombus mechanism to a displacement of said springs such that a thrust force of the rhombus mechanism is constant.

3. The spring-support mechanism for parallel robot with constant force according to claim 2 , wherein:
When movement of the spring-support mechanism in the second direction transposes a displacement distance d z , two of said first ones of said pivots transpose a distance d thoi in the first direction, then said two pivots slide on the grooves and the guiding plate displaces said springs a distance d lx , When a compression force F load is applied to the support mechanism in the second direction, a force F tx impacts on a flange of the guiding plate to balance with the compression force F load , Consequently, said springs generate an elastic force F elastic to balance with the force F tx .

4. The spring-support mechanism for parallel robot with constant force according to claim 2 , wherein:
A trajectory d groove of the second of said ones of guiding grooves is determined to satisfy the following:
F elastic d spring =F load d z

where
F elastic : the elastic force of said springs;
F total : the force of the load impact on the support mechanism;
d spring : differential displacement of said springs (total displacement due to rhombus structure and adjustment of guiding groove);
d z : The differential displacement of the moving frame;
d spring calculated by the following formula;
d spring =d rhombus +d groove

d rhombus differential displacement of the first one of said plural pivots, depends on the texture, length of edges of the rhombus mechanism;
d groove differential displacement of trajectory of grooves;
F load is gravity value of the load, for d z is the displacement in the second direction, d rhombus will be a function of d z when we give the length of an edge of the rhombus mechanism, and a position of a respective one of the first one of said plural pivots, and a condition x spring (0)=z(0)=0.

Assignees

• Viettel Group

Inventors

• Cu Xuan Hung
• DANG Xuan Thao

Classifications

• B25J19/0016 Primary

  using springs · CPC title

• F16M2200/04

  Balancing means · CPC title

• F16M2200/041

  for balancing rotational movement of the head · CPC title

• B25J9/0069

  with kinematics chains of the type universal-prismatic-universal · CPC title

• F16M11/12

  in more than one direction · CPC title