CN106826816B - Anti- rope void leads device and the redundantly driven parallel device people comprising the device - Google Patents

Anti- rope void leads device and the redundantly driven parallel device people comprising the device Download PDF

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Publication number
CN106826816B
CN106826816B CN201710008132.2A CN201710008132A CN106826816B CN 106826816 B CN106826816 B CN 106826816B CN 201710008132 A CN201710008132 A CN 201710008132A CN 106826816 B CN106826816 B CN 106826816B
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China
Prior art keywords
rope
spring
shell
void
inner cylinder
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CN106826816A (en
Inventor
邵珠峰
邓豪
王立平
唐晓强
尤政
张兆坤
陈炼
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Tsinghua University
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1643Programme controls characterised by the control loop redundant control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Emergency Lowering Means (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

The invention discloses a kind of anti-rope void to lead device and redundantly driven parallel device people comprising the device, including charging module, shell, spring, hall device, permanent magnet and the inner cylinder made of ferromagnetic material;Inner cylinder is equipped with a detection notch;The upper/lower terminal of spring all ties up on rope, and the length of spring is grown simultaneously with the increase of the tensile force of rope;Hall device is installed on shell, a permanent magnet is arranged in the hall device back side;Hall device identifies the tensioning degree of rope by detecting the change in location of notch;The present invention is by detection of the hall device to Suo Li, and compared with the existing technology, the degree of modularity is high, simple and reliable for structure, installs easy to implement.

Description

Anti- rope void leads device and the redundantly driven parallel device people comprising the device
Technical field
The present invention relates to shunting means technical field more particularly to a kind of device that anti-rope void is led and comprising the superfluous of the device Remaining driving parallel robot.
Background technique
The research and application of cable parallel mechanism originate from the phase at the end of the eighties in last century, are that one of parallel institution is special soft Property mechanism, driving branch be flexible cable.Cable parallel mechanism has structure simple, work compared to rigid rod supports in parallel mechanism It is big to make space, high load capability is easy to assemble, can recombinate, the advantages that degree of modularity height and fast movement velocity.
However, the configuration of cable parallel mechanism is subject to many limitations since rope can only bear pulling force unbearable pressure.For Guarantee the Complete Bind of the terminal movement of rope, the quantity of rope must be more than free terminal degree mesh, to introduce redundancy The problem of driving and rope void are led.When rope is in void and leads state, it is easy to cause the tension of rope extremely uneven, control is difficult.Currently, solution Certainly this problem is there are two types of method: first is that the pairs of pull-up structure of rope is allowed, to guarantee that rope is tensioned always;Second is that in the controls Suo Li detection and adjustment module is added.The former rope is more to be unfavorable for applying, and the latter solves this problem frequently with force snesor, But the wiring of this method is complicated, needs to consider installation site, and costly, need special power supply line to force snesor into Row power supply.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of devices and packet that anti-rope void is led Redundantly driven parallel device people containing the device, the detection by hall device to Suo Li, compared with the existing technology, modularization journey Degree is high, simple and reliable for structure, installs easy to implement.
To achieve the goals above, the technical scheme adopted by the invention is that:
A kind of anti-rope void lead device include shell, spring, hall device, permanent magnet and made of ferromagnetic material in Cylinder;The inner cylinder is equipped with a detection notch;The upper/lower terminal of the spring all ties up on rope, and the length of spring is with rope The increase of tensile force is grown simultaneously;Spring is electrically conductive, and the upper end and shell consolidate, and lower end and inner cylinder consolidate;Inner cylindrical portion is placed in In shell, with the elongation and compression of spring, inner cylinder opposite shell is slided up and down;Hall device is installed on the shell, suddenly A permanent magnet is arranged in the device back side in you;Hall device identifies the tensioning degree of rope by detecting the change in location of notch.
As an improvement of the present invention, it further includes charging module that a kind of anti-rope void, which leads device, and spring is electrically conductive, and spring It is equipped with conducting wire and charging module, three forms the wire loop of closure;The Suo Li variation of rope brings the elongation and compression of spring, The elongation of spring forms electric current with compression meeting cutting magnetic line, this electric current gives charging module to charge;Charging module for power supply is to suddenly That device.
As a further improvement of the present invention, it is provided at least two groups hall device on the shell, wherein first group Installation site corresponds to the position that notch is detected when Suo Li is minimum tensile force, and second group of installation site corresponds to Suo Li to allow most The position of notch is detected when big value.
As a further improvement of the present invention, four groups of hall devices are provided on the shell.
The present invention also provides a kind of redundantly driven parallel device people that device is led comprising anti-rope void, including terminal are dynamic flat Platform, the rope of multi-group driving, it is characterised in that: every group of Suo Shangjun is in series with an anti-rope void and leads device.
Compared with prior art, the present invention has a characteristic that
The present invention uses hall device, and hall device is a kind of Magnetic Sensor based on Hall effect, has many advantages, Their sound construction, small in size, light-weight, the service life is long, easy for installation, small power consumption, and frequency is high (up to 1MHZ), vibration resistance, The pollution or corrosion of dust, greasy dirt, steam and salt fog etc. are not afraid of it, the present invention detects Suo Li by hall device, relatively In the degree of modularity is high, and simple and reliable for structure, installation is easy to implement, and can use the stretching motion of conductive spring Cutting magnetic line generates electric power and charges to charging module, and charging module supplies electricity to hall device in turn, to detect Suo Libian Extraneous power supply is not needed when change to participate in, and is particularly suitable for installation environment situation complicated and changeable.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram that a kind of anti-rope void leads device;
Fig. 2 be it is a kind of can self-powered anti-rope void lead the structural schematic diagram of device;
Fig. 3 is the structural schematic diagram that the redundantly driven parallel device people of device is led comprising anti-rope void;
In figure: 1- terminal moving platform, 2- rope, the anti-void of 3- lead device, 31- conducting wire, 32- charging module, 33- shell, 34- bullet Spring, 35- hall device, 36- permanent magnet, 37- inner cylinder, 371- detect notch.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
As shown in Fig. 1 a kind of anti-rope void lead device, including shell 33, spring 34, hall device 35, permanent magnet 36 with And inner cylinder 37 made of ferromagnetic material;The lateral wall of inner cylinder 37 is equipped with a detection notch 371;The upper end of spring 34 passes through outer The top of shell 33 ties up on rope 2, and the bottom that lower end passes through inner cylinder 37 ties up on rope 2, the length of spring 34 with rope 2 tensile force Increase simultaneous growth;The upper end of electrically conductive spring 34 and shell 33 consolidate, and lower end and inner cylinder 37 consolidate;Inner cylinder 37 is partially disposed in In shell 33, with the elongation and compression of spring 34,37 opposite shell 33 of inner cylinder is slided up and down;It is provided with suddenly on the shell 33 A permanent magnet 36 is arranged in that device 35,35 back side of hall device;The change in location that hall device 35 passes through detection notch 371 Identify the tensioning degree of rope 2.Hall device is a kind of Magnetic Sensor based on Hall effect, is had many advantages, structure jail Gu small in size, light-weight, the service life is long, easy for installation, small power consumption, and frequency is high (up to 1MHZ), and vibration resistance is not afraid of dust, oil The pollution such as dirty, steam and salt fog or corrosion.The present embodiment passes through detection notch position by detection of the hall device to Suo Li The variation set judges the tensioning situation of rope and whether void is led, and compared with the existing technology, the degree of modularity is high, and structure simply may be used It leans on, installs easy to implement.
As shown in Fig. 2, as another embodiment of the present invention, it further includes charging module 32, bullet that a kind of anti-rope void, which leads device, Spring 34 is electrically conductive, and spring 34, conducting wire 31 and 32 three of charging module form the wire loop of closure;The Suo Libian of rope 2 Change the elongation and compression for bringing spring 34, the elongation of spring 34 forms electric current with compression meeting cutting magnetic line, this electric current is filled Electric module 32 charges;Charging module 32 is powered to hall device 35.The charging module prior art can be made into, and such as one can fill The ball bearing made that battery is generated electricity using cutting magnetic line plus an energy and can be charged to rechargeable battery.Rechargeable battery is to Hall Device power supply, also receives the power generation of spring cutting magnetic line.Therefore, the present embodiment do not need it is extraneous to hall device power supply i.e. The detection to Suo Li, the special dimension suitable for a few thing environment complexity can be achieved.At least two are provided on the shell 33 Group hall device 35, wherein first group of installation site correspond to the position of detection notch 371 when Suo Li is minimum tensile force, second It is the position that notch 371 is detected when allowing maximum value that the installation site of group, which corresponds to Suo Li,.Two groups of hall devices can detect Suo Li is the state of minimum tensile force, avoids void from leading, and can detecte out the state of Suo Li maximum permissible value, rope is avoided to be pulled off It causes an accident.The basic principle of the present embodiment is that the stretching motion cutting magnetic line generation electric power of conductive spring is simultaneously filled Electric module charging, charging module for power supply judge the tensioning situation of rope to hall device and by the variation of detection gap position, Hall element can emit signal using wireless modes such as bluetooths, avoid system oscillation by adding damper if any oscillation;This Extraneous power supply is not needed when invention detection Suo Li variation to participate in, and is particularly suitable for installation environment situation complicated and changeable.
Since redundant drive robot unavoidably has extra rope, in Suo Li assigning process, often occur individual Cable force be minimum tensile force to it is empty lead the case where, and the empty guy rope of redundant robot often changes namely the rope of each rope Power variation is all larger, and spring elongation and the variation of compression are also violent compared with other parallel robots, thus bring in cutting magnetic line Electric power it is also more considerable.Based on this, anti-rope void of the invention leads device particularly suitable for redundantly driven parallel device people, such as schemes 3 illustrate a kind of embodiment for leading device 3 comprising anti-rope void, including terminal moving platform 1, the rope 2 of multi-group driving, every group of rope It is in series with an anti-rope void on 2 and leads device 3.In addition, can be avoided by adding damper such as discovery system oscillation.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used With modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features all Within the scope of the present invention.As those skilled in the art can be fixed by permanent magnet according to Hall effect principle On the inner cylinder, the appropriate location of hall device setting on the shell, the position changed to identify inner cylinder in hall device detection magnetic field It sets, to know the tensioning degree of Suo Li;The charging module of each group rope can also be together in series and be powered.These are modified or replace It changes, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.

Claims (5)

1. a kind of anti-rope void leads device, including shell (33) and spring (34), which is characterized in that further include hall device (35), Permanent magnet (36) and the inner cylinder made of ferromagnetic material (37);The inner cylinder (37) is equipped with detection notch (371);
The upper/lower terminal of the spring (34) all ties up on rope (2), the length of spring (34) with the tensile force of rope (2) increasing Big simultaneous growth;Spring (34) is electrically conductive, and the upper end and shell (33) consolidate, and lower end and inner cylinder (37) consolidate;Inner cylinder (37) portion It is placed in shell (33), with the elongation and compression of spring (34), inner cylinder (37) opposite shell (33) is slided up and down;
The hall device (35) is installed on shell (33), and a permanent magnet (36) is arranged in hall device (35) back side;Hall Device (35) identifies the tensioning degree of rope (2) by detecting the change in location of notch (371).
2. a kind of anti-rope void as described in claim 1 leads device, it is characterised in that: it further include charging module (32), wherein institute The spring (34) stated is electrically conductive, and spring (34), conducting wire (31) and charging module (32) three form the wire loop of closure; The Suo Li variation of rope (2) brings the elongation and compression of spring (34), and the elongation and compression of spring (34) can cutting magnetic line and shapes At electric current, this electric current charges to charging module (32);Charging module (32) supplies electricity to hall device (35).
3. a kind of anti-rope void as claimed in claim 1 or 2 leads device, it is characterised in that: be provided on the shell (33) to Few two groups of hall devices (35), wherein first group of installation site corresponds to detection notch (371) when Suo Li is minimum tensile force Position, it is the position that notch (371) are detected when allowing maximum value that second group of installation site, which corresponds to Suo Li,.
4. a kind of anti-rope void as claimed in claim 3 leads device, it is characterised in that: be provided with four groups suddenly on the shell (33) That device (35).
5. a kind of anti-rope void comprising as described in claim 2 to 4 is any leads the redundant drive rope parallel robot of device, including The rope (2) of terminal moving platform (1) and multi-group driving, it is characterised in that: be provided with an anti-rope void on every group of rope (2) and lead dress Set (3).
CN201710008132.2A 2017-01-05 2017-01-05 Anti- rope void leads device and the redundantly driven parallel device people comprising the device Active CN106826816B (en)

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CN109620094A (en) * 2018-11-15 2019-04-16 浙江欧琳生活健康科技有限公司 A kind of dish-washing machine and its control method
CN109602375B (en) * 2018-11-15 2021-10-26 宁波欧琳实业有限公司 Dish washing machine and control method for adjusting program thereof
CN109483569A (en) * 2018-11-23 2019-03-19 杭州申昊科技股份有限公司 Robot

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JPS6015308A (en) * 1983-07-06 1985-01-26 Central Conveyor Kk Conveyor with endless circulating body having automatic tension maintaining device
US6021579A (en) * 1998-04-01 2000-02-08 Joseph M. Schimmels Spatial parallel compliant mechanism
CN202944929U (en) * 2012-11-26 2013-05-22 上海龙腾机械制造有限公司 Tensioning detecting device of bubble cap tray
RU2569878C1 (en) * 2014-06-05 2015-11-27 Федеральное Государственное Бюджетное Образовательное Учреждение Высшего Профессионального Образования "Донской Государственный Технический Университет" (Дгту) Method for determination of load initial position for manipulator of parallel structure based on strain-measuring data
CN104477420B (en) * 2014-10-27 2016-05-18 清华大学 Nine rope driven machine people devices of a kind of zero-gravity simulation and low gravity
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