CN105364911A - Top-supported type over-span space robot with four ropes - Google Patents

Top-supported type over-span space robot with four ropes Download PDF

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Publication number
CN105364911A
CN105364911A CN201510818727.5A CN201510818727A CN105364911A CN 105364911 A CN105364911 A CN 105364911A CN 201510818727 A CN201510818727 A CN 201510818727A CN 105364911 A CN105364911 A CN 105364911A
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China
Prior art keywords
rope
robot
span
motion
suo
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CN201510818727.5A
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Chinese (zh)
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CN105364911B (en
Inventor
唐晓强
邵珠峰
田斯慧
汪劲松
刘辛军
李煜琦
祝玉兰
季益中
项程远
刘振辉
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清华大学
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Priority to CN201510818727.5A priority Critical patent/CN105364911B/en
Publication of CN105364911A publication Critical patent/CN105364911A/en
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Publication of CN105364911B publication Critical patent/CN105364911B/en

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Abstract

A top-supported type over-span space robot with four ropes comprises a mechanical supporting frame, a rope pay-off mechanism, a moving mechanism and an end executor. The top-supported type over-span space robot is a hung type robot with one to four ropes connected in parallel. Rope supporting structures are located above a working space; in use, the whole robot is hung on a crown block, and therefore interference can be avoided when the end executor moves in an over-span mode. One end of each of the four ropes is connected with the end executor, and the other end of each rope is connected to a corresponding drum through a pulley. Motors are used for driving the ropes, so that the end executor is made to have three translational-motion freedom degrees, and wide-range over-span motion of the mechanisms can be achieved; the manufacturing cost is reduced, the problem that the operation space range of an existing parallel-rope robot cannot exceeds the range of the supporting frame is solved, and the top-supported type over-span space robot with the four ropes has wide application prospects in the fields of material carrying, mechanism spraying and the like.

Description

Suo Chao span robot in brace type space four in one
Technical field
The invention belongs to field of mechanical technique, particularly Suo Chao span robot in brace type space four in one.
Background technology
Cable parallel mechanism replaces rigid member to drive moving platform to move by rope, make it have certain flexibility, there is the feature such as high-speed motion and lightweight construction, simultaneously because rope can infinitely be wrapped on reel in theory, make cable parallel mechanism working space very large.The fields such as present Aero-Space, medical rehabilitation and wind tunnel experiment have broad application prospects.
But the motion of existing cable parallel mechanism terminal moving platform is still limited to out in the spatial dimension that the rope strong point formed, and namely working space is positioned at rope strong point line scope, go out the working space scope that volume that rope supporting mechanism takies is greater than terminal.If can realize the line scope that terminal range of movement is greater than the rope strong point, obtain larger working space, it will be higher that its potential engineer applied is worth, and application also will be more wide.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of upper brace type space four Suo Chao span robot, for spatial redundancy drives suspension type 1-4 rope shunting means, by programming movement track, the working space of end effector can be made to exceed the rope strong point, thus realize the motion of super span on a large scale.
To achieve these goals, the technical solution used in the present invention is:
Suo Chao span robot in brace type space four in one, is made up of support frame 1, Chu Suo mechanism, motion and end effector:
Described support frame 1 is suspended on overhead traveling crane, is quadrilateral structure;
Described Chu Suo mechanism goes out cable elements by four and forms, each go out cable elements be made up of motor 4, shaft coupling 8, reduction box 9 and reel 10, wherein the output of motor 4 connects the shaft coupling 8 of its place unit, reduction box 9 and reel 10 successively;
Described motion is made up of four moving cells be arranged in below support frame 1 four angles, each moving cell is formed by going out rope pulley 5, tension pulley block 3 and rope 6, wherein the one ends wound of rope 6 goes out on the reel 10 of cable elements at one, then successively through its place unit go out rope pulley 5 and tension pulley block 3 after, the other end is connected on end effector 7, realizing change to the rope direction of motion and tensioning by going out rope pulley 5 and tension pulley block 3, being controlled the motion of end effector 7 by described four ropes 6.
Described go out rope pulley 5 and tension pulley block 3 be fixed pulley.
Described support frame 1 is made up of aluminum alloy materials, is rectangular configuration.
Described go out cable elements be arranged in below support frame 1 four angles, each go out cable elements be arranged in a cabinet 2.
Be connected with bearing diagonal between the adjacent edge of described support frame 1, bearing diagonal is positioned at the inside of quadrilateral structure, and tension pulley block 3 is arranged on the middle part of this bearing diagonal.
Rope 6 is wrapped on reel 10 by the present invention, after going out rope pulley 5, tension pulley block 3, connect end effector 7.When motor 4 operates, by shaft coupling 8 and reduction box 9, transfer the motion to reel 10, thus control the motion of rope 6.The working space of end effector 7 can exceed support frame 1 scope, realizes the motion of super span on a large scale.
Compared with prior art, the invention has the beneficial effects as follows:
(1) terminal quality point has three translational degree of freedom, through planning its movement locus, can realize the motion of mechanism's super span on a large scale, solve the difficult problem that existing rope parallel robot working space scope cannot exceed support frame scope.
(2) supporting construction of this robot is in above working space.During use, integral hanging is on overhead traveling crane, produces and interfere when end effector can be avoided to surpass span motion.
Accompanying drawing explanation
Fig. 1 is Suo Chao span robot in brace type space four in the present invention.
Fig. 2 is that the present invention goes out rope structural scheme of mechanism.
Fig. 3 is that robot of the present invention surpasses span rectilinear motion schematic diagram.
Fig. 4 is that robot of the present invention surpasses span horizontal circular movement schematic diagram.
Fig. 5 is that robot of the present invention surpasses the vertical circular motion schematic diagram of span.
Detailed description of the invention
Embodiments of the present invention are described in detail below in conjunction with drawings and Examples.
In the present invention, Suo Chao span robot in brace type space four as shown in Figure 1, is made up of support frame 1, Chu Suo mechanism, motion and end effector.
Support frame 1 is made up of aluminum alloy materials, is suspended on overhead traveling crane during work, is quadrilateral structure; Be connected with the bearing diagonal of level between the adjacent edge of support frame 1, bearing diagonal is positioned at the inside of quadrilateral structure.
As Fig. 2, Chu Suo mechanism goes out cable elements by four and forms, each go out cable elements be made up of motor 4, shaft coupling 8, reduction box 9 and reel 10, going out cable elements is arranged in below support frame 1 four angles, each go out cable elements be arranged in a cabinet 2, wherein the output of motor 4 connects the shaft coupling 8 of its place unit, reduction box 9 and reel 10 successively.
Motion is made up of four moving cells be arranged in below support frame 1 four angles, each moving cell is formed by going out rope pulley 5, tension pulley block 3 and rope 6, go out rope pulley 5 and tension pulley block 3 is fixed pulley, tension pulley block 3 is arranged on the middle part of this bearing diagonal.Wherein the one ends wound of rope 6 goes out on the reel 10 of cable elements at one, then successively through its place unit go out rope pulley 5 and tension pulley block 3 after, the other end is connected on end effector 7, realizing change to the rope direction of motion and tensioning by going out rope pulley 5 and tension pulley block 3, being controlled the motion of end effector 7 by four ropes 6.
Flexible and the pulling force of rope 6 is controlled by Chu Suo mechanism, and when motor 4 operates, rotating speed reduces by reduction box 9, and torque is amplified, and transfers the motion to reel 10 place.Reel 10 controls the flexible and stressed of rope 6.
Fig. 3 surpasses span rectilinear motion schematic diagram for this robot.End effector 7 has three translational degree of freedom, through planning its movement locus, can realize the motion of mechanism's super span on a large scale.In figure, thick double dot dash line depicts the straight-line trajectory of end effector, and thin double dot dash line represents that the rope of movement locus place plane supports scope, and I position is beyond the rope strong point.
Fig. 4 surpasses span horizontal circular movement schematic diagram for this robot.In figure, thick double dot dash line depicts the horizontal circular movement track of end effector 7, and thin double dot dash line represents that the rope of movement locus place plane supports scope, and track is all beyond the rope strong point.
Fig. 5 surpasses the vertical circular motion schematic diagram of span for this robot.In figure, thick double dot dash line depicts the vertical circular motion track of end effector 7, and thin double dot dash line represents that the rope of movement locus place plane supports scope, and I position is beyond the rope strong point.

Claims (5)

1. a upper brace type space four Suo Chao span robot, is made up of support frame (1), Chu Suo mechanism, motion and end effector, it is characterized in that:
Described support frame (1) is suspended on overhead traveling crane, is quadrilateral structure;
Described Chu Suo mechanism goes out cable elements by four and forms, each go out cable elements be made up of motor (4), shaft coupling (8), reduction box (9) and reel (10), wherein the output of motor (4) connects the shaft coupling (8) of its place unit, reduction box (9) and reel (10) successively;
Described motion is made up of four moving cells be arranged in below support frame (1) four angle, each moving cell is by going out rope pulley (5), tension pulley block (3) and rope (6) are formed, wherein the one ends wound of rope (6) goes out on the reel (10) of cable elements at one, then successively through its place unit go out rope pulley (5) and tension pulley block (3) after, the other end is connected on end effector (7), change to the rope direction of motion and tensioning is realized by going out rope pulley (5) and tension pulley block (3), the motion of end effector (7) is controlled by described four ropes (6).
2. go up brace type space four Suo Chao span robot according to claim 1, it is characterized in that, described in go out rope pulley (5) and tension pulley block (3) is fixed pulley.
3. go up brace type space four Suo Chao span robot according to claim 1, it is characterized in that, described support frame (1) is made up of aluminum alloy materials, is rectangular configuration.
4. go up brace type space four Suo Chao span robot according to claim 1, it is characterized in that, described in go out cable elements and be arranged in below support frame (1) four angle, each go out cable elements be arranged in a cabinet (2).
5. go up brace type space four Suo Chao span robot according to claim 1, it is characterized in that, be connected with bearing diagonal between the adjacent edge of described support frame (1), bearing diagonal is positioned at the inside of quadrilateral structure, and tension pulley block (3) is arranged on the middle part of this bearing diagonal.
CN201510818727.5A 2015-11-23 2015-11-23 Top-supported type over-span space robot with four ropes CN105364911B (en)

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CN105364911B CN105364911B (en) 2017-03-22

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105856205A (en) * 2016-06-17 2016-08-17 中国矿业大学 Parallel flexible cable suspension simulation system and parallel flexible cable suspension simulation method employing same
CN106625584A (en) * 2016-11-28 2017-05-10 清华大学 Robot for astronaut space work and based on cable parallel configuration
CN106826816A (en) * 2017-01-05 2017-06-13 清华大学 Anti- rope void leads device and the redundantly driven parallel device people comprising the device
CN106826795A (en) * 2017-03-01 2017-06-13 清华大学 A kind of space capture robot based on rope parallel architecture
CN106861981A (en) * 2017-02-06 2017-06-20 中国民航大学 A kind of rope drives aircraft spray painting motion platform
CN108970868A (en) * 2018-08-09 2018-12-11 清华大学 A kind of ship super span spraying profile planing method of rope parallel robot
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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CN102114632A (en) * 2011-01-25 2011-07-06 北京航空航天大学 Rope-driven parallel robot capable of realizing rapid reconfiguration
CN104196073A (en) * 2014-08-13 2014-12-10 清华大学 Riverway desilting mechanism based on cable driven parallel structure
CN104440877A (en) * 2014-11-06 2015-03-25 清华大学 Rope parallel robot for overhauling large vertical storage tank

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CN1397414A (en) * 2001-07-16 2003-02-19 中国科学院沈阳自动化研究所 Three-freedom parallel mechanism driven by flexible rope
US20050024005A1 (en) * 2003-07-28 2005-02-03 Jim Rodnunsky System and method for facilitating fluid three-dimensional movement of an object via directional force
CN201519962U (en) * 2009-10-09 2010-07-07 中国矿业大学 Flexible wire parallel mechanism with spatial three-degree-of-freedom translational combination drive
CN102114632A (en) * 2011-01-25 2011-07-06 北京航空航天大学 Rope-driven parallel robot capable of realizing rapid reconfiguration
CN104196073A (en) * 2014-08-13 2014-12-10 清华大学 Riverway desilting mechanism based on cable driven parallel structure
CN104440877A (en) * 2014-11-06 2015-03-25 清华大学 Rope parallel robot for overhauling large vertical storage tank

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105856205A (en) * 2016-06-17 2016-08-17 中国矿业大学 Parallel flexible cable suspension simulation system and parallel flexible cable suspension simulation method employing same
CN106625584A (en) * 2016-11-28 2017-05-10 清华大学 Robot for astronaut space work and based on cable parallel configuration
CN106826816A (en) * 2017-01-05 2017-06-13 清华大学 Anti- rope void leads device and the redundantly driven parallel device people comprising the device
CN106861981A (en) * 2017-02-06 2017-06-20 中国民航大学 A kind of rope drives aircraft spray painting motion platform
CN106826795A (en) * 2017-03-01 2017-06-13 清华大学 A kind of space capture robot based on rope parallel architecture
CN108970868A (en) * 2018-08-09 2018-12-11 清华大学 A kind of ship super span spraying profile planing method of rope parallel robot
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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