CN103963047A - Cable-towed parallel robot device with anti-rotating mechanisms - Google Patents
Cable-towed parallel robot device with anti-rotating mechanisms Download PDFInfo
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- CN103963047A CN103963047A CN201410186294.1A CN201410186294A CN103963047A CN 103963047 A CN103963047 A CN 103963047A CN 201410186294 A CN201410186294 A CN 201410186294A CN 103963047 A CN103963047 A CN 103963047A
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Abstract
The invention discloses a cable-towed parallel robot device with anti-rotating mechanisms. The problems that when an existing cable-towed parallel robot is used for preventing an end effector from rotating, control difficulty is large, cost is high and the structure is complex are mainly solved. The cable-towed parallel robot device comprises an end effector (4), n drive devices (1) and n driving soft cables (2), wherein n is larger than or equal to three. Each drive device (1) is connected with the end effector (4) through one driving soft cable, and the end effector (4) is connected with the anti-rotating mechanisms (3) used for preventing the end effector (4) from rotating in the space operation process. Each anti-rotating mechanism (3) comprises two driven soft cables, two fixed pulleys, a roller, a balance weight soft cable and a balance weight. The installing number and positions of the anti-rotating mechanisms are determined according to the working state, needing rotation prevention, of the end effector. The cable-towed parallel robot device is simple in structure, easy to control and capable of being used for operations such as camera shooting, hoisting, carrying, industry machining, ship constructing, seabed salvaging and fire fighting for a petroleum well.
Description
Technical field
The invention belongs to mechanical device technical field, particularly a kind of parallel robot, can be used for the operations such as shooting, lifting, carrying, industrial processes, shipbuilding, submarine fishing, oil well fire extinguishing.
Background technology
Along with the development of modern industry, rigid hinge drives the motion of end effector can not meet the needs of social development at aspects such as working range, flexibility ratio and simple and convenient assembly degree, so proposed rope traction parallel robot device.
Existing rope traction parallel robot device adopts flexible cable to replace rigid hinge to drive end effector, and this device is large because having working space, and motion flexibility ratio is high, easy and simple to handle, be easy to modularization, easy to assembly, from heavy and light, be convenient to transportation, low cost and other advantages and obtain extensive concern.This robot device is divided into and owes to drive, drives completely and redundant drive rope traction parallel robot.Wherein:
Owe the rope traction driving parallel robot, if it drives flexible cable spatially can intersect at a point, can realize in theory actuator translational motion in the process of executing the task.But, actual in the situation that, because end effector always has certain volume, be difficult to accomplish to only have translation and do not rotate.So its end effector can make end effector be difficult to precise positioning with small size rotation when doing on a large scale translational motion, has reduced kinematic accuracy, the deleterious that causes actuator to be executed the task.
The rope of driving and redundant drive draws parallel robot completely, though its structure can prevent the rotation of end effector in motion process, but flexible cable of the rope of this structure traction every increase of parallel robot will increase a set of driver more, make like this structure of parallel robot become complicated, cost and control difficulty also can significantly improve.
Summary of the invention
The object of the invention is to the deficiency for above-mentioned prior art, do not increasing under the prerequisite of driver number, propose a kind of traction of the rope with rotation preventing mechanism parallel robot device, to simplify rope traction parallel robot structure, to reduce costs and control difficulty.
The technical scheme that realizes the object of the invention is: the structure of improving rope traction parallel robot, on actuator, connect a set of or a few cover rotation preventing mechanisms endways, make it in mission period, no longer in certain direction or certain several direction, occur slightly rotate or reduce and rotate as much as possible.Whole device comprises: end effector, n cover drive unit and n root be flexible cable initiatively, n >=3, every cover drive unit is connected with end effector by an active flexible cable, end effector is the object that space is controlled by rope traction parallel robot, it is characterized in that, on end effector, be connected with rotation preventing mechanism, in order to prevent the rotation of end effector when the spatial operation.
The above-mentioned traction of the rope with rotation preventing mechanism parallel robot device, is characterized in that, rotation preventing mechanism comprises that two velamens move flexible cable, two fixed pulleys, cylinder, counterweight flexible cable and a counterweight;
The above-mentioned traction of the rope with rotation preventing mechanism parallel robot device, is characterized in that, two velamens move flexible cable, and its one end is connected with end effector respectively, forms two tie points, and the other end strides across the two ends that are fixed on cylinder after fixed pulley is wound around with equidirectional;
The above-mentioned traction of the rope with rotation preventing mechanism parallel robot device, it is characterized in that, two fixed pulleys are fixed on ground, and the line between two tie points of actuator is parallel and distance is equal endways to guarantee the line of two fixed pulleys after fixing and the moving flexible cable of two velamens;
Described counterweight is suspended on cylinder by counterweight flexible cable, stressed for balance end effector.
The above-mentioned traction of the rope with rotation preventing mechanism parallel robot device, is characterized in that, one end of counterweight flexible cable is connected with counterweight, and the other end is fixed on the centre position of cylinder after being wound around, and winding direction is contrary with the winding direction of passive flexible cable.
The above-mentioned traction of the rope with rotation preventing mechanism parallel robot device, it is characterized in that, the weight of counterweight is definite according to the stressing conditions of rotation preventing mechanism, and counterweight should make the moving flexible cable of every velamen be not less than 20% of end effector self gravitation to the pulling force of end effector.
The above-mentioned rope with rotation preventing mechanism traction parallel robot device, is characterized in that, the installation quantity of rotation preventing mechanism and position need to prevent that according to end effector the duty of rotating from determining.
The above-mentioned traction of the rope with rotation preventing mechanism parallel robot device, it is characterized in that, for the situation that need to prevent end effector rotation in one direction, only need a set of rotation preventing mechanism is installed, during installation, will make the passive flexible cable tie point that actuator forms endways of rotation preventing mechanism vertical with this direction with the plane that the fixing point of two fixed pulleys forms.
The above-mentioned traction of the rope with rotation preventing mechanism parallel robot device, it is characterized in that, for the situation that need to prevent the rotation of end effector on both direction, need, by symmetrical structure, two cover rotation preventing mechanisms are installed, the projection of the plane that the passive flexible cable tie point that actuator forms endways of the two cover rotation preventing mechanisms of installing and the fixing point of two fixed pulleys form on this both direction is all parallelogram, stressed with balance end effector, to prevent the rotation of end effector on this both direction.
The above-mentioned traction of the rope with rotation preventing mechanism parallel robot device, it is characterized in that, the process of executing the task of situation can only translation in to(for) end effector, more than three groups or three groups rotation preventing mechanisms is installed, and the plane that the fixing point of the passive flexible cable of respectively the overlapping rotation preventing mechanism tie point that actuator forms endways and two fixed pulleys forms is antarafacial between two in space, to prevent in end effector running the rotation in space all directions.
The present invention is owing to having added rotation preventing mechanism on actuator endways, thereby can not increase under the prerequisite of driver number, can effectively prevent the rotation of end effector in motion process, reduced control difficulty; Simultaneously because the present invention has connected mass on the cylinder of rotation preventing mechanism, when fixed pulley is installed on end effector top, can reduce the driver drives end effector required power that moves, reduce energy consumption; In addition because the present invention is provided with two velamen dynamic searchs in rotation preventing mechanism, make the damping of rope traction parallel robot structure become large, rigidity raising, thereby make the motion of actuator when executing the task more steady, and can increase the working space of whole system.
Accompanying drawing explanation
Fig. 1 is rotation preventing mechanism structural representation of the present invention;
Fig. 2 is first embodiment of the present invention structural representation;
Fig. 3 is second embodiment of the invention structural representation;
Fig. 4 is third embodiment of the present invention structural representation.
The specific embodiment
The present invention includes: n set drive 1, n root is flexible cable 2 initiatively, n >=3, end effector 4 and m cover rotation preventing mechanism 3, m >=1.Wherein, every set drive 1 is connected with end effector 4 by an active flexible cable 2.The object of end effector 4 for being controlled by rope traction parallel robot in space, such as in mobile platform, the goods that need to be transported to eminence and the coliseum of main equipment Under Repair for the video camera of making a video recording etc., these controlled objects are by when operation feature due to structure, can cause from the rotation in some direction, this rotation not only can affect operation, and can bring danger under some workplace.For preventing the rotation of end effector, reduce costs and control difficulty, the present invention solves this problem by connecting rotation preventing mechanism 3 on actuator 4 endways.
With reference to Fig. 1, rotation preventing mechanism 3 is comprised of two fixed pulleys 331 and 332, cylinder 31, the moving flexible cable 321 and 322 of two velamens, counterweight flexible cable 34 and counterweight 35.During installation, two velamens move flexible cable 321,322, and its one end is connected with end effector 4 respectively, form two tie points, and the other end strides across the two ends that are fixed on cylinder 31 after fixed pulley 331,332 is wound around, and the winding direction of two passive flexible cables 321,322 is identical; Two fixed pulleys 331,332 are fixed on ground, and the line between two tie points of actuator 4 is parallel and distance is equal endways to guarantee the line of two fixed pulleys 331,332 after fixing and the moving flexible cable 321,322 of two velamens; Counterweight 35 is suspended on cylinder 31 by counterweight flexible cable 34, stressed for balance rotation preventing mechanism.
After installing like this, due to the line between two tie points on end effector 4 and two fixed pulleys 331, 332 fixing lines are afterwards remaining parallel and equidistant relation, two tie points and two fixed pulleys 331 on any time end effector 4 have been guaranteed, 332 two fixing points on ground form a parallelogram, when two passive flexible cables 321, during 322 stressed motion, cylinder 31 will rotate, automatically guarantee the moving flexible cable 321 of two velamens, the length that 322 folding and unfoldings are identical, prevent that end effector 4 is in the moving flexible cable 321 of this two velamen, 322 rotation planar, can prevent the rotation of end effector 4 in the direction perpendicular to rotation preventing mechanism 3 place planes.
In reality, according to end effector 4, need to prevent that the duty of rotating from determining installation quantity m and the position of rotation preventing mechanism 3.Because end effector 4 can rotate around any direction in space, can in the face perpendicular to any direction, rotate, therefore from geometrical relationship, as long as limit the rotation of end effector 4 in three directions of antarafacial between two, limit end effector three rotations in the plane of antarafacial between two, just can limit the rotation of end effector 4 in each face of space, namely limit the rotation of end effector 4 in all directions of space.
For the situation that need to prevent end effector 4 rotation in one direction, only need a set of rotation preventing mechanism is installed, during installation, will make passive flexible cable 321,322 tie point that actuator 4 forms endways of rotation preventing mechanism 3 vertical with this direction with the plane that the fixing point of two fixed pulleys 331,332 forms;
For the situation that need to prevent the rotation of end effector 4 on both direction, need, by symmetrical structure, two cover rotation preventing mechanisms 3 are installed, the projection of the plane that the fixing point of the passive flexible cable 321,322 that will the make two cover rotation preventing mechanisms 3 during installation tie points that actuator 4 forms endways and two fixed pulleys 331,332 forms on this both direction is all parallelogram, stressed with balance end effector 4, prevents the rotation of end effector 4 on this both direction;
The process of executing the task of situation can only translation in to(for) end effector 4, need to install three covers or the above rotation preventing mechanism 3 of three covers, and the plane that the fixing point of the passive flexible cable 321,322 that makes rotation preventing mechanism 3 tie points that actuator 4 forms endways and two fixed pulleys 331,332 forms is antarafacial between two, to prevent in end effector 4 runnings the rotation in space all directions.
Below provide the different embodiment that rotation preventing mechanism 3 is installed:
Embodiment 1, establishes driver be four with active flexible cable for the plane rope traction parallel robot that need to do plane motion, and the device 3 of a set of rotation preventing mechanism is installed on end effector 4 in working face.
With reference to Fig. 2, this example comprises 1, four active flexible cable 2 of 4, four drivers of an end effector, a set of rotation preventing mechanism 3.Wherein end effector 4 is a cuboid of executing the task in horizontal plane, requires it in the process of motion, and the rotation on vertical direction can not occur.
Four drive dress devices 1 by equally distributed form, to be fixed on the position of appointment in work-yard, four initiatively flexible cable 2 respectively from four drivers dress devices 1 are drawn, be directly connected on end effector 4, to realize the driving to end effector 4.For limiting end effector 4 in the rotation of vertical direction, a set of rotation preventing mechanism 3 is installed on this working face.Its mounting means is: two velamens move flexible cable 321,322, one end, in the mode of mechanical connection, is connected with end effector 4 respectively, forms two tie point A and B, the other end strides across the two ends that are fixed on cylinder 31 after fixed pulley 331,332 is wound around, and the winding direction of two passive flexible cables 321,322 is identical; End effector 4 and while being attached thereto in the plane that the passive flexible cable connecing is in motion together, two fixed pulleys 331,332 are fixed on ground in the fixing mode of machinery, and two tie point A and the line between B of actuator 4 is parallel and equal endways to guarantee the line of two fixed pulleys 331,332 after fixing and two velamens to move flexible cable 321,322; One end of counterweight flexible cable 34 is connected with counterweight 35, and the other end is fixed on the centre position of cylinder 31 after being wound around, and winding direction is contrary with the winding direction of passive flexible cable 321,332; Cylinder 31 is fixed on the ground of fixed pulley 331,332 oblique belows by its back shaft, and keep the axis of cylinder 31 parallel with the line of two fixed pulleys 331,332, the cylinder 31 after installation is wanted under the effect of passive rope 321,322 or counterweight rope 34, to roll.
The mounting means of the type can prevent the rotation of end effector 4 in the plane forming perpendicular to two tie point AB and two fixed pulley fixing points, can prevent that end effector 4 is in the rotation of vertical direction; Simultaneously, the installation sites of selecting due to two fixed pulleys 331 and 332 are in the working face of end effector 4, in the side that rotation preventing mechanism 3 is installed, pulling force is provided can to end effector 4, make end effector 4 arrive the position that only can not arrive under the driving of driver 1, increase the working space of end effector 4; Due to the moving flexible cable 321 and 322 of two velamens that exist in this mechanism, improved the rigidity of total; In the process of motion, the damping that in fixed pulley 331,332 and cylinder 31, the existence of frictional force can increase system makes system motion more steady simultaneously.
Embodiment 2, establish driver and are four with active flexible cable, need the device 3 of anti-rotation Plane Installation two cover rotation preventing mechanisms according to end effector 4.
With reference to Fig. 3, this example comprises 1, four active flexible cable of 4, four drivers of an end effector, 2, two cover rotation preventing mechanisms 3.Wherein end effector 4 is a cuboid of executing the task in space, requires it in the process of motion, and the rotation in vertical direction and left and right horizontal direction can not occur.
Four drive dress devices 1 by equally distributed form, to be fixed on the position of appointment in work-yard, four initiatively flexible cable 2 respectively from four driver devices 1 are drawn, be directly connected on end effector 4, to realize the driving to end effector 4.For limiting the rotation of end effector 4 in vertical direction and left and right horizontal direction, a set of rotation preventing mechanism 3 is installed respectively in the symmetrical side of actuator 4 endways.Wherein:
Being installed as of end effector 4 right flank rotation preventing mechanisms: two velamens move flexible cable 321,322, one end is in the mode of mechanical connection, be connected with end effector 4 respectively, form two tie point A and B, the other end strides across the two ends that are fixed on cylinder 31 after fixed pulley 331,332 is wound around, and the winding direction of two passive flexible cables 321,322 is identical; Two fixed pulleys 331,332 are arranged on the lower position of end effector 4 motions, it is fixed on ground in the fixing mode of machinery, and two tie point A and the line between B of actuator 4 is parallel and equal endways to guarantee the line of two fixed pulleys 331,332 after fixing and two velamens to move flexible cable 321,322; One end of counterweight flexible cable 34 is connected with counterweight 35, and the other end is fixed on the centre position of cylinder 31 after being wound around, and winding direction is contrary with the winding direction of passive flexible cable 321,332; Cylinder 31 is fixed on the ground of fixed pulley 331,332 oblique belows by its back shaft, and keep the axis of cylinder 31 parallel with the line of two fixed pulleys 331,332, the cylinder 31 after installation can roll under the effect of passive rope 321,322 or counterweight rope 34;
Being installed as of end effector 4 left surface rotation preventing mechanisms: two velamens move flexible cable 321,322, one end is in the mode of mechanical connection, be connected with end effector 4 respectively, form two tie point C and D, the other end strides across the two ends that are fixed on cylinder 31 after fixed pulley 331,332 is wound around, and the winding direction of two passive flexible cables 321,322 is identical; Two fixed pulleys 331,332 are arranged on the lower position of end effector 4 motions, it is fixed on ground in the fixing mode of machinery, and two tie point C and the line between D of actuator 4 is parallel and equal endways to guarantee the line of two fixed pulleys 331,332 after fixing and two velamens to move flexible cable 321,322; One end of counterweight flexible cable 34 is connected with counterweight 35, and the other end is fixed on the centre position of cylinder 31 after being wound around, and winding direction is contrary with the winding direction of passive flexible cable 321,332; Cylinder 31 is fixed on the ground of fixed pulley 331,332 oblique belows by its back shaft, and keep the axis of cylinder 31 parallel with the line of two fixed pulleys 331,332, the cylinder 31 after installation is wanted under the effect of passive rope 321,322 or counterweight rope 34, to roll.
The mounting means of the type can prevent the rotation of end effector 4 in horizontal plane and side plane, can prevent the rotation of end effector 4 in vertical direction and left and right horizontal direction; Simultaneously, the installation sites of selecting due to two fixed pulleys 331 and 332 are the lower position of end effector 4 motions, the rotation preventing mechanism 3 of installing, pulling force is provided can to end effector 4, make end effector 4 arrive the position that only can not arrive under the driving of driver 1, increase the working space of end effector 4; Due to the moving flexible cable 321 and 322 of two velamens that exist in this mechanism, improved the rigidity of total; In the process of motion, the damping that in fixed pulley 331,332 and cylinder 31, the existence of frictional force can increase system makes system motion more steady simultaneously.
Embodiment 3, establish driver and are three with active flexible cable, need the device 3 of the Plane Installation three cover rotation preventing mechanisms of anti-rotation according to end effector 4.
With reference to Fig. 4, this example comprises 1, three active flexible cable of 4, three drivers of an end effector, 2, three cover rotation preventing mechanisms 3.Wherein end effector 4 is a cuboid of executing the task in space, require its motion process in can only translation.
Three drive dress devices 1 by equally distributed form, to be fixed on the position of appointment in work-yard, three initiatively flexible cable 2 respectively from three drive assemblies 1 are drawn, be directly connected on end effector 4, to realize the driving to end effector 4.For being limited to the rotation in all directions of space, guarantee the motion state that it can only translation, need the symmetrical side of actuator 4 and trailing flank endways that a set of rotation preventing mechanism 3 is installed respectively.Wherein:
Being installed as of end effector 4 right flank rotation preventing mechanisms: two velamens move flexible cable 321,322, one end is in the mode of mechanical connection, be connected with end effector 4 respectively, form two tie point A and B, the other end strides across the two ends that are fixed on cylinder 31 after fixed pulley 331,332 is wound around, and the winding direction of two passive flexible cables 321,322 is identical; Two fixed pulleys 331,332 are arranged on the top position of end effector 4 motions, it is fixed on ground in the fixing mode of machinery, and two tie point A and the line between B of actuator 4 is parallel and equal endways to guarantee the line of two fixed pulleys 331,332 after fixing and two velamens to move flexible cable 321,322; One end of counterweight flexible cable 34 is connected with counterweight 35, and the other end is fixed on the centre position of cylinder 31 after being wound around, and winding direction is contrary with the winding direction of passive flexible cable 321,332; Cylinder 31 is fixed on the ground of fixed pulley 331,332 oblique belows by its back shaft, and keep the axis of cylinder 31 parallel with the line of two fixed pulleys 331,332, the cylinder 31 after installation can roll under the effect of passive rope 321,322 or counterweight rope 34;
Being installed as of end effector 4 left surface rotation preventing mechanisms: two velamens move flexible cable 321,322, one end is in the mode of mechanical connection, be connected with end effector 4 respectively, form two tie point C and D, the other end strides across the two ends that are fixed on cylinder 31 after fixed pulley 331,332 is wound around, and the winding direction of two passive flexible cables 321,322 is identical; Two fixed pulleys 331,332 are arranged on the top position of end effector 4 motions, it is fixed on ground in the fixing mode of machinery, and two tie point C and the line between D of actuator 4 is parallel and equal endways to guarantee the line of two fixed pulleys 331,332 after fixing and two velamens to move flexible cable 321,322; One end of counterweight flexible cable 34 is connected with counterweight 35, and the other end is fixed on the centre position of cylinder 31 after being wound around, and winding direction is contrary with the winding direction of passive flexible cable 321,332; Cylinder 31 is fixed on the ground of fixed pulley 331,332 oblique belows by its back shaft, and keep the axis of cylinder 31 parallel with the line of two fixed pulleys 331,332, the cylinder 31 after installation is wanted under the effect of passive rope 321,322 or counterweight rope 34, to roll.
Being installed as of end effector 4 trailing flank rotation preventing mechanisms: two velamens move flexible cable 321,322, one end is in the mode of mechanical connection, be connected with end effector 4 respectively, form two tie point E and F, the other end strides across the two ends that are fixed on cylinder 31 after fixed pulley 331,332 is wound around, and the winding direction of two passive flexible cables 321,322 is identical; Two fixed pulleys 331,332 are arranged on the top position of end effector 4 motions, it is fixed on ground in the fixing mode of machinery, and two tie point E and the line between F of actuator 4 is parallel and equal endways to guarantee the line of two fixed pulleys 331,332 after fixing and two velamens to move flexible cable 321,322; One end of counterweight flexible cable 34 is connected with counterweight 35, and the other end is fixed on the centre position of cylinder 31 after being wound around, and winding direction is contrary with the winding direction of passive flexible cable 321,332; Cylinder 31 is fixed on the ground of fixed pulley 331,332 oblique belows by its back shaft, and keep the axis of cylinder 31 parallel with the line of two fixed pulleys 331,332, the cylinder 31 after installation is wanted under the effect of passive rope 321,322 or counterweight rope 34, to roll.
The mounting means of the type can prevent that end effector 4 is in the rotation of space all directions, and end effector only can translation in space; Meanwhile, the installation sites of selecting due to two fixed pulleys 331 and 332 are the top position of end effector 4 motions, the rotation preventing mechanism 3 of installation, pulling force is provided can to end effector 4, reduce the pulling force of driver to end effector, thereby reduce driving power, reduce energy consumption; Due to the moving flexible cable 321 and 322 of two velamens that exist in this mechanism, improved the rigidity of total; In the process of motion, the damping that in fixed pulley 331,332 and cylinder 31, the existence of frictional force can increase system makes system motion more steady simultaneously.
The cuboid that above-mentioned end actuator 4 is not limited to execute the task in space, end effector 4 for other shape, as long as while guaranteeing that rotation preventing mechanism 3 is connected with end effector 4, endways on actuator 4 the line keeping parallelism of formed tie point after the line in space is installed with two fixed pulleys 331,332 with equate, and passive flexible cable 321,322 does not contact with end effector 4.When many cover rotation preventing mechanisms 3 are installed, if respectively overlap plane that passive flexible cable 321,322 tie points that actuator 4 forms endways of rotation preventing mechanism 3 and the fixing point of two fixed pulleys 331,332 form in space antarafacial between two.
Claims (8)
1. the rope with rotation preventing mechanism draws parallel robot device, comprise initiatively flexible cable (2) of end effector (4), n cover drive unit (1) and n root, n >=3, every cover drive unit (1) is connected with end effector (4) by an active flexible cable (2), the object that end effector (4) is controlled by rope traction parallel robot for space, it is characterized in that, on end effector (4), be connected with rotation preventing mechanism (3), in order to prevent the rotation of end effector (4) when the spatial operation.
2. the rope with rotation preventing mechanism according to claim 1 draws parallel robot device, it is characterized in that, rotation preventing mechanism (3) comprises that two velamens move flexible cable (321,322), two fixed pulleys (331,332), a cylinder (31), counterweight flexible cable (34) and counterweight (35);
Described two velamens move flexible cable (321,322), and its one end is connected with end effector (4) respectively, form two tie points, and the other end strides across the two ends that are fixed on cylinder (31) after fixed pulley (331,332) is wound around with equidirectional;
Described two fixed pulleys (331,332) be fixed on ground, and the line between two tie points of actuator (4) is parallel and distance is equal endways to guarantee the line of two fixed pulleys (331,332) after fixing and the moving flexible cable (321,322) of two velamens;
It is upper that described counterweight (35) is suspended on cylinder (31) by counterweight flexible cable (34), stressed for balance rotation preventing mechanism (3).
3. the rope with rotation preventing mechanism according to claim 2 draws parallel robot device, it is characterized in that, one end of counterweight flexible cable (34) is connected with counterweight (35), the other end is fixed on the centre position of cylinder (31) after being wound around, and the winding direction of winding direction and passive flexible cable (321,332) is contrary.
4. the rope with rotation preventing mechanism according to claim 3 draws parallel robot device, it is characterized in that, the weight of counterweight (35) is determined according to the stressing conditions of rotation preventing mechanism (3), be that counterweight (35) should make every velamen move flexible cable (321,322) pulling force of end effector (4) is not less than to 20% of end effector (4) self gravitation.
5. the traction parallel robot device with rotation preventing mechanism according to claim 1 and 2, is characterized in that, the installation quantity of rotation preventing mechanism (3) and position need to prevent that according to end effector (4) duty of rotating from determining.
6. the traction parallel robot device with rotation preventing mechanism according to claim 5, it is characterized in that, for the situation that need to prevent end effector (4) rotation in one direction, only need to install a set of rotation preventing mechanism (3), during installation, to make the passive flexible cable (321 of rotation preventing mechanism 3,322) plane that the tie point that actuator (4) forms endways and the fixing point of two fixed pulleys (331,332) form is vertical with this direction.
7. traction parallel robot device according to claim 5, it is characterized in that, for the situation that need to prevent the rotation of end effector (4) on both direction, need, by symmetrical structure, two cover rotation preventing mechanisms (3) are installed, the passive flexible cable (321 of the two cover rotation preventing mechanisms 3 of installing, 322) actuator (4) forms endways tie point and two fixed pulleys (331, 332) projection of the plane that fixing point forms on this both direction is all parallelogram, stressed with balance end effector (4), to prevent the rotation of end effector (4) in this direction.
8. the traction parallel robot device with rotation preventing mechanism according to claim 5, it is characterized in that, the process of executing the task of situation can only translation in to(for) end effector (4), more than three groups or three groups rotation preventing mechanisms (3) is installed, and respectively overlap the passive flexible cable (321 of rotation preventing mechanism (3), 322) actuator (4) forms endways tie point and two fixed pulleys (331,332) plane that fixing point forms is antarafacial between two in space, to prevent in end effector (4) running the rotation in space all directions.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110101332A (en) * | 2019-05-15 | 2019-08-09 | 江苏理工学院 | A kind of combined type window wiping robot system and clean method |
| CN110817755A (en) * | 2019-11-19 | 2020-02-21 | 西安电子科技大学 | Large-range vertical face operation cable traction translation motion platform and method |
| CN113329849A (en) * | 2019-04-08 | 2021-08-31 | 罗伯特奈有限公司 | Cable robot |
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| CN103273479A (en) * | 2013-05-15 | 2013-09-04 | 西安电子科技大学 | Cable traction parallel robot device driven by circulation cables |
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| CN113329849A (en) * | 2019-04-08 | 2021-08-31 | 罗伯特奈有限公司 | Cable robot |
| CN110101332A (en) * | 2019-05-15 | 2019-08-09 | 江苏理工学院 | A kind of combined type window wiping robot system and clean method |
| CN110817755A (en) * | 2019-11-19 | 2020-02-21 | 西安电子科技大学 | Large-range vertical face operation cable traction translation motion platform and method |
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