CN110315511B - Cable-driven parallel sorting robot tensioned by passive springs - Google Patents
Cable-driven parallel sorting robot tensioned by passive springs Download PDFInfo
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- CN110315511B CN110315511B CN201910667042.3A CN201910667042A CN110315511B CN 110315511 B CN110315511 B CN 110315511B CN 201910667042 A CN201910667042 A CN 201910667042A CN 110315511 B CN110315511 B CN 110315511B
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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
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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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- 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
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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Abstract
The invention discloses a cable-driven parallel sorting robot tensioned by a passive spring. Wherein the static platform builds a framework for the whole device and provides a component mounting position; the driving assembly consists of a driving motor, a speed reducer, an encoder and a driving rope, and realizes the driving and feedback control of terminal movement; the pulley assembly plays a role in guiding the direction of the rope; the tensioning assembly ensures the tensioning of the rope through a passive tension spring and a rigid rod; the movable platform is a terminal moving part, and an actuator such as a sucker is arranged on the movable platform to execute movement and operation. The three-degree-of-freedom translational motion of the terminal is realized by parallel cable driving, meanwhile, the rope tensioning is realized by adopting the passive springs and the rigid rods, the three-degree-of-freedom motion of the tail end driven by the three groups of drivers is realized, the passive springs ensure the rope tensioning, redundant driving is avoided, meanwhile, the system rigidity can be adjusted, and the large-range and quick sorting operation can be realized at low cost.
Description
Technical Field
The invention belongs to the technical field of robots and automation, and particularly relates to a cable-driven parallel sorting robot tensioned by a passive spring.
Background
The industrial robot is used as a main force of manufacturing, and research, development, manufacture and application of the industrial robot are important marks for measuring the state technological innovation level. With the development of intelligent manufacturing, industrial robots have been increased explosively. The sorting robot is an important member of industrial robots and is widely applied to food, medicine, new energy and 3C industries. The existing sorting robot is of a rigid structure, and compared with a serial robot, the rigid parallel high-speed sorting robot has the advantages that the speed and the efficiency are greatly improved, but the bottleneck which is difficult to break through still exists in the aspects of efficiency and cost. The main points are as follows: 1) the rigid rod piece limits further reduction of the motion quality and improvement of the efficiency; 2) the use of a large number of hinges limits the range of motion of the movable platform; 3) rigid parallel high-speed sorting robot needs to use precision transmission parts such as precision harmonic reducers or RV reducers and spherical hinges, and the cost is high.
Disclosure of Invention
In order to overcome the defects of high cost, high power consumption, difficult efficiency improvement and the like of the existing rigid sorting robot, the invention aims to provide a parallel sorting robot based on rope driving.
In order to achieve the purpose, the invention adopts the technical scheme that:
a cable-driven parallel sorting robot tensioned by passive springs comprises a static platform 1, a driving component 2 used for driving a robot terminal to move in a cable-driven mode, a tensioning component 3 used for applying tensioning force to a cable, a pulley component 4 used for guiding the cable and a movable platform component 5 used for executing terminal track movement and operating the movable platform, and is characterized in that the movable platform component 5 comprises a movable platform 53, the tensioning component 3 comprises a rigid rod 32 and a plurality of springs 31, the driving component 2 is in cable driving and is arranged on one surface of the static platform 1, the cable 25 of the driving component 2 is guided by the pulley component 4 and is connected with the movable platform 53 on the other surface of the static platform 1, the movable platform 53 is connected with the bottom end of the rigid rod 32 through a universal joint 52, the rigid rod 32 penetrates through the static platform 1, one end of each spring 31 is fixed on the static platform 1, and the other end of each spring is connected with the top end of the rigid, the thrust is applied to the movable platform 53 through the spring 31 and the rigid rod 32, so that the tension of the rope 25 and the overall rigidity of the mechanism are ensured.
Preferably, the fixed platform 1 is provided with a composite hinge 11, the composite hinge 11 is a composite body of a universal hinge and a moving pair, and comprises an inner ring 111, an outer ring 112 and a hinge seat 113 from inside to outside, the center of the inner ring 111 is provided with a through hole, balls are contained in the through hole, the rigid rod 32 penetrates through the through hole in the center of the inner ring 111, and the rigid rod 32 can swing around the rotation center of the universal hinge and move along the direction of the through hole.
However, the composite hinge 11 with the rigid rod 32 connected with the static platform 1 is not necessary for realizing the function, when the composite hinge 11 is removed, the center of the static platform 1 becomes a large through hole structure, the rigid rod 32 directly passes through the connecting movable platform 53 from the through hole without contacting with the static platform 1, and under the condition that the rope 25 is tensioned, the realization of the movement function of the mechanism is not influenced.
Preferably, the number of the driving assemblies 2 is 3, and three groups of driving assemblies 2 are uniformly distributed on the circumference of the static platform 1; two ropes 25 are wound on the roller 24 of each group of driving assemblies 2, the two ropes 25 are connected with the movable platform 53 through the pulley assemblies 4, and the two ropes 25 of each group of driving assemblies 2 are always parallel to each other to form a parallel cable system.
Preferably, the driving assembly 2 comprises a servo motor 22, the servo motor 22 is connected with a drum shaft 28 through a speed reducer 21 and a coupling 26, the drum shaft 28 is fixedly connected with a drum 24, the servo motor 22 and the drum shaft 28 are coaxially mounted on a driving mounting seat 27, the drum 24 is driven to rotate through the rotation of the servo motor 22, so that the winding and unwinding of a group of parallel ropes 25 are realized, and an encoder 23 is arranged at the tail of the servo motor 22 and used for measuring the real-time rotation angle of the servo motor 22 and feeding the real-time rotation angle back to a control system for feedback control.
Preferably, one end of the spring 31 is connected to the stationary platform 1 through a spring fixing terminal 34, the other end is connected to the top end of the rigid rod 32 through a spring knot 33, and the bottom end of the rigid rod 32 is connected to the center of the movable platform 53 through a connecting sleeve 51 and a universal joint 52; when the device works, the spring 31 is kept in a stretching state, the elastic force applied to the rigid rod 32 by the spring 31 is transmitted to the movable platform 53 through the rigid rod 32, and downward thrust is applied to the movable platform 53, so that the rope 25 is tensioned; the telescopic movement of the spring 31 is passive and no additional drive means are required.
Preferably, the number of the springs 31 in the tensioning assembly 3 and the arrangement positions of the springs 31 on the static platform 1 are variable, and according to the acceleration and rigidity requirements of the mechanism, the increase and decrease of the number of the springs 31 or the change of the connection points of the springs 31 on the static platform 1 can be quickly realized, so that the tensioning force is adjusted.
Preferably, the pulley assembly 4 includes an upper pulley 41, an upper pulley shaft 42, an upper pulley seat 43, a sleeve 44, a rotating seat 45, a groove bearing 46, a bearing shaft 47, a side wall 48 and a horizontal bearing 49, the upper pulley 41 is mounted on the upper pulley seat 43 through the upper pulley shaft 42, the upper pulley 41 and the driving assembly 2 are located on the same surface of the static platform 1, the sleeve 44 is penetratingly disposed on the static platform 1 for the rope 25 to pass through, the rotating seat 45, the groove bearing 46, the bearing shaft 47, the side wall 48 and the horizontal bearing 49 are disposed on the other surface of the static platform 1, and the rope 25 passes through the horizontal bearing 49 and the groove bearing 46 to realize guiding.
Preferably, the movable platform 53 can implement three-degree-of-freedom translational motion. The movable platform 53 is provided with three cable connection points 54 which form an equilateral triangle, each side of the triangle is respectively connected with a group of parallel cable systems, and the connection point 54 of each group of parallel cable systems on the movable platform 53 and the cable outlet point of the pulley assembly 4 form a parallelogram; due to the constraint of the three groups of parallelograms, the movable platform 53 is always parallel to the stationary platform 1 under the condition that the rope 25 is tensioned, that is, the movable platform 53 cannot rotate, and only three-degree-of-freedom translation can be realized.
Preferably, the bottom of the movable platform 53 is equipped with an actuator such as a suction cup 55 or a soft manipulator, etc., to perform the grabbing and releasing operations of the object, thereby realizing the functions of sorting the objects, etc.
Compared with the prior art, the invention has the characteristics that the rope is used as a driving medium, and the spring is used as a passive tensioning element, so that the three-degree-of-freedom translational motion of the terminal is realized on the premise of non-redundant driving. The cable parallel mechanism not only inherits the advantages of strong bearing capacity and high precision of the rigid parallel mechanism, but also inherits the advantages of low inertia and large working space of the cable mechanism. Therefore, the invention has the advantages of low cost and low inertia. The passive springs are adopted to realize tensioning, so that on one hand, the rigidity of the mechanism is guaranteed, on the other hand, the number and the positions of the springs can be quickly adjusted, the requirement of the mechanism on large acceleration performance is met, meanwhile, redundant driving is avoided, and the manufacturing cost and the power consumption cost are saved.
Drawings
Fig. 1 is an overall schematic view of a cable driven parallel sorting robot of the present invention employing passive spring tensioning. The installation relationship among a plurality of subsystems and the overall layout effect are described.
Fig. 2 is a schematic diagram of the connection of the intermediate lever, the static platform and the movable platform of the cable-driven parallel sorting robot tensioned by the passive spring.
Fig. 3 is a schematic view of a compound hinge connected with a middle rod on a static platform of a cable-driven parallel sorting robot tensioned by a passive spring according to the invention.
Fig. 4 is a schematic view of a drive assembly of the present invention for a cable driven parallel sorting robot using passive spring tensioning.
Fig. 5 is a schematic diagram of a sheave assembly of a cable driven parallel sorting robot of the present invention using passive spring tensioning.
Fig. 6 is an exploded view of the lower portion of a sheave assembly of a cable driven parallel sorting robot of the present invention using passive spring tensioning.
Fig. 7 is a schematic diagram of another implementation of a cable driven parallel sorting robot of the present invention utilizing passive spring tensioning.
In the figure:
1, a static platform, 11 composite hinges, 111 inner rings, 112 outer rings and 113 hinge seats;
2, a driving component, 21 a speed reducer, 22 a servo motor, 23 an encoder, 24 rollers, 25 ropes, 26 couplings, 27 driving mounting seats and 28 roller shafts;
3 tensioning assembly, 31 spring, 32 rigid rod, 33 spring knot, 34 spring fixed terminal;
4 pulley assembly, 41 upper pulley, 42 upper pulley shaft, 43 upper pulley seat, 44 sleeve, 45 rotating seat, 46 groove bearing, 47 bearing shaft, 48 side wall and 49 horizontal bearing;
5 movable platform components, 51 connecting sleeves, 52 universal joints, 53 movable platforms, 54 cable connecting points and 55 suckers.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings and examples.
The cable-driven parallel mechanism (or cable parallel mechanism) is a special parallel mechanism, and the driving branched chain is a flexible rope. The rope parallel mechanism inherits the high-load configuration advantage of the rigid parallel mechanism and has the characteristics of small movement inertia, large working space, low cost and easiness in reconstruction of rope driving. By virtue of the advantages, the cable parallel mechanism becomes a great hot spot in the robot research field, and is successfully applied to the fields of hoisting and carrying, wind tunnel experiments, rehabilitation medical treatment, space positioning, virtual reality and the like. The rope is adopted to replace a rigid rod piece, so that the inertia of a moving part of the rope parallel mechanism is greatly reduced, and a complex hinge structure is avoided, so that the rope parallel mechanism has great application potential in the field of high-speed movement. The cable parallel mechanism has good space high-speed movement capacity, has the advantages of simple structure, low manufacturing cost, large working space and low power consumption, shows huge application potential in the aspect of high-speed movement, and is a potential solution for improving the efficiency and reducing the cost of the sorting robot and realizing the improvement and breakthrough of performance.
Fig. 1 is an overall schematic diagram of a cable-driven parallel sorting robot tensioned by a passive spring, which mainly comprises a static platform 1, a driving assembly 2, a tensioning assembly 3, a pulley assembly 4 and a movable platform assembly 5.
Wherein, the static platform 1 plays the role of fixing and installing, and the static platform 1 is provided with the installation connection position and the interface of each component. The driving assemblies 2 are arranged on the static platform 1, the driving assemblies 2 have three groups in total, the three groups are uniformly distributed on the static platform 1 in a circumferential manner, and each group of driving assemblies 2 consists of a driving mounting seat 27, a servo motor 22, a speed reducer 21, an encoder 23, a roller 24, a roller shaft 28, a coupling 26 and a rope 25. The tensioning assembly 3 is composed of a plurality of springs 31 and a rigid rod 32, one end of each spring 31 is fixed on the static platform 1 through a spring fixing terminal 34, and the other end of each spring 31 is connected with the top end of the rigid rod 32. The movable platform assembly 5 mainly comprises a connecting sleeve 51, a universal joint 52, a movable platform 53, a cable connecting point 54 and a suction cup 55.
The connection of the rigid bar 32 to the stationary platform 1 and the movable platform 53, and the detailed structure of the movable platform assembly 5 are illustrated in fig. 2. Referring to fig. 1, one end of the rigid rod 32 is connected to the spring 31 through the spring knot 33, and the other end is connected to the movable platform 53 through the connecting sleeve 51. The rigid rod 32 passes through the static platform 1 and is connected with the static platform 1 through the composite hinge 11 on the static platform 1. The composite hinge 11 is composed of a universal joint and a moving pair, and the structure of the composite hinge 11 is shown in detail in fig. 3. The compound hinge is composed of an inner ring 111, an outer ring 112 and a hinge base 113. The hinge base 113 is fixed at the center of the stationary platform 1 by a screw. A rotating pair is arranged between the outer ring 112 and the hinge base 113 to allow the outer ring 112 and the inner ring 111 to rotate mutually, the rotating center lines of the two rotating pairs are perpendicular to each other, and the two rotating pairs and the inner ring 111 form a universal hinge to allow the inner ring 111 to swing around a central point. The inner ring 111 is a through structure, the inside of the central through hole contains balls, the rigid rod 32 passes through the central hole of the inner ring 111, and the rigid rod 32 can freely slide in the hole under the action of the balls. Thus, the rigid rod 32 can swing about the center point while moving in the direction of its own axis. The bottom of the rigid rod is connected with the movable platform assembly 5 through a connecting sleeve 51, the connecting sleeve 51 is connected with the movable platform 53 through a universal joint 52, and the rigid rod 32 and the movable platform 53 can swing around the rotating center of the universal joint 52. The movable platform 53 is a triangular structure, and each side is connected with a group of ropes 25 through rope connecting points 54 at two ends. The distance of the rope connection points 54 at the two ends of each side is the same as the distance of the rope outgoing points of the ropes 25 on the static platform 1, so that the two ropes 25 connected at each side are parallel to each other. The three groups of parallel cables ensure that the movable platform 53 is always parallel to the static platform 1 under the condition that the ropes 25 are tensioned, so that the movable platform 53 can realize three-degree-of-freedom translation. The bottom of the movable platform 53 is provided with a sucker 55, and the articles can be grabbed and released through vacuum adsorption, so that the sorting operation is realized.
Fig. 4 is a schematic diagram illustrating the structure and connection of the driving assembly 2. The driving assembly is composed of a driving mounting seat 27, a servo motor 22, a speed reducer 21, an encoder 23, a coupling 26, a roller 24, a roller shaft 28 and a rope 25. The servo motor 22 is connected to a drum shaft 28 through a speed reducer 21 and an encoder 23, and the rotation of the servo motor 22 drives the rotation of the drum 24. Two ends of the roller 24 are respectively wound with a rope 25, and two ropes 25 connected with each roller 24 are connected with one side of the movable platform 53 through the pulley assembly 4. The drum 24 is grooved in a spiral for the winding of a rope 25. During movement, the drum 24 rotates to wind or release the ropes 25, and the winding or releasing length of each group of ropes 25 is consistent all the time, so that two ropes 25 in each group of ropes are always parallel. The movable platform 53 is driven by the length change of the rope 25 to realize three-degree-of-freedom translational motion. An encoder 23 is installed at the tail part of the servo motor 22, the rotation angle of the servo motor 22 is fed back through the encoder 23, feedback control is achieved, on the other hand, the length of the rope 25 is calculated through the rotation angle of the servo motor 22, and therefore the terminal position is calculated through positive kinematics.
The detailed construction of the sheave assembly 4, which provides guidance and steering for the line, is illustrated in fig. 5 and 6. The pulley assembly 4 is divided into an upper part and a lower part. The upper part consists of an upper pulley 41, an upper pulley shaft 42 and an upper pulley seat 43. The upper pulley 41 is mounted on an upper pulley base 43 via an upper pulley shaft 42, and the upper pulley base 43 is mounted on the stationary platform 1. The lower part is mainly composed of a sleeve 44, a rotating seat 45, a groove bearing 46, a bearing shaft 47, a side wall 48 and a horizontal bearing 49. The lower part is arranged below the static platform 1 through a sleeve 44, and the sleeve 44 is of a hollow structure. The cable 25 is led from the drum 24, passed over the upper pulley 41 downwards, passes centrally through the sleeve 44 and around the groove bearing 46 and then connects to the bottom movable platform 53. The grooved bearings 46 are 2, the outer races are tangent, and the grooved portions of both bearings form a through hole slightly larger than the diameter of the rope 25, and the rope 25 passes through the central through hole. The groove bearing 46 is mounted on a side wall 48 by a bearing shaft 47, the side wall 48 is mounted on a rotary seat 45, and the rotary seat 45 is mounted on the sleeve 44 by a horizontal bearing 49. The entire lower pulley system can rotate about the vertical central axis of the sleeve 44 so that the groove bearing 46 and the side wall 48 can follow the cable 25 in a swinging motion so that the cable 25 is always in the central plane of the groove bearing 46.
The mechanism works according to the following processes and principles:
the movable platform 53 is connected to the rollers 24 of the three driving assemblies 2 through three groups of parallel ropes 25 respectively, the attitude of the movable platform 53 is adjusted to be horizontal during assembly, and the lengths of the two ropes 25 of each group of parallel ropes are consistent. During operation, the real-time length of each rope 25 is calculated through inverse kinematics, the ropes 25 are retracted and released by controlling the rotation of the servo motor 22, and then the terminal moving platform 53 is driven to realize three-degree-of-freedom translation motion. During the movement, each group of parallel ropes 25 will swing, and the groove bearing 46 below the pulley assembly 4 can realize follow-up swing.
During movement, ensuring that the rope 25 is tensioned is critical to achieving stable and high speed movement. To accomplish this, passive springs and rigid rods 32 are used to apply a downward thrust to the moving platform 53. As shown in fig. 1, a plurality of springs 31 are distributed above the stationary platform 1, one end of each spring 31 is connected to the stationary platform 1 through a spring fixing terminal 34, and the other end is fixed to a spring knot 33 at the vertex of the rigid rod 32. When the device works, the springs 31 are always in a stretching state, and the pulling force of the springs 31 acting on the rigid rods 32 by the springs 31 is transmitted to the movable platform 53 through the rigid rods 32, so that the downward pushing force acting on the movable platform 53 is realized. The number of the upper springs 25 can be adjusted according to requirements, and the tension can be adjusted by adjusting the springs 25, so that the acceleration capacity and the rigidity of the mechanism can be adjusted.
In the above design, the connection between the rigid bar 32 and the stationary platform 1 is not necessary, i.e. the compound hinge 11 is removable. Fig. 7 illustrates another implementation of the present invention. Unlike the implementation in fig. 1, in the implementation of fig. 7 there is no connection between the rigid bar 32 and the stationary platform 1. Functionally, the implementation of fig. 7 is identical to that of fig. 1.
It should be noted that, although the technical solutions and preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, which are only schematic, and those skilled in the art can make many modifications without departing from the spirit and scope of the claims.
Claims (10)
1. A cable-driven parallel sorting robot adopting passive spring tensioning comprises a static platform (1), a driving assembly (2), a tensioning assembly (3), a pulley assembly (4) and a movable platform assembly (5), and is characterized in that the movable platform assembly (5) comprises a movable platform (53), the tensioning assembly (3) comprises a rigid rod (32) and a plurality of springs (31), the driving assembly (2) is in cable driving and is arranged on one surface of the static platform (1), a cable (25) of the driving assembly (2) is guided by the pulley assembly (4) and is connected with the movable platform (53) on the other surface of the static platform (1), the movable platform (53) is connected with the bottom end of the rigid rod (32) through a universal joint (52), the rigid rod (32) penetrates through the static platform (1), one end of each spring (31) is fixed on the static platform (1), and the other end of each spring is connected with the top end of the rigid rod (32), the thrust is applied to the movable platform (53) through the spring (31) and the rigid rod (32), so that the tension of the rope (25) and the integral rigidity of the mechanism are ensured.
2. The cable-driven parallel sorting robot adopting the passive spring tensioning according to claim 1, wherein the static platform (1) is provided with a composite hinge (11), the composite hinge (11) is a composite body of a universal hinge and a moving pair and comprises an inner ring (111), an outer ring (112) and a hinge seat (113) from inside to outside, the center of the inner ring (111) is provided with a through hole, balls are contained in the through hole, the rigid rod (32) penetrates through the through hole in the center of the inner ring (111), and the rigid rod (32) can swing around the rotation center of the universal hinge and move along the direction of the through hole.
3. The cable-driven parallel sorting robot with passive spring tensioning according to claim 1, characterized in that the number of the driving assemblies (2) is 3 groups, and three groups of driving assemblies (2) are evenly distributed on the circumference of the static platform (1); two ropes (25) are wound on the roller (24) of each group of driving assemblies (2), the two ropes (25) are connected with the movable platform (53) through the pulley assembly (4), and the two ropes (25) of each group of driving assemblies (2) are always parallel to each other to form a parallel cable system.
4. The cable-driven parallel sorting robot tensioned by the passive springs as claimed in claim 1 or 3, wherein the driving assembly (2) is used for driving a robot terminal to move and comprises a servo motor (22), the servo motor (22) is connected with a roller shaft (28) through a speed reducer (21) and a coupling (26), the roller shaft (28) is fixedly connected with a roller (24), the servo motor (22) and the roller shaft (28) are coaxially installed on a driving installation seat (27), the roller (24) is driven to rotate through the rotation of the servo motor (22), so that the collection and release of a group of parallel ropes (25) are realized, and an encoder (23) is arranged at the tail of the servo motor (22) and used for measuring the real-time rotation angle of the servo motor (22) and feeding back the real-time rotation angle to a control system for feedback control.
5. The cable-driven parallel sorting robot with passive spring tensioning according to claim 1, characterized in that the spring (31) is connected to the stationary platform (1) at one end through a spring fixing terminal (34) and to the top end of a rigid rod (32) at the other end through a spring knot (33), and the bottom end of the rigid rod (32) is connected to the center of the movable platform (53) through a connecting sleeve (51) and a universal joint (52); when the rope tensioning device works, the spring (31) is kept in a stretching state, the elastic force applied to the rigid rod (32) by the spring (31) is transmitted to the movable platform (53) through the rigid rod (32), and downward pushing force is applied to the movable platform (53), so that the rope (25) is tensioned.
6. The cable-driven parallel sorting robot with passive spring tensioning according to claim 1, characterized in that the number of springs (31) in the tensioning assembly (3) and their arrangement position on the stationary platform (1) are variable, and according to the mechanical acceleration and stiffness requirements, the increase and decrease of the number of springs (31) or the change of the connection point of the springs (31) on the stationary platform (1) can be rapidly realized, thereby adjusting the tensioning force.
7. The cable driven parallel sorting robot using passive spring tensioning according to claim 1, the pulley component (4) comprises an upper pulley (41), an upper pulley shaft (42), an upper pulley seat (43), a sleeve (44), a rotating seat (45), a groove bearing (46), a bearing shaft (47), a side wall (48) and a horizontal bearing (49), wherein the upper pulley (41) is installed on the upper pulley seat (43) through the upper pulley shaft (42), the upper pulley (41) and the driving component (2) are located on the same surface of the static platform (1), the sleeve (44) is arranged on the static platform (1) in a penetrating mode and is used for a rope (25) to pass through, the rotating seat (45), the groove bearing (46), the bearing shaft (47), the side wall (48) and the horizontal bearing (49) are arranged on the other surface of the static platform (1), and the rope (25) passes through the horizontal bearing (49) and the groove bearing (46) to achieve guiding.
8. The cable-driven parallel sorting robot with passive spring tensioning according to claim 1, characterized in that the moving platform (53) can realize a translational motion in three degrees of freedom.
9. The cable-driven parallel sorting robot using passive spring tensioning according to claim 1, wherein the movable platform (53) has three cable connection points (54) in total, which form an equilateral triangle, each side of the triangle is connected with a set of parallel cable systems, and the connection point (54) of each set of parallel cable systems on the movable platform (53) and the cable exit point of the pulley assembly (4) form a parallelogram; due to the constraint of the three groups of parallelograms, the movable platform (53) is always kept parallel to the static platform (1) under the condition that the rope (25) is tensioned, namely the movable platform (53) cannot rotate and can only realize three-degree-of-freedom translation.
10. The cable-driven parallel sorting robot using passive spring tensioning according to claim 1, wherein the movable platform (53) is equipped with an actuator at the bottom thereof to perform the grasping and releasing operation of the object, the actuator being a suction cup (55) or a soft robot.
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| CN201910667042.3A CN110315511B (en) | 2019-07-23 | 2019-07-23 | Cable-driven parallel sorting robot tensioned by passive springs |
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| CN201910667042.3A CN110315511B (en) | 2019-07-23 | 2019-07-23 | Cable-driven parallel sorting robot tensioned by passive springs |
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| CN110315511B true CN110315511B (en) | 2020-08-25 |
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| CN114393567B (en) * | 2022-01-20 | 2023-09-08 | 清华大学 | Rope-driven parallel robot with three-dimensional translation and one-dimensional rotation |
| CN114434423B (en) * | 2022-01-20 | 2023-09-05 | 清华大学 | Parallel cable driven planar two-degree-of-freedom parallel robot |
| CN114454152A (en) * | 2022-02-21 | 2022-05-10 | 清华大学 | Rope-driven stacking robot |
| CN114905488A (en) * | 2022-05-07 | 2022-08-16 | 湖南大学 | Two rotational degrees of freedom cable drive mechanical device |
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| US4666362A (en) * | 1985-05-07 | 1987-05-19 | Massachusetts Institute Of Technology | Parallel link manipulators |
| CH703454B1 (en) * | 2010-07-16 | 2014-06-30 | Jossi Holding Ag | An apparatus for positioning an object, in particular a pipette. |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
| CN103895005B (en) * | 2014-04-10 | 2017-02-01 | 东南大学 | Humanoid-neck parallel robot and control method thereof |
| CN104647367B (en) * | 2014-12-29 | 2016-05-25 | 合肥工业大学 | The robot palletizer in parallel of the compound driving of a kind of rope bar |
| KR101950669B1 (en) * | 2017-07-07 | 2019-02-21 | 전남대학교산학협력단 | A cable robot for carrying cylindrical object |
| CN109454635B (en) * | 2018-10-15 | 2020-09-25 | 山东中衡光电科技有限公司 | Steel wire flexible cable parallel mirror surface machining device based on lever principle |
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