CN106903675A - A kind of telecontrol equipment based on flexible cable parallel technology - Google Patents
A kind of telecontrol equipment based on flexible cable parallel technology Download PDFInfo
- Publication number
- CN106903675A CN106903675A CN201710231603.6A CN201710231603A CN106903675A CN 106903675 A CN106903675 A CN 106903675A CN 201710231603 A CN201710231603 A CN 201710231603A CN 106903675 A CN106903675 A CN 106903675A
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- CN
- China
- Prior art keywords
- metal framework
- flexible cable
- telecontrol equipment
- parallel technology
- motor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
The present invention relates to a kind of telecontrol equipment based on flexible cable parallel technology,Including fixed platform,Pulley fixed platform,Metal framework,Coiling drum,Halfpace,Pulley,Flexible cable,The metal framework is the square bodily form or cuboid,The corner of top four of the metal framework is separately installed with pulley,The corner of lower section four of the metal framework is separately fixed in four fixed platforms,Stepper motor is additionally provided with each fixed platform,Motor control mechanism,Motor driver,The stepper motor is connected with motor driver,The halfpace is located at the inside of metal framework,Its four corners are connected by one end of four flexible cables respectively,Four other ends of flexible cable are connected through four pulleys above metal framework with four coiling drums in fixed platform respectively,Four coiling drums are connected with the output shaft of four stepper motors.The present invention is big using parallel robot working space, and control is flexible, and can realize many attitude.
Description
Technical field
It is a kind of skill that combination VR realizes simulated flight the present invention relates to a kind of telecontrol equipment based on flexible cable parallel technology
Art, can most of action during simulated flight, so as to reach the purpose of flight experience and training.
Background technology
Influenced each other between serial manipulator each motion input, final resultant motion goes to control the actuator of end
Motion and the adjustment of pose, advantage is simple structure, and forward kinematics solution is easier, and has the disadvantage that control accuracy is low, and working space is small,
Inverse kinematic is complicated.The multiple motion inputs of parallel robot are separate, the motion of co- controlling end effector and pose
Adjustment, advantage is simple inverse kinematic, and control accuracy is high, and working space is big, has the disadvantage that forward kinematics solution is complicated, and structure is multiple
It is miscellaneous.At present, the telecontrol equipment based on flexible cable parallel technology is used to be realized with reference to VR the technology and simulated flight process of simulated flight
What middle major part was acted has not been reported.
The content of the invention
The present invention is the deficiency for solving the above problems, there is provided a kind of telecontrol equipment based on flexible cable parallel technology, it is compared
In serial manipulator, parallel robot working space is big, and control is flexible, and can realize many attitude.
The present invention is achieved using following technical scheme：
A kind of telecontrol equipment based on flexible cable parallel technology of the present invention, including fixed platform, pulley fixed platform, metal frame
Frame, coiling drum, halfpace, pulley, flexible cable, the metal framework are the square bodily form or cuboid, the metal framework
The corner of top four be separately installed with pulley, the corner of lower section four of the metal framework is separately fixed at four fixed platforms
On, stepper motor, motor control mechanism, motor driver are additionally provided with each fixed platform, the stepper motor drives with motor
Dynamic device connection, the halfpace is located at the inside of metal framework, and its four corners are connected by four one end of flexible cable respectively
Fixed, four other ends of flexible cable connect through four coiling drums on four pulleys above metal framework and fixed platform respectively
Connect, four coiling drums are connected with the output shaft of four stepper motors.
4 motor control mechanisms are located at the corner below metal framework, and are driven by data wire and four motors
Device is connected.
Pose data acquisition unit is provided with below the halfpace, the pose data acquisition unit includes that first is single
Piece machine, gyroscope, a wiFi control modules, the gyroscope, a wiFi control modules are connected with single-chip microcomputer respectively.
Motor control mechanism includes second singlechip, the 2nd WiFi control modules of connection.
The metal framework is 1 meter cube shaped.
The stepper motor is 57HB7615 types.
The motor driver is STP-MD542 types.
Preferably, each length of side of the halfpace is the 1/5~2/3 of the correspondence metal framework length of side.
Preferably, each length of side of the halfpace is the 1/2~2/3 of the correspondence metal framework length of side.
Preferably, the height of the halfpace is the 1/3~2/3 of metal framework longitudinal direction height.
Preferably, first single-chip microcomputer is 32 single-chip microcomputers, and the gyroscope is gyroscope 6050.
Preferably, first single-chip microcomputer is identical with second singlechip, a wiFi control modules and the 2nd WiFi
Control module is identical.
The remarkable advantage that has compared with prior art of the present invention is：
A kind of telecontrol equipment based on flexible cable parallel technology of the present invention, is gone out after serial manipulator and parallel robot
A kind of existing New Parallel Manipulator mechanism, in terms of rigidity and working space, Compliant Assembly is between serial manipulator
And parallel robot between, be simple structure, the degree of modularity it is high, can heavy load operating, high-performance movement output, realize multiple
The device of the miscellaneous characteristics of motion, compared to prior art, apparatus of the present invention working space is big, and control is flexible, and can realize various
Attitude.Impact endurance test shock can be reduced using flexible cable mechanism, low cost, quality is small, and energy consumption is low.The achievable object of the present invention rises,
Decline, all around multi-direction upset, convenient and practical, can extensive use.
Brief description of the drawings
Fig. 1 is top view of the present invention；
Fig. 2 is front view of the invention；
Fig. 3 is stereogram of the invention
Fig. 4 is the structure chart of pose data acquisition unit of the invention；
Fig. 5 is motor control mechanism schematic diagram of the invention.
Specific embodiment
Specific embodiment of the invention is described in detail with reference to the accompanying drawings.
Referring to Fig. 1 to Fig. 5.
Each part numbers are in figure：
1st, fixed platform；2nd, pulley fixed platform；3rd, metal framework；4th, coiling drum；5th, stepper motor；6th, motor drives
Device；7th, pulley；8th, flexible cable；9th, halfpace；10th, pose data acquisition unit；11st, motor control mechanism；12nd, driver；13、
Data wire；
First single-chip microcomputer 102, gyroscope 101, a wiFi control modules 103；
Second singlechip 111, the 2nd WiFi control modules 112.
A kind of telecontrol equipment based on flexible cable parallel technology of the present invention, including fixed platform 1, pulley fixed platform 2, metal
Framework 3, coiling drum 4, halfpace 9, pulley 7, flexible cable 8, the metal framework 3 is the square bodily form or cuboid, described
The corner of top four of metal framework 3 is separately installed with pulley 7, and the corner of lower section four of the metal framework 3 is separately fixed at
In four fixed platforms 1, stepper motor 5, motor control mechanism 11, motor driver 12, institute are additionally provided with each fixed platform 1
State stepper motor 5 to be connected with motor driver 12, the halfpace 9 is located at the inside of metal framework 3, its four corner difference
Be connected by one end of four flexible cables 8, four other ends of flexible cable 8 respectively through the top of metal framework 3 four pulleys 7 with
Four coiling drums 4 in fixed platform 1 are connected, and four coiling drums 4 are connected with the output shaft of four stepper motors 5.
4 motor control mechanisms 11 are located at the corner of the lower section of metal framework 3, and are driven by data wire and four motors
Dynamic device connection.
The lower section of the halfpace 9 is provided with pose data acquisition unit 10, and the pose data acquisition unit 10 includes
First single-chip microcomputer 102, gyroscope 101, a wiFi control modules 103, the gyroscope 101, a wiFi control modules 103
It is connected with single-chip microcomputer 102 respectively.
Motor control mechanism 11 includes second singlechip 111, the 2nd WiFi control modules 112 of connection.
The metal framework 3 is cube shaped for 1 meter.
The stepper motor 5 is 57HB7615 types.
The motor driver is STP-MD542 types.
Each length of side of the halfpace 9 is the 1/5~2/3 of the correspondence length of side of metal framework 3.
Each length of side of the halfpace 9 is the 1/2~2/3 of the correspondence length of side of metal framework 3.
The height of the halfpace 9 is the 1/3~2/3 of the longitudinal height of metal framework 3.
First single-chip microcomputer 102 is 32 single-chip microcomputers, and the gyroscope 101 is gyroscope 6050.
First single-chip microcomputer 102 is identical with second singlechip 111, a wiFi control modules 103 and second
WiFi control modules 112 are identical.
Motor driver STP-MD542 types driver is using unique control circuit in the present invention, can make that the motor feels hot and fortune
Row noise is lower, and stationarity is higher, is a two-phase stepping motor driver with high cost performance.It is main to drive 42,57
Type two-phase hybrid stepping motor.Its micro-stepping high-subdividing number has 15 kinds, and maximum step number is 25000Pulse/rev；Its peak working load electricity
Stream scope is 1.0A-4.2A, and output current has 8 grades, and the resolution ratio of electric current is about 0.45A；With automatic semi-fluid, overvoltage and
The functions such as overcurrent protection.This driver is direct current supply, it is proposed that operating voltage range is 24VDC-36VDC, and voltage is no more than
50VDC, is not less than 20VDC.
The course of work：
Gyroscope 101 on pose data acquisition unit 10 gathers pose data input to the first single-chip microcomputer 102, Ran Hou
One single-chip microcomputer 102 is delivered to the PC of outside by the first WiFi module 103, obtains pose data, and PC passes through the 2nd WiFi
Module 112 is delivered to the second singlechip 112 on motor control mechanism 11, and second singlechip 112 controls 46 motor drivers
5 poses for driving 9 halfpaces of regulation of flexible cable 8 are rotated so as to control 4 stepper motors to rotate 5,4 stepper motors.
The present invention is, based on mechanical flexible cable technology, with reference to Electronic Control, then simulation flight to be combined with VR, when having adapted to
For trend, life ＆ amusement is not only suitable for, is also adapted to pilot's simulated training, be a very promising project, with huge
Promotional value.
Claims (10)
1. a kind of telecontrol equipment based on flexible cable parallel technology, it is characterized in that, including fixed platform (1), pulley fixed platform
(2), metal framework (3), coiling drum (4), halfpace (9), pulley (7), flexible cable (8), the metal framework (3) is pros
The bodily form or cuboid, the corner of top four of the metal framework (3) are separately installed with pulley (7), the metal framework (3)
The corner of lower section four be separately fixed on four fixed platforms (1), be additionally provided with each fixed platform (1) stepper motor (5),
Motor control mechanism (11), motor driver (12), the stepper motor (5) are connected with motor driver (12), the centre
Positioned at the inside of metal framework (3), its four corners are connected platform (9) by one end of four flexible cables (8) respectively, four
The other end of flexible cable (8) is roused through four coilings on four pulleys (7) above metal framework (3) and fixed platform (1) respectively
Wheel (4) connection, four coiling drums (4) are connected with the output shaft of four stepper motors (5), (4) the individual motor control mechanism
(11) corner below metal framework (3), and be connected with four motor drivers by data wire；The halfpace
(9) pose data acquisition unit (10) is provided with below, the pose data acquisition unit (10) includes the first single-chip microcomputer
(102), gyroscope (101), a wiFi control modules (103), the gyroscope (101), a wiFi control modules (103)
It is connected with single-chip microcomputer (102) respectively, second singlechip (111), twoth WiFi of the motor control mechanism (11) including connection
Control module (112).
2. the telecontrol equipment of flexible cable parallel technology is based on as claimed in claim 1, it is characterized in that, the metal framework (3) is 1 meter
It is cube shaped.
3. the telecontrol equipment of flexible cable parallel technology is based on as claimed in claim 1, it is characterized in that, the stepper motor (5) is
57HB7615 types.
4. the telecontrol equipment of flexible cable parallel technology is based on as claimed in claim 1, it is characterized in that the motor driver is STP-
MD542 types.
5. as claimed in claim 1 based on flexible cable parallel technology telecontrol equipment, it is characterized in that, the halfpace (9) it is every
The individual length of side is the 1/5~2/3 of correspondence metal framework (3) length of side.
6. as claimed in claim 1 based on flexible cable parallel technology telecontrol equipment, it is characterized in that, the halfpace (9) it is every
The individual length of side is the 1/2~2/3 of correspondence metal framework (3) length of side.
7. the telecontrol equipment of flexible cable parallel technology is based on as claimed in claim 1, it is characterized in that, the height of the halfpace 9
It is the 1/3~2/3 of the longitudinal height of metal framework 3.
8. the telecontrol equipment of flexible cable parallel technology is based on as claimed in claim 1, it is characterized in that, the type of the first single-chip microcomputer 102
Number be 32 single-chip microcomputers.
9. the telecontrol equipment of flexible cable parallel technology is based on as claimed in claim 1, it is characterized in that, the model of the gyroscope 101
Gyroscope 6050.
10. as claimed in claim 1 based on flexible cable parallel technology telecontrol equipment, it is characterized in that, first single-chip microcomputer 102 with
Second singlechip 111 is identical, and a wiFi control modules 103 are identical with the 2nd WiFi control modules 112.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710231603.6A CN106903675A (en) | 2017-04-11 | 2017-04-11 | A kind of telecontrol equipment based on flexible cable parallel technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710231603.6A CN106903675A (en) | 2017-04-11 | 2017-04-11 | A kind of telecontrol equipment based on flexible cable parallel technology |
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| Publication Number | Publication Date |
|---|---|
| CN106903675A true CN106903675A (en) | 2017-06-30 |
Family
ID=59194744
Family Applications (1)
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| CN201710231603.6A Pending CN106903675A (en) | 2017-04-11 | 2017-04-11 | A kind of telecontrol equipment based on flexible cable parallel technology |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309866A (en) * | 2017-07-24 | 2017-11-03 | 华南农业大学 | The Deep sea net cage cleaning robot and cleaning method of a kind of cable parallel drive |
| CN107803825A (en) * | 2017-12-11 | 2018-03-16 | 西安科技大学 | Variable configuration Cable-driven parallel manipulator |
| CN109015740A (en) * | 2018-08-09 | 2018-12-18 | 哈尔滨工业大学 | A kind of floating type flexible joint of tensioning and its design method |
| CN109158233A (en) * | 2018-10-29 | 2019-01-08 | 云南昆船设计研究院有限公司 | A kind of large surface spraying flexible cable robot |
| CN109454635A (en) * | 2018-10-15 | 2019-03-12 | 山东中衡光电科技有限公司 | A kind of steel wire flexible cable parallel connection mirror processing device based on lever principle |
| CN110013934A (en) * | 2019-04-02 | 2019-07-16 | 清华大学 | Automobile body-in-white fully-automatic laser scanning spraying detection integrated system |
| CN110962108A (en) * | 2018-09-29 | 2020-04-07 | 洛阳清展智能科技有限公司 | Flexible cable parallel driving robot for boiler detection and maintenance |
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| CN103831819A (en) * | 2014-03-12 | 2014-06-04 | 合肥工业大学 | Modularized reconstructible soft rope parallel mechanism experiment platform |
| CN104440870A (en) * | 2014-10-23 | 2015-03-25 | 合肥工业大学 | Variable structure parameter flexible rope parallel connection robot system and control method |
| 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 |
| CN205766107U (en) * | 2016-01-21 | 2016-12-07 | 深圳市华盛控科技有限公司 | A kind of parallel robot controller |
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| CN103293834A (en) * | 2013-05-13 | 2013-09-11 | 西安电子科技大学 | Transmission limit device for soft cable traction video camera |
| CN103831819A (en) * | 2014-03-12 | 2014-06-04 | 合肥工业大学 | Modularized reconstructible soft rope parallel mechanism experiment platform |
| CN104440870A (en) * | 2014-10-23 | 2015-03-25 | 合肥工业大学 | Variable structure parameter flexible rope parallel connection robot system and control method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309866A (en) * | 2017-07-24 | 2017-11-03 | 华南农业大学 | The Deep sea net cage cleaning robot and cleaning method of a kind of cable parallel drive |
| CN107803825A (en) * | 2017-12-11 | 2018-03-16 | 西安科技大学 | Variable configuration Cable-driven parallel manipulator |
| CN107803825B (en) * | 2017-12-11 | 2024-01-26 | 西安科技大学 | Variable-configuration flexible cable driven parallel robot |
| CN109015740A (en) * | 2018-08-09 | 2018-12-18 | 哈尔滨工业大学 | A kind of floating type flexible joint of tensioning and its design method |
| CN110962108A (en) * | 2018-09-29 | 2020-04-07 | 洛阳清展智能科技有限公司 | Flexible cable parallel driving robot for boiler detection and maintenance |
| CN109454635A (en) * | 2018-10-15 | 2019-03-12 | 山东中衡光电科技有限公司 | A kind of steel wire flexible cable parallel connection mirror processing device based on lever principle |
| CN109158233A (en) * | 2018-10-29 | 2019-01-08 | 云南昆船设计研究院有限公司 | A kind of large surface spraying flexible cable robot |
| CN110013934A (en) * | 2019-04-02 | 2019-07-16 | 清华大学 | Automobile body-in-white fully-automatic laser scanning spraying detection integrated system |
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