CN108890625B - Rigidity-adjustable cable driving parallel device - Google Patents
Rigidity-adjustable cable driving parallel device Download PDFInfo
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- CN108890625B CN108890625B CN201810857721.2A CN201810857721A CN108890625B CN 108890625 B CN108890625 B CN 108890625B CN 201810857721 A CN201810857721 A CN 201810857721A CN 108890625 B CN108890625 B CN 108890625B
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- 239000012636 effector Substances 0.000 claims abstract description 16
- 238000004804 winding Methods 0.000 claims description 10
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- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 239000000872 buffer Substances 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
A rigidity-adjustable cable driving parallel device comprises a basic frame, wherein a base used for leveling and height adjustment of the basic frame is arranged at the bottom of the basic frame, a driving unit is arranged in the basic frame, the driving unit drives an end effector to realize spatial six-degree-of-freedom movement and adjust the rigidity of a driving cable through a flexible cable guiding and rigidity adjusting unit respectively, the driving cable is arranged on a cable outlet guide pulley, and the cable outlet guide pulley enables the driving cable to have different cable outlet directions at the same cable outlet point; meanwhile, the robot has higher rigidity during operation so as to improve the operation precision or the load capacity.
Description
Technical Field
The invention relates to the technical field of cable-driven parallel robots, in particular to a rigidity-adjustable cable-driven parallel device.
Background
With the rapid development of robot technology and the continuous improvement of social demands, the co-fusion and cooperative operation of robots and people will become the essential characteristics of the next generation of robots and also be a hot problem for the current study of scholars. The human and the machine work cooperatively in the same natural working space, so that the subjective initiative of the human can be fully exerted, the dexterous operation and intelligent decision-making capability of the human and the accuracy, strength, repetition, operation time and environment tolerance capability of the machine are effectively combined together, the efficiency and the quality of the operation can be greatly improved, the production cost is reduced, and the workers can be liberated from repeated and heavy work. However, in the process of human-computer cooperative work, especially when the robot moves in the process of human interaction or in a non-structural environment, collision with human or products inevitably occurs, and safety threat exists on the human or products, so how to ensure safety of human and machine is one of the key and difficult problems to be solved urgently in the development of the co-fusion robot technology.
Therefore, the research on the rigidity-adjustable parallel device plays an important role in the technical development of the co-fusion robot, the low-rigidity robot can have lower rigidity when interacting with or colliding with people, the low-rigidity robot can absorb and buffer energy generated by collision, the flexibility and the flexibility of the low-rigidity robot are improved, and no harm is caused to people or products; the robot can also have higher rigidity during working so as to improve the working precision and the load capacity of the robot.
The existing cable-driven parallel device has the following defects:
(1) the variable stiffness of the robot is not researched from the perspective of ensuring the safety of people or products in the human-computer interaction process and improving the operation precision and the load capacity;
(2) the rigidity of the robot cannot be adjusted or the adjustment range is small.
Disclosure of Invention
In order to meet the requirements of the development of the co-fusion robot technology and overcome the defects of the prior art, the invention provides the rigidity-adjustable cable-driven parallel device, which can adjust the rigidity of the parallel device in a large range, has lower rigidity when the robot interacts with people or collides with people and products, and absorbs or buffers the energy generated by collision, thereby reducing or avoiding the damage to the people or the products; meanwhile, the robot has higher rigidity during operation so as to improve the operation precision or the load capacity.
In order to achieve the purpose, the invention adopts the technical scheme that:
a rigidity-adjustable cable driving parallel device comprises a base frame 3, wherein a base 1 used for leveling and height adjusting the base frame 3 is arranged at the bottom of the base frame 3, a driving unit 2 is installed inside the base frame 3, the driving unit 2 drives an end effector 5 through a flexible cable guiding and rigidity adjusting unit 7 to realize spatial six-degree-of-freedom movement and adjust rigidity of a driving cable 4, the driving cable 4 is respectively connected with the driving unit 2 and the end effector 5 through a cable outlet guide pulley 6, and the cable outlet guide pulley 6 enables the driving cable 4 to have different cable outlet directions at the same cable outlet point.
The flexible cable guiding unit comprises a winding drum 8 for controlling the length of a cable, a driving cable 4 on the winding drum 8 is connected with a flexible cable guide wheel 9, the flexible cable guide wheel 9 can move along the central axis of the winding drum 8, the flexible cables from the winding drum 8 to the flexible cable guide wheel 9 are guaranteed to be perpendicular to the central axis all the time, the driving cable 4 sequentially penetrates through a flexible cable steering pulley 13 and a cable outlet guide pulley 6 through the flexible cable guide wheel 9, the cable outlet guide pulley 6 is arranged on a pulley frame 10, the flexible cable steering pulley 13 is arranged on a rigidity adjusting device 11 and a pull pressure sensor 12, and the rigidity adjusting device 11 is used for adjusting the rigidity of the system; the pull pressure sensor 12 is used for measuring the cable force of the drive cable 4 and performing feedback control on the same.
The rigidity adjusting device 11 comprises a supporting plate 15, a moving guide rail 23 is arranged on the supporting plate 15, a moving rod b and a moving rod a are respectively arranged in the moving guide rail 23, the moving rod b and the moving rod a are respectively connected with a rigidity adjusting turntable and a torsion spring 19 through flexible cables 18, a double-piece lock 14 used for forbidding the torsion spring 19 to adjust rigidity is arranged on the moving rod b, and the torsion spring 19 is arranged on the supporting plate 15 through a spring mounting rod 20.
The spring mounting rod 20 is arranged diagonally, the movable rod a is arranged diagonally with the fixed rod 21 arranged on the support plate 15, and the spring mounting rod 20, the movable rod a and the support plate 15 are of quadrilateral structures.
The double lock 14 is rotated by a rotating shaft 24 provided on the support plate 15.
The driving unit 2 comprises a motor 25, a coupling 26 and a reduction gearbox 27 which are connected in sequence.
The invention has the beneficial effects that:
the invention can be used for a rope-driven parallel device for man-machine co-fusion, and can adjust the rigidity of the rope-driven parallel device in a large range. The invention has the advantages that:
(1) the end effector is driven redundantly by a plurality of driving units, so that spatial six-degree-of-freedom motion can be realized, and the rigidity can be controlled by cable force;
(2) the rigidity adjusting range of the cable-driven parallel device can be greatly enlarged by utilizing the rigidity adjusting unit;
(3) the rigidity adjusting range of the rigidity adjusting unit can be effectively adjusted, and the rigidity adjusting unit can be locked at any time to rapidly and greatly improve the rigidity of the system.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of a wire guide unit according to the present invention.
Fig. 3 is a schematic view of a stiffness adjustment unit according to the present invention.
FIG. 4 is a schematic diagram of the dual blade lock of the present invention.
FIG. 5 is a schematic view of a driving unit according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, which is an overall structural diagram of an adjustable stiffness cable driven parallel device according to an embodiment of the present invention, the mechanism includes a base 1, a driving unit 2, a base frame 3, a driving cable 4, an end effector 5 (different end effectors may be selected according to requirements, and in the figure, an end effector for loading an article), a cable exit guide pulley 6, and a flexible cable guide and stiffness adjusting unit 7. The base 1 is mainly used for leveling and height adjustment of a base frame; the driving unit 2 mainly provides driving force for the cable driving parallel device; the rope outlet guide pulley 6 mainly enables the driving ropes 4 to have different rope outlet directions at the same rope outlet point; the flexible cable guiding and rigidity adjusting unit 7 enables the driving cable 4 to always pass through the cable outlet guide wheel 6 along the same direction, and is used for calculating the length of the cable in real time, and meanwhile, the rope rigidity adjusting range can be improved in a large range.
As shown in fig. 2, which is a schematic diagram of a wire guiding unit according to an embodiment of the present invention, the wire guiding unit includes a winding drum 8, a wire guiding pulley 9, a pulley frame 10, a stiffness adjusting device 11, a tension pressure sensor 12, and a wire diverting pulley 13. The flexible cable guide unit controls the length of the cable through the winding drum 8, and further controls the pose of the end effector; the flexible cable guide wheel 9 moves along the central axis thereof, so that the flexible cables from the winding drum 8 to the flexible cable guide wheel 9 are always vertical to the central axis thereof; the flexible cable diverting pulley 13 rotates around the pulley frame 10 to enable the flexible cable passing through the pulley to be always parallel to the pulley groove; the rigidity adjusting device 11 can greatly adjust the rigidity of the system; the tension and pressure sensor 12 is used for measuring the cable force of the driving cable and performing feedback control on the driving cable.
As shown in fig. 3, which is a schematic view of the stiffness adjusting device according to the embodiment of the present invention, the stiffness adjusting device 11 includes a double-piece lock 14, a supporting plate 15, a stiffness adjusting dial 16 (large), a stiffness adjusting dial 17 (small), a flexible cable 18, a torsion spring 19, a spring mounting rod 20, a fixing rod 21, a moving rod 22, and a moving guide 23. The moving rod b moves in the moving guide rail 23, the rigidity adjusting turntables 16 and 17 drive the torsion spring 19 to rotate, the adjusting range of the rigidity can be improved, and different rigidity adjusting turntables 17 can be selected to further change the adjusting range of the rigidity; the double-piece lock 14 is mainly used for locking the moving rod b at any time, forbidding the torsion spring 19 to adjust the rigidity, and rapidly improving the rigidity of the system through cable force.
As shown in fig. 4, which is a schematic diagram of locking of the dual-piece lock according to the embodiment of the present invention, when the locking piece 14 of the dual-piece lock is rotated and closed around the rotating shaft 24, the moving rod b can be locked to prohibit its movement, and the adjustment of the stiffness by the spring is prohibited.
As shown in fig. 5, which is a schematic diagram of a driving unit according to an embodiment of the present invention, the driving unit includes a motor 25, a coupler 26, and a reduction box 27. The driving unit is mainly used for providing power for each unit, so that the spatial six-degree-of-freedom control of the end effector is realized, the rigidity of the system is adjusted by controlling the cable force, and the cable drives the parallel equipment to meet the requirement of man-machine integration.
The end effector 5 is redundantly driven by a plurality of driving units 2 (the invention takes 8 driving units as an example, but not limited to 8 driving units), so that the end effector can realize spatial six-degree-of-freedom motion, and the rigidity of the robot can be adjusted by adjusting a cable force or rigidity adjusting unit, so as to meet the requirements of man-machine fusion on different rigidities. The flexible cable type robot is characterized by comprising a basic frame, a flexible cable, an end effector 5, a flexible cable guiding and rigidity adjusting unit 7 and the like. The driving unit 2 is formed by connecting a servo motor, a coupling 26, a reducer 27 and the like in series, is installed on a basic frame, and drives the end effector 5 to realize space movement through a flexible cable. The flexible cable guiding and rigidity adjusting unit 7 is used for adjusting the rigidity of the driving cable, so that the parallel device has lower rigidity when colliding with people or products, can absorb or buffer energy generated by collision, and reduces or avoids damage to the people or the products; meanwhile, the parallel device has higher rigidity when working, so that the operation precision or the load capacity is improved.
A rigidity adjusting device 11 is arranged between the flexible cables connecting the driving unit 2 and the end effector 5, and the device can greatly change the adjusting range of the rigidity of the parallel device so as to meet the requirements of the parallel device on different rigidities.
Claims (4)
1. The rigidity-adjustable cable driving parallel device is characterized by comprising a base frame (3), wherein a base (1) used for leveling and height adjusting the base frame (3) is arranged at the bottom of the base frame (3), a driving unit (2) is installed in the base frame (3), the driving unit (2) drives an end effector (5) to realize spatial six-degree-of-freedom motion and adjust the rigidity of a driving cable (4) through a flexible cable guiding and rigidity adjusting unit (7), the driving cable (4) is respectively connected with the driving unit (2) and the end effector (5) through a cable outlet guide pulley (6), and the cable outlet guide pulley (6) enables the driving cable (4) to have different cable outlet directions at the same cable outlet point;
the flexible cable guiding and rigidity adjusting unit (7) comprises a winding drum (8) used for controlling the length of a cable, a driving cable (4) on the winding drum (8) is connected with a flexible cable guide wheel (9), the flexible cable guide wheel (9) moves along the central axis of the flexible cable guide wheel, the flexible cable from the winding drum (8) to the flexible cable guide wheel (9) is guaranteed to be always perpendicular to the central axis of the flexible cable, the driving cable (4) sequentially penetrates through a flexible cable steering pulley (13) and a cable outlet guide pulley (6) through the flexible cable guide wheel (9), the cable outlet guide pulley (6) is arranged on a pulley frame (10), the flexible cable steering pulley (13) is arranged on a rigidity adjusting device (11) and a tension pressure sensor (12), and the rigidity adjusting device (11) is used for adjusting the rigidity of a system; the pulling pressure sensor (12) is used for measuring the cable force of the driving cable (4) and carrying out feedback control on the cable force;
the rigidity adjusting device (11) comprises a supporting plate (15), a moving guide rail (23) is arranged on the supporting plate (15), a moving rod b and a moving rod a are respectively arranged in the moving guide rail (23), the moving rod b and the moving rod a are respectively connected with a rigidity adjusting turntable and a torsion spring (19) through flexible cables (18), a double-piece lock (14) used for forbidding the torsion spring (19) to adjust rigidity is arranged on the moving rod b, and the torsion spring (19) is arranged on the supporting plate (15) through a spring mounting rod (20).
2. A stiffness adjustable cable driven parallel device as claimed in claim 1, wherein the spring mounting bar (20) is diagonally arranged, the traveling bar a is diagonally arranged with respect to the fixed bar (21) arranged on the support plate (15), and the spring mounting bar (20), the traveling bar a and the support plate (15) are of a quadrilateral configuration.
3. A stiffness adjustable cable driven parallel device according to claim 1, wherein the twin blade lock (14) is rotated by a rotation shaft (24) provided on the support plate (15).
4. A stiffness adjustable cable driven parallel device according to claim 1, wherein the drive unit (2) comprises a motor (25), a coupling (26) and a reduction gearbox (27) connected in sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810857721.2A CN108890625B (en) | 2018-07-31 | 2018-07-31 | Rigidity-adjustable cable driving parallel device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810857721.2A CN108890625B (en) | 2018-07-31 | 2018-07-31 | Rigidity-adjustable cable driving parallel device |
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| CN108890625A CN108890625A (en) | 2018-11-27 |
| CN108890625B true CN108890625B (en) | 2021-05-28 |
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| CN201810857721.2A Active CN108890625B (en) | 2018-07-31 | 2018-07-31 | Rigidity-adjustable cable driving parallel device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625732A (en) * | 2018-12-20 | 2019-04-16 | 西安赛尔电子材料科技有限公司 | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system |
| CN113199461B (en) * | 2021-05-24 | 2022-12-27 | 山东大学 | Construction operation mechanical arm based on flexible continuum and auxiliary operation device |
| CN114141097B (en) * | 2021-11-13 | 2023-08-25 | 东北电力大学 | Rigid-flexible coupling microgravity environment simulation training device |
| CN114012715B (en) * | 2021-11-29 | 2023-03-07 | 北京航空航天大学杭州创新研究院 | Variable-rigidity driving system for robot joint |
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|---|---|---|---|---|
| CN104443448A (en) * | 2014-10-27 | 2015-03-25 | 清华大学 | Cable drive robot device for simulating zero-gravity and low-gravity environment |
| CN104477420A (en) * | 2014-10-27 | 2015-04-01 | 清华大学 | Nine-rope driving robot device for simulating zero gravity and low gravity |
| CN107053132A (en) * | 2017-01-11 | 2017-08-18 | 合肥工业大学 | Modular reconfigurable Compliant Assembly variable rigidity control device and method |
| CN107486850A (en) * | 2017-09-08 | 2017-12-19 | 四川大学 | A kind of Wire driven robot robot variation rigidity elastic joint |
| CN107803825A (en) * | 2017-12-11 | 2018-03-16 | 西安科技大学 | Variable configuration Cable-driven parallel manipulator |
| CN108033039A (en) * | 2017-12-21 | 2018-05-15 | 清华大学 | A kind of rope driving space suspension confined state simulator of regulating posture |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160001443A1 (en) * | 2014-07-07 | 2016-01-07 | Tait Towers Manufacturing, LLC | Suspended flying rig system |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443448A (en) * | 2014-10-27 | 2015-03-25 | 清华大学 | Cable drive robot device for simulating zero-gravity and low-gravity environment |
| CN104477420A (en) * | 2014-10-27 | 2015-04-01 | 清华大学 | Nine-rope driving robot device for simulating zero gravity and low gravity |
| CN107053132A (en) * | 2017-01-11 | 2017-08-18 | 合肥工业大学 | Modular reconfigurable Compliant Assembly variable rigidity control device and method |
| CN107486850A (en) * | 2017-09-08 | 2017-12-19 | 四川大学 | A kind of Wire driven robot robot variation rigidity elastic joint |
| CN107803825A (en) * | 2017-12-11 | 2018-03-16 | 西安科技大学 | Variable configuration Cable-driven parallel manipulator |
| CN108033039A (en) * | 2017-12-21 | 2018-05-15 | 清华大学 | A kind of rope driving space suspension confined state simulator of regulating posture |
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