CN112405502B

CN112405502B - Movable anchor point seat type rope-driven parallel robot

Info

Publication number: CN112405502B
Application number: CN202011316392.4A
Authority: CN
Inventors: 袁晗; 于大江; 徐文福
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2022-02-18
Anticipated expiration: 2040-11-20
Also published as: CN112405502A

Abstract

The invention relates to a dynamic anchor seat type rope-driven parallel robot, which comprises: a circular guide rail; at least three movable anchor point seats moving along the circular guide rail; the terminal platform that can move in the plane, this terminal platform is connected with every anchor point seat that moves respectively through the drive rope, and wherein this terminal platform includes a plurality of coaxial normal running fit's change, and wherein at least one change is connected with anchor point seat that moves through the drive rope. In addition, each movable anchor seat comprises a supporting component, a guide component used for limiting the movable anchor seat to move along the circular guide rail in a circular mode, and a rope component used for collecting and releasing the driving rope.

Description

Movable anchor point seat type rope-driven parallel robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a movable anchor point seat type rope-driven parallel robot.

Background

With the continuous and rapid development of the robot technology, especially the rope-driven parallel robot, the rope-driven parallel robot has been widely applied in various fields such as industrial and economic construction, wherein the obstacle avoidance capability of the rope-driven parallel robot has become increasingly important.

At present, the rope-driven parallel robot mainly adopts a fixed anchor seat mode to carry out rope control and tail end platform control, and the determined position of the anchor seat can not quickly change the configuration of the robot, so that the robot adapts to a complex working environment.

Disclosure of Invention

The invention provides a dynamic anchor seat type rope-driven parallel robot, which aims to at least solve one of the technical problems in the prior art.

The invention provides a movable anchor point seat type rope-driven parallel robot, which can change the configuration in the motion process by introducing the concept of a movable anchor point seat, thereby changing the position of a leading-out point of a driving rope and realizing super-redundancy driving.

The technical scheme adopted by the invention for solving the technical problems is that the planar movable anchor seat type rope-driven parallel robot comprises: a circular guide rail; at least three movable anchor point seats moving along the circular guide rail; the tail end platform can move in the plane and is respectively connected with each movable anchor point seat through a driving rope, wherein the tail end platform comprises a plurality of coaxial rotating matched rotating rings, and at least one rotating ring is connected with the movable anchor point seat through the driving rope; each movable anchor point seat comprises a supporting component, a guide component used for limiting the movable anchor point seat to move along the circular guide rail in a circumferential mode, and a rope component used for releasing and releasing the driving rope.

Further, the support assembly includes: a movable anchor point base bottom plate with a mounting plane; the movable anchor point seat driving motor frame is arranged on the first side of the movable anchor point seat bottom plate; the driving friction wheel frame is arranged on the second side of the bottom plate of the dynamic anchor point seat, and the second side and the first side are opposite sides.

Further, the guide assembly includes: the movable anchor point seat driving motor is supported by the movable anchor point seat driving motor frame; the coupling is connected to the output shaft of the dynamic anchor point seat driving motor; the part of the shaft body of the active friction wheel shaft passes through the movable anchor point base bottom plate and is connected with the coupling; the active friction wheel is arranged on the second side of the bottom plate of the dynamic anchor point seat and is connected with the active friction wheel shaft; and the driven friction wheel is arranged on the second side of the movable anchor point seat bottom plate, the driving friction wheel is positioned on the outer side of the circular guide rail and is in frictional contact with the circular guide rail, the driven friction wheel is positioned on the inner side of the circular guide rail, and the rotating shafts of the driving friction wheel and the driven friction wheel are vertical to the mounting plane of the movable anchor point seat bottom plate.

Further, the guide assembly includes an eccentric sleeve rotatably coupled to the driven friction wheel, the eccentric sleeve being coupled to the anchor point base plate by a removable fastener; the eccentric distance exists between the fastener mounting hole of the eccentric sleeve and the outer contour circle, so that the distance between the rotating center of the driven friction wheel and the rotating center of the driving friction wheel can be changed when the eccentric sleeve is adjusted in a rotating mode.

Further, the cord assembly comprises: the rope winding motor is fixed on the first side of the movable anchor point base bottom plate through a rope driving motor frame; the rope collecting winch is connected with the output end of the rope collecting motor and used for collecting and releasing the driving rope to realize the control of the telescopic length of the driving rope; and a plurality of rope guide pulleys in supporting relation with the movable anchor point base bottom plate, wherein the end of the driving rope is fixed on the rope take-up winch and is connected to the terminal platform after passing through the plurality of rope guide pulleys.

Further, the rope assembly comprises a rotating pulley yoke which is connected to the movable anchor point base bottom plate through a rotating shaft piece, so that the rotating pulley yoke can rotate around an axis which is perpendicular to the movable anchor point base bottom plate; the rope guide pulleys comprise a first rope guide pulley fixedly mounted on the rope driving motor frame, and a second rope guide pulley, a third rope guide pulley and a fourth rope guide pulley which are supported by the rotating pulley frame, wherein a driving rope from the rope collecting winch sequentially bypasses the first rope guide pulley, the second rope guide pulley, the third rope guide pulley and the fourth rope guide pulley. The second cord pulley may be configured as a traveling pulley. The second rope guide pulley can rotate around a vertical rotation shaft tangent to a pulley groove of the second rope guide pulley besides a pulley rotation shaft of the second rope guide pulley, and the second rope guide pulley is arranged on a base capable of rotating around the vertical rotation shaft. The third rope guide pulley and the fourth rope guide pulley are mounted on the base, and can rotate around the vertical rotating shaft besides the rotating shaft of the base.

Further, the cord assembly comprises: and the tension sensor is arranged between the rope winding winch and the rope guide pulley, and receives the driving rope between the rope winding winch and the rope guide pulley through the rim on the side edge of the tension sensor so as to feed back the tension of the driving rope.

Further, the driving rope wound around the rope take-up winch in the first hour hand direction is wound around the rim of the tension sensor in the first hour hand direction, then wound around the first rope guide pulley in the first hour hand direction, then wound around the second rope guide pulley in the second hour hand direction, then wound around the third rope guide pulley in the first hour hand direction, and then wound around the fourth rope guide pulley in the second hour hand direction. The first hour hand direction and the second hour hand direction are opposite, namely the second hour hand direction is anticlockwise when the first hour hand direction is clockwise, or the second hour hand direction is clockwise when the first hour hand direction is anticlockwise.

Further, the number of the movable anchor seats is preferably three, and then the terminal platform comprises: the upper rotating ring, the first bearing, the middle shaft, the second bearing and the lower rotating ring are coaxially matched in sequence; the first lifting lug is fixedly connected with the upper rotating ring; the second lifting lug is fixedly connected with the middle shaft; the third lifting lug is fixedly connected with the lower rotating ring; the first lifting lug, the second lifting lug and the third lifting lug are fixedly connected to the driving rope respectively.

Furthermore, the upper rotating ring is provided with a lower extension part for fixedly mounting the first lifting lug, the lower rotating ring is provided with an upper extension part for fixedly mounting the third lifting lug, and the upper extension part, the lower extension part and the middle shaft mounting lifting lug are the same in position height.

The invention has the beneficial effects that:

the anchor point seat driving and rope winding and unwinding devices are integrated on a movable anchor point seat, so that the integration level and the modularization degree of the robot are improved;

the rope guide pulley part of the invention not only solves the problem of direction of the rope, but also can randomly adjust the height of the horizontal plane of the rope.

The tail end platform can still ensure that the extension lines of the ropes are crossed at one point when the ropes have different included angles, so that the accuracy of the model is improved.

According to the planar movable anchor point seat type rope-driven parallel robot, the degree of freedom of motion of the anchor point seat is increased, and the degree of freedom of control of the planar three-rope parallel robot can reach 6, so that the working space of the planar three-rope parallel robot can be enlarged; meanwhile, when encountering an obstacle, the robot structure can be changed by moving the anchor point seat, so that the obstacle avoidance effect is achieved.

Drawings

FIG. 1 is an overall schematic diagram of a dynamic anchor point seat type rope drive parallel robot according to the invention.

Fig. 2 is a schematic view of a cross-sectional structure of a circular guide rail in an embodiment according to the present invention.

Fig. 3 is an exploded view of the motion portion of the kinetic anchor point in an embodiment of the present invention.

FIG. 4 is a perspective view of the portion of the dynamic anchor point guide rope and the rope take-up according to the embodiment of the invention.

FIG. 5 is a perspective view of the live anchor cord take-up portion from another perspective in an embodiment in accordance with the present invention.

Fig. 6 is an exploded perspective view of an end platform structure in an embodiment in accordance with the invention.

Detailed Description

The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of upper, lower, left, right, top, bottom, etc. used in the present invention are only relative to the positional relationship of the components of the present invention with respect to each other in the drawings.

Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

Referring to fig. 1, in some embodiments, a kinetic anchor seated rope drive parallel robot according to the present invention includes a circular rail 100, a kinetic anchor seat 200, an end platform 300, and a drive rope 400. The number of the movable anchor seats 200 is plural, preferably three (in the following embodiments, 3 movable anchor seats 200 are taken as examples for description of the technical solution), so as to realize the rope redundancy driving end platform 300. The end platform 300 is connected to each of the kinetic anchors 200 by a drive cable 400, respectively, so that the number of drive cables 400 is equal to the number of kinetic anchors 200. The circular guide rail 100 is a 360-degree circular guide rail and can be spliced by a plurality of sections of circular arc guide rails with the same radius. Each kinetic anchor block 200 is capable of limited circumferential movement along circular rail 100. Referring to fig. 2, the rails preferably have trapezoidal grooves on both the inside and outside to receive the moving wheels in the movable anchor point 200.

Referring to fig. 3-5, in some embodiments, each kinetic anchor point 200 includes a support assembly 210, a guide assembly 220, and a cable assembly 230. Support assembly 210 includes a kinetic anchor point base plate 211, a kinetic anchor point base drive motor mount 212, a drive friction wheel frame 213, and a cable drive motor mount 214. The guide assembly 220 includes a kinematic anchor point drive motor 221, a coupler 222, a driving friction wheel shaft 223, a driving friction wheel 224, a driven friction wheel 225, an eccentric bushing, and a bolt 228. The wireline assembly 230 includes a wireline motor 232, a plurality of wireline pulleys, a rotating pulley block 237, and a wireline winch 238, and may further include a tension sensor 231.

The anchor point base plate 211 may have upper and lower mounting planes that are parallel to each other. Considering the support and guide relationship of the dynamic anchor point seat 200 and the circular guide rail 100 and the installation compactness, the dynamic anchor point seat driving motor frame 212 and the rope driving motor frame 214 may be installed at an upper plane of the dynamic anchor point seat bottom plate 211, and the active friction wheel frame 213 may be installed at a lower plane of the dynamic anchor point seat bottom plate 211. In one embodiment, dynamic anchor 200 is framed by dynamic anchor base plate 211 (on the left as viewed in FIG. 3) having a plurality of through holes for securing an active friction wheel frame 213 thereunder and receiving a portion of the shaft body of active friction wheel shaft 223 therethrough. The driving friction wheel 224 is fixed with the driving friction wheel shaft 223 and assembled between the driving friction wheel frame 213 and the dynamic anchor point base plate 211 through a bearing. The input end of the active friction wheel shaft 223 is connected with the output end of the active anchor point seat driving motor 221 through a coupler 222. The movable anchor point seat driving motor 221 is fixed on the movable anchor point seat bottom plate 211 through the movable anchor point seat driving motor frame 212.

The driving friction wheel 224 is located outside the circular guide rail 100, and its wheel body enters the trapezoidal section of the circular guide rail 100 and is in friction contact with the circular guide rail 100. The driven friction wheel 225 is located inside the circular guide rail 100 with its wheel body coming into the trapezoidal cross-sectional area of the circular guide rail 100. With reference to fig. 1 to 3, a combination of 1 driving wheel and 2 driven friction wheels 225 may be adopted, so that the movable anchor point seat 200 and the trapezoidal section of the circular guide rail 100 have three-point supporting effect, good stability and compact structure.

Referring to fig. 3, in the present embodiment, the cylindrical outer circumference of the eccentric sleeve receives the driven friction wheel 225 so that the driven friction wheel can freely rotate, and accordingly, the number of eccentric sleeves is the same as the number of the driven friction wheels 225. Referring to fig. 1, 3 and 4, the movable anchor point base plate 211 (at the right part of fig. 3) is further provided with two through holes, the center of the eccentric sleeve is provided with a threaded hole, the first eccentric sleeve 226 and the second eccentric sleeve 227 are connected and installed by a bolt 228, and the driven friction wheel 225 is assembled outside the eccentric sleeve. The threaded holes and the outer contour circle in the first eccentric sleeve 226 and the second eccentric sleeve 227 have an eccentric distance, so that the actual rotating center of the driven friction wheel 225 can be changed by rotating the eccentric sleeves, the pretightening force between the driving friction wheel 224, the driven friction wheel 225 and the guide rail 100 can be adjusted, and the fine adjustment of the gap and the tightness of the three-point support between the movable anchor point seat 200 and the trapezoidal section of the circular guide rail 100 can be realized.

Referring to fig. 4 and 5, in one embodiment, the rope driving motor frame 214 is fixed on the upper portion of the anchor point base plate 211, and the rope retracting motor 232 is fixed on the rope driving motor frame 214 by a bolt 228. The output end of the rope take-up motor 232 is directly connected to the rope take-up winch 238 and is fixed by a jackscrew.

In this embodiment, four guide rope pulleys may be employed. A first rope guide pulley 233 in the form of a fixed pulley is also fixed to the upper right corner of the rope drive motor frame 214. Referring to fig. 4, a rotating pulley yoke 237 is installed below the first guide rope pulley 233, and the rotating pulley yoke 237 may be rotatably connected to the movable anchor point base plate 211 by a rotating shaft member, so that the rotating pulley yoke 237 may rotate about a rotating shaft a1 in a vertical direction as shown in fig. 4 (or about a rotating shaft perpendicular to an installation plane of the movable anchor point base plate 211) without changing the length of the rope 400.

Referring to fig. 4 and 5, the rotating pulley yoke 237 may include an "inverted T-shaped" structural member and an "E-shaped" structural member, wherein a "U-shaped" through hole (see fig. 5) is formed in the middle of the "E-shaped" structural member for allowing connection with the "inverted T-shaped" structural member and the "E-shaped" structural member by a screw and allowing height adjustment. The second rope guide pulley 234 is installed at the upper end of the inverted T-shaped structural member, and the third rope guide pulley 235 and the fourth rope guide pulley 236 are installed at the two ends of the E-shaped structural member in parallel. Third and fourth cord pulleys 235, 236 are positioned substantially parallel to second cord pulley 234, and third cord pulley 235 is positioned substantially vertically above fourth cord pulley 236. The installation height of the fourth rope guide pulley 236 is adjusted by the installation and adjustment mode of the U-shaped through hole of the E-shaped structural member, so that the horizontal height of the driving rope 400 can be adjusted. The rope is led out from the lower part of the second rope guide pulley 234, then winds upwards around the third rope guide pulley 235, winds downwards around the fourth rope guide pulley 236 and then is led out horizontally from the lower part, and the rope is guaranteed to be kept horizontal as much as possible after being led out. The second cord guide pulley 234, the third cord guide pulley 235, and the fourth cord guide pulley 236 thus installed further ensure the accuracy of the cord 400 in winding and unwinding.

In addition, the rope passes through the first rope guide pulley 233 and then vertically passes downward below the second rope guide pulley 234, so that it is ensured that the rope does not change the expansion length when the second rope guide pulley 234 rotates around the vertical rotation shaft.

Referring to fig. 6, in one embodiment, end platform 300 includes an upper swivel 311, a central axle 312, a lower swivel 313, a first bearing 314, a second bearing 315, and three lifting

ears

316, 317, and 318. The middle shaft 312 is provided with a first bearing 314 and a second bearing 315 at two ends respectively, and an upper rotating ring 311 and a lower rotating ring 313 are assembled on the outer ring. As shown in fig. 6, the upper turn 311 is provided with a lower extension for fixedly mounting the first lifting lug 316, and the lower turn 313 is provided with an upper extension for fixedly mounting the third lifting lug 318, so that the upper extension, the lower extension and the mounting lug of the middle shaft 312 are located at the same height. Because the other end of the driving rope 400 is fixed to each of the lifting lugs 316, 317 and 318, and the first lifting lug 316, the second lifting lug 317 and the third lifting lug 318 are installed at the same height, it is ensured that the driving rope 400 is in the same plane and the extension lines thereof intersect at a point. Referring again to fig. 1, it can be understood that the horizontal height of the driving rope 400 led out from the fourth rope guiding pulley 236 of the rope assembly 230 of the driven anchor 200 is also consistent with the height of the three lifting eyes, so that the rope-driven parallel mechanism of the driven anchor 200 on the same plane is finally realized.

In conclusion, the planar dynamic anchor seat type rope-driven parallel robot in the scheme of the invention has the following advantages:

1. the control freedom degree of the plane rope-driven parallel robot is increased, and super-redundancy control is realized;

2. the movable anchor point seat is adopted to drive the rope to be wound and unwound, so that the movement working space of the plane rope-driven parallel robot is enlarged;

3. when the robot meets an obstacle in a working space, the configuration of the robot can be changed through the motion of the movable anchor point seat, so that the obstacle avoidance is realized;

4. the whole robot has compact and reliable structure, perfect functions and easy operation and installation.

The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present disclosure should be included in the scope of the present disclosure as long as the technical effects of the present invention are achieved by the same means. Are intended to fall within the scope of the present invention. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.

List of reference numerals

100 circular guide rail 231 tension sensor

200 move anchor point seat 232 and receive rope motor

210 support assembly 233 first cord guide pulley

211 moving anchor point base bottom plate 234 second rope guide pulley

212 moving anchor point seat driving motor frame 235 third rope guiding pulley

213 fourth rope guide pulley of driving friction pulley frame 236

214 rope drive motor bracket 237 rotating pulley bracket

220 guide assembly 238 rope take-up winch

221 moving anchor point seat driving motor 300 tail end platform

222 coupling 311 upper turn ring

223 active friction wheel axle 312 middle axle

224 active friction wheel 313 lower turn

225 driven friction wheel 314 first bearing

226 first eccentric bushing 315 second bearing

227 second eccentric sleeve 316 first lifting lug

228 bolt 317 second lug

230 cable assembly 318 third shackle

400 drive the rope.

Claims

1. The utility model provides a move anchor point seat formula rope and drive parallel robot which characterized in that includes:

a circular guide rail (100);

at least three movable anchor point seats (200) moving along the circular guide rail (100);

an end platform (300) capable of moving in a plane, the end platform (300) being connected to each movable anchor point (200) by a drive cable (400), wherein the end platform (300) comprises a plurality of coaxial rotation-fit turns, at least one of which is connected to the movable anchor point (200) by the drive cable (400);

wherein each kinetic anchor point seat (200) comprises a supporting component (210), a guiding component (220) used for limiting the kinetic anchor point seat (200) to move along the circular guide rail (100) in a circle, and a rope component (230) used for collecting and releasing the driving rope (400);

wherein, the supporting component (210) is provided with a movable anchor point seat bottom plate (211) of a mounting plane;

the movable anchor point seat driving motor frame (212) is arranged on the first side of the movable anchor point seat bottom plate (211);

the rope assembly (230) comprises a rope retracting motor (232), and the rope retracting motor (232) is fixed on the first side of the movable anchor point base plate (211) through a rope driving motor frame (214);

the rope winding winch (238) is connected with the output end of the rope winding motor (232);

a plurality of rope guide pulleys in supporting relation with the movable anchor point base plate (211),

wherein the end of the driving rope (400) is fixed on the rope-retracting winch (238) and is connected to the terminal platform (300) after passing through the plurality of rope-guiding pulleys;

wherein the cable assembly (230) comprises a rotating pulley yoke (237), the rotating pulley yoke (237) is connected to the movable anchor point base plate (211) through a rotating shaft member, so that the rotating pulley yoke (237) can rotate around an axis (A1), and the axis (A1) is vertical to the movable anchor point base plate (211);

the guide rope pulleys are respectively fixedly arranged on the rope driving motor frame (214) and supported on the rotating pulley frame (237);

wherein, move anchor point seat (200) quantity be three, terminal platform include:

the upper rotating ring (311), the first bearing (314), the middle shaft (312), the second bearing (315) and the lower rotating ring (313) are coaxially matched in sequence;

a first lifting lug (316) fixedly connected with the upper rotating ring (311);

the second lifting lug (317) is fixedly connected with the middle shaft (312);

a third lifting lug (318) fixedly connected with the lower rotating ring (313);

wherein the first lifting lug (316), the second lifting lug (317) and the third lifting lug (318) are respectively fixedly connected to the driving rope (400);

wherein the upper rotating ring (311) is provided with a lower extension part for fixedly mounting the first lifting lug (316),

the lower rotating ring (313) is provided with an upper extension part for fixedly mounting the third lifting lug (318),

wherein the upper extension, the lower extension and the mounting lug of the center shaft (312) are positioned at the same height.

2. The kinetic anchor seat rope drive parallel robot according to claim 1, wherein the support assembly (210) comprises:

and the driving friction wheel frame (213) is arranged on the second side of the movable anchor point base plate (211), and the second side and the first side are opposite sides.

3. The kinetic anchor seated rope drive parallel robot according to claim 2, wherein the guide assembly (220) comprises:

a movable anchor point seat driving motor (221) supported by the movable anchor point seat driving motor frame (212);

a coupling (222) connected to an output shaft of the dynamic anchor point seat driving motor (221);

an active friction wheel shaft (223), a part of the shaft body of the active friction wheel shaft (223) passes through the movable anchor point base plate (211) and is connected with the coupling (222);

an active friction wheel (224) arranged on the second side of the dynamic anchor point base plate (211) and connected with the active friction wheel shaft (223);

at least one driven friction wheel (225) arranged on a second side of the dynamic anchor point base plate (211),

wherein, the driving friction wheel (224) is arranged at the outer side of the circular guide rail (100) and is in friction contact with the circular guide rail (100), the at least one driven friction wheel (225) is arranged at the inner side of the circular guide rail (100), and the rotating shafts of the driving friction wheel (224) and the driven friction wheel (225) are vertical to the installation plane of the movable anchor point base bottom plate (211).

4. The anchor point seat rope drive parallel robot of claim 3, wherein:

said guide assembly (220) including an eccentric sleeve (227) rotatably connected to said driven friction wheel (225), said eccentric sleeve (227) being connected to said anchor point base plate (211) by a removable fastener;

the fastener mounting hole of the eccentric sleeve (227) has an eccentric distance with an outer contour circle, so that the eccentric sleeve can change the distance between the rotating center of the driven friction wheel (225) and the rotating center of the driving friction wheel (224) when being adjusted in rotation.

5. The anchor point seat rope-drive parallel robot according to claim 1, characterized in that:

the plurality of guide pulleys comprise a first guide pulley (233) fixedly installed on the rope driving motor frame (214), and further comprise a second guide pulley (234), a third guide pulley (235) and a fourth guide pulley (236) supported by the rotating pulley frame (237),

wherein a drive rope (400) from the rope take-up winch (238) passes around the first rope guide pulley (233), the second rope guide pulley (234), the third rope guide pulley (235), and the fourth rope guide pulley (236) in sequence.

6. The anchor-based rope-drive parallel robot as claimed in claim 5, wherein the rope assembly (230) comprises:

and a tension sensor (231) fixed with the movable anchor point base bottom plate (211), wherein the tension sensor (231) is arranged between the rope retracting winch (238) and the rope guide pulley, and the driving rope (400) between the rope retracting winch (238) and the rope guide pulley is received through a rim at the side edge of the tension sensor (231) so as to feed back the tension of the driving rope (400).

7. The anchor point seat rope drive parallel robot of claim 6, wherein: the driving rope (400) wound around the rope take-up winch (238) in the first hour hand direction is wound around the rim of the tension sensor (231) in the first hour hand direction, then around the first rope guide pulley (233) in the first hour hand direction, then around the second rope guide pulley (234) in the second hour hand direction, then around the third rope guide pulley (235) in the first hour hand direction, and then around the fourth rope guide pulley (236) in the second hour hand direction,

wherein the first hour hand direction is opposite to the second hour hand direction.