CN112247961B - Rope traction parallel mechanism experimental device - Google Patents
Rope traction parallel mechanism experimental device Download PDFInfo
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- CN112247961B CN112247961B CN202011103381.8A CN202011103381A CN112247961B CN 112247961 B CN112247961 B CN 112247961B CN 202011103381 A CN202011103381 A CN 202011103381A CN 112247961 B CN112247961 B CN 112247961B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention belongs to the technical field of parallel robots, particularly relates to a cable traction parallel mechanism experiment device, and aims to solve the problem that no cable traction parallel mechanism experiment platform capable of being configured autonomously exists in the prior art. The experimental device for the cable traction parallel mechanism disclosed by the invention integrates a pose measurement module of an execution terminal and a guide pulley mechanism with a cable guide function, the guide pulley mechanism disclosed by the invention can effectively reduce the friction between a cable and a V-shaped bearing and between the cable and a U-shaped groove, the experimental device for the cable traction parallel mechanism disclosed by the invention adopts a modular design, the number of the cables can be configured according to different requirements, the number of the cables can be 12 at most, the problems of design, motion demonstration, mechanical characteristic research and the like of various one-to six-degree-of-freedom variable-parameter cable traction parallel mechanisms with different combination configurations can be developed to the maximum extent, and the experimental device has important significance for an experimenter to master the relevant knowledge of the parallel mechanism.
Description
Technical Field
The invention belongs to the technical field of parallel robots, and particularly relates to a cable traction parallel mechanism experimental device.
Background
The rope traction parallel robot is a branch of the parallel robot and has the characteristics of large working space, high load/self-weight ratio and high modularization degree. Since the concept of the cable traction parallel robot is provided, more and more scholars are put into the design and research of the cable traction parallel mechanism, the cable traction parallel robot is more and more widely applied, and the figure of the cable traction parallel mechanism can be seen in the fields of carrying, wind tunnel tests, astronomical observation, rehabilitation training and the like.
A five-hundred-meter-caliber spherical radio telescope (FAST for short) is a world maximum single-caliber spherical radio telescope autonomously built in China, and a feed source supporting system of the five-hundred-meter-caliber spherical radio telescope consists of a six-cable traction parallel mechanism, an AB-axis rotating mechanism and a Stewart parallel robot. Although FAST has been built and put into use, research on the application of the FAST agency has not been stopped. In order to further and deeply analyze the FAST feed source supporting system and the cable traction parallel mechanism with the structure similar to that of the FAST feed source supporting system, a cable traction parallel mechanism device for experimental purposes needs to be designed. The device has the functions of executing terminal pose measurement, rope winding and unwinding, guiding and the like, and has the characteristics of being configurable according to different requirements and easy to install.
Disclosure of Invention
In order to solve the problems in the prior art, namely solve the problem that no independently configurable cable traction parallel mechanism experiment platform exists in the prior art, the invention provides a cable traction parallel mechanism experiment device, which comprises a body structural part, a traction mechanism, a rope, a movable platform and a controller, wherein the rope is arranged on the body structural part;
the body structure comprises a support structure base, a support structure top cover and six support structures vertically extending between the support structure base and the support structure top cover;
the traction mechanism comprises driving devices respectively arranged at the lower ends of the supporting structures and guide pulley blocks respectively arranged on the supporting structures; the guide pulley block comprises a first guide pulley mechanism and a second guide pulley mechanism which are sequentially arranged along the length direction of each supporting structure respectively;
one end of the rope is connected with the driving device, and the other end of the rope sequentially penetrates through the second guide pulley mechanism and the first guide pulley mechanism to be connected with the movable platform;
the movable platform is positioned in a space surrounded by six supporting structures of the body structural part;
the controller is respectively connected with each driving device through a communication link, and the driving devices can receive and release the ropes under the control of the controller so as to realize the space motion of the movable platform.
In some preferred technical solutions, the first guide pulley mechanism and the second guide pulley mechanism have the same structure;
the first guide pulley mechanism and the second guide pulley mechanism comprise adapters and rope tracking assemblies, the adapters are arranged on the supporting structure, and the rope tracking assemblies are rotatably arranged on the adapters;
the rope passes through the rope tracking assembly and is connected with the movable platform, and when the rope drives the movable platform to perform space motion, the rope tracking assembly can be driven by the rope to rotate relative to the adapter piece passively.
In some preferred technical solutions, the adaptor includes a U-shaped bracket, the U-shaped bracket has two connecting ends extending in a direction away from the supporting structure, the two connecting ends are both provided with through holes, and the two connecting ends are arranged at intervals in a height direction of the U-shaped bracket;
the rope tracking assembly comprises a clamping groove and a first bearing arranged inside the clamping groove, the two ends of the clamping groove are respectively connected with the two connecting ends in a rotating mode, and the rope penetrates through the through hole to be connected with the movable platform through the first bearing.
In some preferred technical solutions, two ends of the clamping groove are respectively connected with the connecting end through a second bearing, and the rotating surfaces of the second bearing and the first bearing are vertically arranged on the adapter.
In some preferred technical solutions, the first guide pulley mechanism and the second guide pulley mechanism are both mounted on an inner side surface of the support structure.
In some preferred technical solutions, the experimental apparatus for a cable traction parallel mechanism further includes a pose measurement module, and the pose measurement module is installed on the body structural member and used for measuring the position and the posture of the movable platform in the movement process.
In some preferred technical solutions, the cable traction parallel mechanism experimental apparatus further includes a shielding bottom plate; the shielding bottom plate and the pose measuring module are respectively arranged on two opposite sides of the movable platform.
In some preferred technical solutions, the shielding bottom plate has an action surface with a pure color pattern, and the action surface is disposed close to the movable platform.
In some preferred technical solutions, the driving device includes a deep groove winding drum for winding the rope and a driving motor, and the outer surface of the deep groove winding drum is provided with a deep groove thread extending along the length direction.
In some preferred technical solutions, the supporting structure base and the supporting structure top cover are both regular hexagons, and two ends of the six supporting structures are respectively located at six vertexes of the two regular hexagons.
The invention has the beneficial effects that:
the experimental device for the cable traction parallel mechanism integrates a pose measurement module of a movable platform (an execution terminal) and a guide pulley mechanism with a cable guide function, the guide pulley mechanism can effectively reduce friction between a cable and a V-shaped bearing and between the cable and a U-shaped groove, and the experimental device for the cable traction parallel mechanism adopts a modular design and has the characteristics of being configurable according to different requirements and easy to install.
The number of the ropes can be adjusted according to the experimental environment, the number of the ropes can be 12 at most, the problems of design, motion demonstration, mechanical property research and the like of various combined configurations, namely, variable parameter rope traction parallel mechanisms with one degree of freedom and six degrees of freedom can be developed to the maximum extent, the parallel mechanism rope traction parallel mechanism has important significance for learners to master the related knowledge of the parallel mechanisms, and meanwhile, researchers can verify the related theories in the parallel mechanism science and the flexible driving system through the experimental device.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of the overall structure of a cable traction parallel mechanism experimental device according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a support structure base according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a top cover of a support structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of a guide pulley mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of a first guide pulley mechanism and a cord in accordance with one embodiment of the present invention;
FIG. 6 is a schematic view of the rotation of the U-shaped slot of the guide pulley according to one embodiment of the present invention;
FIG. 7 is a schematic view of a driving device according to an embodiment of the present invention;
FIG. 8 is a schematic view of the half-section of FIG. 7;
list of reference numerals:
1-a support structure base; 2-a support structure; 3-a rope; 4-a guide pulley; 5-a support structure top cover; 6-pose measuring module; 7-moving the platform; 8-shielding the bottom plate; 9-a hoisting mechanism; 10-hoisting mechanism fixing piece; 11-a regular hexagonal support structure engagement member; 12-a regular hexagonal base; 13-support structure base support short bar; 14-connecting short rods; 15-a depth camera; 16-a support structure and guide pulley adapter; 17-a guide pulley U-shaped bracket; 18-guide pulley U-shaped support gland; 19-a guide pulley U-shaped clamping groove; a 20-V bearing; 21-hollow rope guide shaft; 22-guide pulley U-shaped slot bearing; 23-a drive motor; 24-coupling, 25-deep groove drum; 26-deep groove drum bearings; 27-deep groove drum support gland; 28-deep groove drum support base; 29-motor fixing bracket; 30-the hoisting mechanism is installed on the bottom plate.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention discloses a cable traction parallel mechanism experimental device, which comprises a body structural part, a traction mechanism, a rope 3, a movable platform 7 and a controller, wherein the traction mechanism is arranged on the body structural part;
the body structural part comprises a supporting structure base 1, a supporting structure top cover 5 and six supporting structures 2 vertically extending between the supporting structure base 1 and the supporting structure top cover 5; the six support structures 2 are evenly distributed along the circumference of the support structure base 1/support structure top cover 5.
The traction mechanism comprises a driving device 9 respectively arranged at the lower end of each supporting structure 2 and a guide pulley block respectively arranged at each supporting structure 2; the guide pulley block comprises a first guide pulley mechanism and a second guide pulley mechanism which are sequentially arranged along the length direction of each supporting structure 2 respectively; wherein the first guide pulley mechanism is used for guiding the direction of the rope 3 at the movable platform 7, and the second guide pulley mechanism is used for guiding the direction of the rope 3 at the driving device 9.
One end of the rope 3 is connected with the driving device 9, and the other end of the rope passes through the second guide pulley mechanism and the first guide pulley mechanism in sequence to be connected with the movable platform 7; the movable platform 7 is positioned in a space surrounded by the six support structures 2 of the body structural part; the controller is respectively connected with each driving device 9 through a communication link, and the driving devices 9 can receive and release the ropes 3 under the control of the controller so as to realize the space motion of the movable platform 7.
The cable traction parallel mechanism experimental device adopts a modular design, is convenient to disassemble and replace corresponding modules when different requirements are required to be met or maintained according to requirements, and is convenient and flexible to configure the number of cables so as to meet different experimental requirements. The rope can be flexibly configured into two, four, six, twelve and the like, and the experimental device can maximally develop the problems of design, motion demonstration, mechanical property research and the like of various one-to-six-degree-of-freedom variable parameter rope traction parallel mechanisms with different combination configurations.
In order to more clearly explain the experimental device of the rope traction parallel mechanism, a preferred embodiment of the invention is described in detail below with reference to the attached drawings.
As a preferred embodiment of the invention, the experimental device for the rope traction parallel mechanism adopts a modular design, and particularly as shown in figure 1, the experimental device comprises a body structural part, a traction mechanism, a rope 3, a movable platform 7 and a controller. One end of the rope 3 is connected with the movable platform 7, and the other end is retracted and extended with a traction mechanism fixed on the structural member of the body, so that the space variable-degree-of-freedom motion of the movable platform 7 is realized. In some preferred embodiments, the invention further comprises a pose measurement module 6, wherein the pose measurement module 6 is arranged on the body structural member and is used for measuring the position and the pose of the movable platform 7 in the motion process. The movable platform 7 can be configured to have a specific weight and shape as required. It can be understood that the mobile platform of the present invention is an execution terminal, and those skilled in the art can freely change the structure of the mobile platform 7, and in order to control the angle thereof more precisely, an AB axis can also be added inside the mobile platform 7 to facilitate precise adjustment of the angular posture of the mobile platform 7.
Furthermore, the invention also comprises a shielding bottom plate 8; the shielding bottom plate 8 and the pose measuring module 6 are respectively arranged on two opposite sides of the movable platform 7. The shielding base plate 8 has an action surface with a solid pattern, which is disposed close to the movable platform 7. In the preferred embodiment of the invention, the shielding bottom plate 8 is designed by a pure-color hard plate, and the action surface of the shielding bottom plate is a pure-color surface, which is used for providing a pure measurement background environment for the pose measurement module. It can be understood that the position of the pose measurement module 6 of the present invention is adjustable, in the preferred embodiment of the present invention, the pose measurement module is located on the top cover of the support structure, as long as it can monitor the position and posture of the movable platform 7, and the shielding bottom plate 8 is located at a position that can provide a pure measurement background environment for the pose measurement module 6, so that the pose measurement module can better capture and track the movable platform, and efficiently complete the measurement task.
The body structural part comprises a supporting structure base 1, a supporting structure top cover 5 and six supporting structures 2 vertically extending between the supporting structure base 1 and the supporting structure top cover 5; preferably, the supporting structure of the invention is a supporting rod, and the design that the supporting structure base 1 and the supporting structure top cover 5 adopt truss structures is convenient for reducing the self weight of the invention and the assembling of experimenters, and the supporting structure base adopts double-layer trusses to provide the installation space for the driving device and reduce the self weight at the same time. The specific structure of the structural member of the body, such as the supporting plate, the retractable supporting column and the sealing shell, can be set by those skilled in the art at will.
The traction mechanism comprises a driving device 9 respectively arranged at the lower end of each supporting structure 2 and a guide pulley block respectively arranged at each supporting structure 2; the guide pulley block comprises two guide pulleys 4 which are sequentially arranged along the length direction of each supporting structure 2 respectively, and the two guide pulleys 4 are sequentially named as a first guide pulley mechanism and a second guide pulley mechanism from top to bottom for convenience of description. It will be understood that the number of driving devices 9 according to the invention is six, and likewise the number of guide pulley blocks is six, the driving devices 9 and the guide pulley blocks being arranged in one-to-one correspondence with the support structure 2, respectively. It can be understood that the supporting structure 2 of the present invention may also be a supporting rod which is telescopically arranged along its own height, and the arrangement can increase the moving space of the moving platform, which is more favorable for experimental requirements.
The rope 3 of the invention adopts a light tension rope with low elasticity, one end of the rope 3 is connected with a driving device 9, and the other end of the rope passes through a second guide pulley mechanism and a first guide pulley mechanism in sequence to be connected with a movable platform 7, so that the movable platform 7 is positioned in a space surrounded by six support structures 2 of a body structural member; the controller is respectively connected with each driving device 9 through a communication link, and the driving devices can receive and release the ropes 3 under the control of the controller so as to realize the space motion of the movable platform 7. In some preferred embodiments, the driving device 9 is a winding mechanism comprising a deep groove drum 25 for winding the rope and a driving motor 23, and the outer surface of the deep groove drum 25 is provided with a deep groove thread extending in the length direction.
Further, referring to the drawings, the supporting structure base 1 and the supporting structure top cover 5 of the body structural member are both regular hexagons, and two ends of the six supporting structures 2 are respectively located at six vertexes of the two regular hexagons. The supporting structure base 1, the supporting structure 2 and the supporting structure top cover 5 form a supporting framework of the cable traction parallel mechanism experimental device. The mechanism of the support structure base 1 is schematically shown in fig. 2, and includes a regular hexagonal base 12, a regular hexagonal support structure joint 11, a support structure base support short rod 13 and a driving device fixing member 10. Wherein, the regular hexagon base 12 is fixed on the ground and used for stabilizing the whole experimental device; the regular hexagonal support structure engagement member 11 is used to provide a configurable interface for the support structure 2; the supporting structure base supporting short rod 13 is used for connecting the regular hexagon base 12 and the regular hexagon supporting structure connecting piece 11 and providing space for installing the driving device 9 in the supporting structure base 1; the drive means mount 10 is used for mounting the drive means 9.
It will be understood that the support structure 2 of the invention is used for connecting the support structure base 1 and the support structure top cover 5 on the one hand and for mounting the guide pulleys 4 on the other hand. The guide pulley 4 can be mounted at any position of the support structure 2 as desired.
The top cover 5 of the supporting structure is positioned at the topmost end of the experimental device of the cable traction parallel mechanism, and is used for stabilizing the supporting structure 2 on one hand and installing the pose measuring module 6 on the other hand. The mechanism of the top cover 5 of the support structure is schematically shown in fig. 3, and is configured into a regular hexagonal shape by the connecting short rods 14. In a preferred embodiment of the present invention, the pose measurement module 6 includes a depth camera 15, and the depth camera 15 is fixedly provided at the center of the regular hexagon shape constructed by the connection stub 14. It is to be understood that the pose measurement module of the present invention may also include a two-dimensional image capture device, a three-dimensional image capture device, and the like, and the depth camera is only a preferred embodiment of the present invention, and is not a limitation of the pose measurement module of the present invention. Further, the support structure base 1 and support structure top cover 5 of the present invention may also be other shapes, such as circular, square, etc. As long as it can ensure that the six support structures 2 are evenly distributed in the circumferential direction of the two. Furthermore, the number of the supporting structures of the invention is also variable, and can be two, four or six. So long as they are symmetrically disposed.
Furthermore, the guide pulley blocks of the invention are used for guiding the direction of the retraction of the rope, each group of guide pulley blocks comprising two guide pulleys 4 mounted on the support structure 2. A guide pulley 4 mounted on the upper end of the support structure is used to guide the direction of the rope 3 at the moving platform 7, which is labeled as a first guide pulley mechanism for convenience of description. A guide pulley 4 mounted at the lower end of the support structure 2 serves to guide the direction of the rope at the drive means 9, which for the sake of convenience of description is denoted as a second guide pulley mechanism. In some preferred embodiments, the first and second guide pulley mechanisms of the present invention are mounted on the inner side of the support structure 2. The first guide pulley mechanism and the second guide pulley mechanism have the same structure, and only the first guide pulley mechanism will be described in detail below.
Referring to fig. 4-6, the guide pulley 4 comprises an adapter piece mounted to the support structure 2 and a rope tracking assembly rotatably mounted to the adapter piece; rope 3 passes rope tracking assembly and is connected with moving platform 7, and when rope 3 drove moving platform 7 and carries out the space motion, rope tracking assembly can be rotated for the adaptor is passive under the drive of rope 3.
The adaptor comprises a U-shaped support, the U-shaped support is provided with two connecting ends extending along the direction deviating from the supporting structure 2, the two connecting ends are both provided with through holes, and the two connecting ends are arranged at intervals along the height direction of the U-shaped support; the both ends of rope tracking subassembly are connected with two links respectively, and the rope tracking subassembly includes the draw-in groove and sets up in the inside first bearing of draw-in groove, and the both ends of draw-in groove rotate with two links respectively to be connected, and rope 3 passes first bearing through the through-hole in order to be connected with moving platform 7. The draw-in groove both ends are connected with the link through the second bearing respectively, and the rotation face of second bearing, first bearing sets up perpendicularly on the adaptor, and the rotation face of two second bearings is orthogonal each other with the rotation face of first bearing promptly.
In a preferred embodiment of the invention the adapter comprises a support structure and guide pulley adapter 16 as shown in the figure, wherein the support structure and guide pulley adapter 16 fixes the position of the guide pulley on the support structure 2, and a guide pulley U-shaped bracket 17 mounted on the support structure and guide pulley adapter 16. The clamping groove is a guide pulley U-shaped clamping groove 19 as shown in the figure, the first bearing is a V-shaped bearing 20, and the second bearing is a guide pulley U-shaped clamping groove bearing 22 as shown in the figure. Specifically, the guide pulley 4 further comprises a guide rope hollow shaft 21 and a guide pulley U-shaped support gland 18, the guide rope hollow shaft 21 is arranged at a through hole of the connecting end of the guide pulley U-shaped support 17, and the guide pulley U-shaped support gland 18 is provided with a stable guide pulley U-shaped clamping groove bearing 22 to prevent the guide pulley U-shaped support gland from shaking during movement. The V-shaped bearing 20 is fixed in the U-shaped clamping groove 19 of the guide pulley; the guide pulley U-shaped clamping groove 19 is arranged on the guide pulley U-shaped bracket 17 through a guide rope hollow shaft 21 and a guide pulley U-shaped clamping groove bearing 22. Referring to fig. 5, fig. 5 illustrates the threading direction of the rope of the first guide pulley mechanism, specifically, the rope 3 passes through the rope guiding hollow shaft 21 and bypasses the V-shaped bearing 20, and finally is connected to the movable platform 7. When the rope 3 changes in the outgoing direction in the space, the direction of the V-shaped bearing 20 passively changes along with the direction of the rope 3, so that the friction between the rope 3 and the V-shaped bearing 20 is reduced. It can be understood that the second guide pulley mechanism of the invention has the same structure as the first guide pulley mechanism, but the threading direction is different, and the threading mode of the second guide pulley mechanism of the invention can be understood as threading from bottom to top, namely, one end of the rope 3 winds and retracts from the driving device 9, the other end of the rope bypasses the V-shaped bearing and then extends to the first guide pulley mechanism through the connecting end through hole of the second guide pulley mechanism, and the rope bypasses the V-shaped bearing and is connected with the movable platform after passing through the through hole guide rope hollow shaft 21 of the lower connecting end of the first guide pulley mechanism. When the direction of rope 3 changed, can drive rope tracking assembly V-arrangement bearing and leading pulley U-shaped draw-in groove 19 and rotate jointly, guarantee the uniformity of each rope 3 play rope position on the one hand, on the other hand guarantees the rate of tension of rope 3, improves control accuracy, reduces the control and calculates the degree of difficulty.
The driving device 9 of the invention is used for winding and unwinding the rope 3, and the structural schematic diagram thereof refers to fig. 7 and 7. The driving device 9 comprises a driving motor 23, a coupling 24, a deep groove reel 25, a motor fixing support 29, a driving device mounting base plate 30, a deep groove reel support base 28, a deep groove reel support gland 27 and a deep groove reel bearing 26. Wherein, the coupling 24 is connected with the driving motor 23 and the output shaft of the deep groove winding drum 25 and is used for buffering the force and the motion impact between the driving motor and the deep groove winding drum; the deep groove winding drum 25 adopts a deep groove thread structure design, so that the rope 3 is prevented from jumping grooves while the rope 3 is ensured to do equal-circumference retracting movement on the deep groove winding drum 25; the deep groove reel support base 28, the deep groove reel support gland 27 and the deep groove reel bearing 26 are used for fixing the deep groove reel 25, wherein the deep groove reel bearing 26 is used for reducing friction in the rotation process of the deep groove reel 25; the deep groove reel support gland 27 is used for locking the deep groove reel bearing 26 to prevent the deep groove reel bearing from jumping in the movement process; the deep groove drum support base 28 is mounted on the drive device mounting base plate 30; the drive unit mounting base plate 30 is mounted to the support structure base 1. The structural design of the deep groove winding drum 25 can ensure the distribution rule of the stress of the winding drum, reduce the stress of the drum wall, prevent the rope 3 from jumping the groove and ensure the uniform winding and unwinding of the rope 3.
In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:
the experimental device for the cable traction parallel mechanism integrates a pose measurement module of a movable platform (an execution terminal) and a guide pulley mechanism with a cable guide function, the guide pulley mechanism can effectively reduce friction between a cable and a V-shaped bearing and between the cable and a U-shaped groove, and the experimental device for the cable traction parallel mechanism adopts a modular design and has the characteristics of being configurable according to different requirements and easy to install.
The number of the ropes can be adjusted according to the experimental environment, the number of the ropes can be 12 at most, the problems of design, motion demonstration, mechanical property research and the like of various combined configurations, namely, variable parameter rope traction parallel mechanisms with one degree of freedom and six degrees of freedom can be developed to the maximum extent, the parallel mechanism rope traction parallel mechanism has important significance for learners to master the related knowledge of the parallel mechanisms, and meanwhile, researchers can verify the related theories in the parallel mechanism science and the flexible driving system through the experimental device.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (7)
1. A cable traction parallel mechanism experimental device is characterized by comprising a body structural part, a traction mechanism, a rope, a movable platform and a controller;
the body structure comprises a support structure base, a support structure top cover and six support structures vertically extending between the support structure base and the support structure top cover;
the traction mechanism comprises driving devices respectively arranged at the lower ends of the supporting structures and guide pulley blocks respectively arranged on the supporting structures; the guide pulley block comprises a first guide pulley mechanism and a second guide pulley mechanism which are sequentially arranged along the length direction of each supporting structure respectively;
one end of the rope is connected with the driving device, and the other end of the rope sequentially penetrates through the second guide pulley mechanism and the first guide pulley mechanism to be connected with the movable platform;
the movable platform is positioned in a space surrounded by six supporting structures of the body structural part;
the controller is respectively connected with each driving device through a communication link, and the driving devices can receive and release the ropes under the control of the controller so as to realize the spatial movement of the movable platform;
the first guide pulley mechanism and the second guide pulley mechanism have the same structure; the first guide pulley mechanism and the second guide pulley mechanism comprise adapters and rope tracking assemblies, the adapters are arranged on the supporting structure, and the rope tracking assemblies are rotatably arranged on the adapters; the rope passes through the rope tracking assembly and is connected with the movable platform, and when the rope drives the movable platform to perform spatial motion, the rope tracking assembly can be driven by the rope to rotate relative to the adapter piece passively;
the adapter comprises a U-shaped support, the U-shaped support is provided with two connecting ends extending along the direction away from the supporting structure, the two connecting ends are provided with through holes, and the two connecting ends are arranged at intervals along the height direction of the U-shaped support; the two ends of the rope tracking assembly are respectively connected with the two connecting ends, the rope tracking assembly comprises a clamping groove and a first bearing arranged in the clamping groove, the two ends of the clamping groove are respectively rotatably connected with the two connecting ends, and the rope penetrates through the first bearing through the through hole to be connected with the movable platform; the two ends of the clamping groove are connected with the connecting end through second bearings respectively, the rotating surfaces of the second bearings and the first bearings are vertically arranged on the adapter, and the rotating surfaces of the two second bearings and the rotating surface of the first bearing are orthogonal to each other.
2. The experimental facility of claim 1, wherein the first and second guide pulley mechanisms are mounted on an inside surface of the support structure.
3. The experimental facility of claim 1, further comprising a pose measurement module, wherein the pose measurement module is mounted on the structural body member and is configured to measure the position and the pose of the movable platform during the movement process.
4. The cable traction parallel mechanism experimental apparatus of claim 3, further comprising a shield base plate; the shielding bottom plate and the pose measuring module are respectively arranged on two opposite sides of the movable platform.
5. The rope traction parallel mechanism experiment device of claim 4, wherein the shielding bottom plate is provided with an action surface with a pure color pattern, and the action surface is arranged close to the movable platform.
6. The rope traction parallel mechanism experimental device according to claim 1, wherein the driving device comprises a deep groove winding drum for winding the rope and a driving motor, and a deep groove thread extending in the length direction is arranged on the outer surface of the deep groove winding drum.
7. The experimental device for the cable traction parallel mechanism is characterized in that the supporting structure base and the supporting structure top cover are both regular hexagons, and two ends of the six supporting structures are respectively located at six vertexes of the two regular hexagons.
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