CN205766107U - A kind of parallel robot controller - Google Patents
A kind of parallel robot controller Download PDFInfo
- Publication number
- CN205766107U CN205766107U CN201620056779.3U CN201620056779U CN205766107U CN 205766107 U CN205766107 U CN 205766107U CN 201620056779 U CN201620056779 U CN 201620056779U CN 205766107 U CN205766107 U CN 205766107U
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- industrial computer
- parallel robot
- controller
- flexible cable
- communication device
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Abstract
This utility model belongs to parallel robot field, provide a kind of parallel robot controller, including three degree of freedom hybrid drive flexible cable parallel robot, master control industrial computer, signal processing circuit, first communication device, secondary communication device, programmable logic controller (PLC), sensor group and combination drive controller, master control industrial computer is connected with programmable logic controller (PLC) by first communication device, the outfan of combination drive controller is connected with Compliant Assembly, signal processing circuit includes measuring industrial computer, measure industrial computer input to be connected with sensor group, measure industrial computer outfan to be connected with master control industrial computer by secondary communication device, parallel robot controller also includes the warning circuit being connected with master control industrial computer, display device.Can effectively control four groups of combination drive controllers to realize the folding and unfolding of coordinating of four flexible cables and complete the high-precision motion of Compliant Assembly spatial three-dimensional translational degree of freedom.
Description
Technical field
This utility model belongs to parallel robot field, particularly relates to a kind of parallel robot controller.
Background technology
Three Degree Of Freedom Compliant Assembly has important using value, can be used for lifting, process, detect,
The operation tasks such as assembling, carrying.Existing Compliant Assembly mechanism is a kind of simple in construction, it is possible to complete
Become heavy load operating, compound movement rule, it is achieved the new spatial three-dimensional translating of high-performance movement output is freely
Degree Compliant Assembly.Although this hybrid-driven wire parallel robot mechanism can complete robot weight
The motion of block, but owing to this robot system has big inertia, multiple-input and multiple-output, the feature such as non-linear,
And affected by external interference such as the Parameter Perturbation of system model and weight block RANDOM WIND at the volley, made
Obtain hybrid-driven wire parallel robot kinematic dexterity, stability and accuracy the most perfect.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, it is provided that a kind of more stable parallel connection
Robot controller.
This utility model is achieved in that a kind of parallel robot controller, including Three Degree Of Freedom combined drive
Dynamic Compliant Assembly, master control industrial computer, signal processing circuit, first communication device, the second communication dress
Put, programmable logic controller (PLC), sensor group and combination drive controller, described master control industrial computer passes through institute
Stating first communication device to be connected with programmable logic controller (PLC), the outfan of described combination drive controller is with soft
Rope parallel robot connects,
Described signal processing circuit includes measuring industrial computer, described measurement industrial computer input and described sensor
Group connects, and described measurement industrial computer outfan is connected with master control industrial computer by secondary communication device, described also
Connection robot controller also includes warning circuit, the display device being connected with described master control industrial computer.
Preferably, described three degree of freedom hybrid drive flexible cable parallel robot include mechanism's platform, arrange described
Four flexible cable towers on four angles of mechanism's platform, described four flexible cable towers connect one end of a flexible cable respectively,
The other end of described flexible cable connects article carrying platform；Described sensor group include a gravity sensor, three
Grating displacement sensor, four tension pick-ups and two vision sensors；Described gravity sensor is arranged on
On article carrying platform, described three grating displacement sensors are arranged on article carrying platform, described three pattern displacements
The displacement of X-direction, Y-direction, Z-direction measured respectively by sensor, and described four tension pick-ups are arranged on
In four flexible cables, two described vision sensors are separately mounted to above and below article carrying platform.
Preferably, described flexible cable tower bottom is provided with leading block, and described flexible cable is by leading block and flexible cable tower
Connect.
Preferably, described mechanism platform is provided with support, and described support includes vertical mechanism platform and is arranged on
The main body of mechanism's platform side, described body top extends formation to article carrying platform and is arranged on the upper of article carrying platform
The upper extension of side, described upper extension is provided with vision sensor, and described lower body part is to article carrying platform
Extending the lower projection forming the lower section being arranged on article carrying platform, described lower projection is provided with visual sensing
Device.
Preferably, described signal processing circuit also include being connected with described sensor group signal conditioning circuit and
The microcontroller that described signal conditioning circuit connects, described microcontroller passes through wireless signal transmission circuit and survey
Amount industrial computer connects.
Preferably, described wireless transceiver circuit includes UWB radio transmitting and receiving chip and PCB antenna
Preferably, described combination drive controller has four groups, and each group of structure is identical, including combined drive
Motivation structure, photoelectric encoder, converter and driver, the outfan of programmable logic controller (PLC) and converter
Connecting with the input of driver, the outfan of converter and driver is connected with hybrid drive, photoelectricity
The outfan of encoder is connected with the input of programmable logic controller (PLC).
Preferably, described hybrid drive includes AC three phase asynchronous motor, AC servo motor and double
Toggle, AC three phase asynchronous motor and AC servo motor respectively with the two of drag link
Individual crank is connected, and AC three phase asynchronous motor, AC servo motor are two kinds of enters through connecting rod hinge
It is bonded into；AC three phase asynchronous motor is connected with converter, and AC servo motor is connected with driver, four
The end of flexible cable is connected with the article carrying platform of Compliant Assembly, and four groups of hybrid drives all can with one
Programmed logic controller connects, four groups of converters, four groups of servo-drivers, four groups of hybrid drive hardware
Arrange and line is the most identical.
Preferably, described first communication device or secondary communication device include RS-232 or RS-485 or netting twine
Or usb communication device.
Parallel robot controller of the present utility model can effectively control four groups of combination drive controllers and realize four
The folding and unfolding of coordinating of root flexible cable completes the high-precision motion of Compliant Assembly spatial three-dimensional translational degree of freedom；Adopt
By the distributed AC servo system pattern being made up of master control industrial computer, signal processing circuit and programmable logic controller (PLC),
Have that faster system response speed, signal processing circuit information processing capability be strong, good reliability；Multisensor is combined
Real-time fault detection device and method can detect the common all kinds of faults of robot effectively, timely.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical solution of the utility model, will use required in embodiment below
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only of the present utility model one
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawing can be obtained according to these accompanying drawings.
Fig. 1 is a kind of parallel robot controller schematic block diagram that this utility model embodiment provides.
Fig. 2 is the three degree of freedom hybrid drive flexible cable parallel robot schematic diagram that this utility model embodiment provides.
Fig. 3 is the signal processing circuit schematic diagram that this utility model embodiment provides.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, to the technical side in this utility model embodiment
Case is clearly and completely described.
As shown in Figure 1 to Figure 3, a kind of parallel robot controller that this utility model embodiment provides, bag
Include three degree of freedom hybrid drive flexible cable parallel robot, master control industrial computer, signal processing circuit, the first communication
Device, secondary communication device, programmable logic controller (PLC), sensor group and combination drive controller 13, institute
State master control industrial computer to be connected with programmable logic controller (PLC) by described first communication device, described combination drive
The outfan of controller 13 is connected with Compliant Assembly,
Described signal processing circuit includes measuring industrial computer, described measurement industrial computer input and described sensor
Group connects, and described measurement industrial computer outfan is connected with master control industrial computer by secondary communication device, described also
Connection robot controller also includes warning circuit, the display device being connected with described master control industrial computer.
Parallel robot controller can effectively control four groups of combination drive controllers 13 and realize four flexible cables 3
Coordinate folding and unfolding and complete the high-precision motion of Compliant Assembly spatial three-dimensional translational degree of freedom；Use by master control
Industrial computer, signal processing circuit and the distributed AC servo system pattern of programmable logic controller (PLC) composition, have system
Response is quick, signal processing circuit information processing capability is strong, good reliability；Multisensor is combined real time fail
Detection device and method can detect the common all kinds of faults of robot effectively, timely.
Described three degree of freedom hybrid drive flexible cable parallel robot includes mechanism's platform 1, arranges described mechanism platform
Four flexible cable towers 2 on 1 four angles, described four flexible cable towers 2 connect one end of a flexible cable 3, institute respectively
The other end stating flexible cable 3 connects article carrying platform 4；Described sensor group includes a gravity sensor 5, three
6, four tension pick-ups 7 of individual grating displacement sensor and two vision sensors 8；Described gravity sensor
5 are arranged on article carrying platform 4, and described three grating displacement sensors 6 are arranged on article carrying platform 4, described
Three grating displacement sensors 6 measure the displacement of X-direction, Y-direction, Z-direction respectively, open for described four
Force transducer 7 is arranged in four flexible cables 3, and two described vision sensors 8 are separately mounted to loading and put down
Above and below platform 4.
Described flexible cable tower 2 top is provided with leading block 9, and described flexible cable 3 is by leading block 9 and flexible cable tower 2
Connect.
Described mechanism platform 1 is provided with support 10, and described support 10 includes vertical mechanism platform 1 and is arranged on
The main body of mechanism's platform 1 side, described body top extends formation to article carrying platform 4 and is arranged on article carrying platform 4
The upper extension 11 of top, described upper extension 11 is provided with vision sensor 8, described lower body part
Extend the lower projection 12 forming the lower section being arranged on article carrying platform 4 to article carrying platform 4, described bottom is prolonged
Extending portion 12 is provided with vision sensor 8.
Described signal processing circuit also includes being connected signal conditioning circuit and described signal with described sensor group
The microcontroller that modulate circuit connects, described microcontroller is by wireless signal transmission circuit and measurement industrial computer
Connect.
Described wireless transceiver circuit includes UWB radio transmitting and receiving chip and PCB antenna
Described Three Degree Of Freedom flexible cable 3 combination drive parallel robot is mainly by four flexible cables 3, a Three Degree Of Freedom
Parallel institution platform 11, four hybrid drives 2, four flexible cable towers 23, an article carrying platform 44, one
Support 105 is constituted.Wherein four flexible cable towers 2 are rectangular is vertically fixed on 3-freedom parallel mechanism platform 1
On, four flexible cable 3 two ends are connected with article carrying platform 4 and four hybrid drives respectively, and are around in flexible cable
On the leading block 9 on tower 2 top.Support 10 is vertically fixed on 3-freedom parallel mechanism platform 1,
Frame 10 one end extends to article carrying platform 4 upper end, and the other end extends to article carrying platform 4 lower end.Described loading is put down
Platform 4 will place weight block.
Gravity sensor 5, selects piezoelectric type gravity sensor 5, is arranged on article carrying platform 4.
Displacement transducer, selects three similar grating displacement sensors 6, respectively X-direction pattern displacement to pass
Sensor 6, Y-direction grating displacement sensor 6, Z-direction grating displacement sensor 6, be similarly provided at loading
On platform 4.
Tension pick-up 7, selects four similar strain chip tension pick-ups 7, is correspondingly arranged in four respectively
In flexible cable 3, the respectively first tension pick-up, the second tension pick-up, the 3rd tension pick-up, the 4th
Tension pick-up.
Described vision sensor 8, selects two similar CCD vision image sensors, is installed on regarding support 10
Top and bottom.
Sensor group is by the measurement industrial computer at modulate circuit and wireless transceiver circuit and signal processing center even
Connecing, the measurement industrial computer of signal processing circuit is connected with master control industrial computer by secondary communication device.
Described sensor group includes that 6, four tension force of 5, three grating displacement sensors of a gravity sensor pass
Sensor 7 and two vision sensors 8.Wherein gravity sensor 5 and grating displacement sensor 6 are arranged on flexible cable
On the article carrying platform 4 of parallel robot, tension pick-up 7 is arranged in four flexible cables 3.Described three
Individual grating displacement sensor 6 is respectively mounted on article carrying platform 4, and three grating displacement sensors 6 measure X respectively
Direction, Y-direction, the displacement of Z-direction, four tension pick-ups 7 in flexible cable 3, each group of structure
Identical, two vision sensors 8 are separately mounted to top and the bottom of support 10, respectively to parallel institution
Flexible cable 3 and weight carry out video monitoring.Each sensor is all connected to signal conditioning circuit.
Described signal processing circuit includes signal conditioning circuit, analog/digital conversion circuit, microcontroller, wireless
Signal transmitting and receiving chip, wireless signal antenna and measurement industrial computer.Two of which wireless signal transceiving chip is respectively
It is connected and is formed two receiving and transmitting signal groups, signal conditioning circuit and analog digital conversion electricity with two wireless signal antennas
Road is connected, and analog to digital conversion circuit is connected with microcontroller, receives one group of wireless signal from microcontroller and sends core
Sheet, another receiving and transmitting signal group accesses measures industrial computer.
Described wireless receiving and dispatching is UWB radio transmitting and receiving chip and PCB antenna composition, and wherein UWB is wireless
The outfan of transmitting chip is connected with PCB antenna, and the input receiving chip is connected with antenna, and UWB sends out
Core shooting sheet connects respectively at microcontroller and measurement industrial computer again.
The article carrying platform 4 of three degree of freedom hybrid drive flexible cable parallel robot puts into weight block, and prepares traction
During weight block motion, detection device is started working.Detecting system starts to initialize, when loading system runs
The initial danger threshold set；5, three tension force sensings of the gravity sensor being arranged on parallel robot
Device 7 and four these three classes sensors of grating displacement sensor 6 are opened, and start flexible cable 3 tension force, weight block
Weight, article carrying platform 4 displacement carry out real-time detection free of discontinuities, and by gained signal in three class sensor detections
Processed by signal conditioning circuit, analog/digital conversion, signal be filtered, amplify, filter again, nurse one's health,
Denoising, and the analogue signal of sensor acquisition is converted to digital signal, constantly it is sent to microcontroller；
The signal group of preliminary treatment is reconciled into and can be passed through wireless signal after wireless transmission signal by microcontroller again
Send chip, reception of wireless signals chip and two groups of antennas to complete to detect signal group from microcontroller to measuring work
The transmission of control machine；Measure industrial computer will detection signal group tentatively be judged, the letter that contrast sensor obtains
Number, check whether various types of signal exceeds danger threshold, thus judge the most whether parallel robot has
Fault produces, and the detection signal produced after detection is sent to master controller.
If measuring industrial computer to judge that detecting signal exceeds danger threshold, will be by secondary communication device inspection
Survey signal and be sent to master control industrial computer；Master control industrial computer carries out the most detailed dividing to the detection signal received
Analysis and process, complete the Mechanics Calculation of parallel robot, control system resolve, navigate to concrete trouble point,
Complete presence states present and pass through display device display trouble point, and call subsystem of video, calculate control
The corner of the servomotor of vision sensor 8 processed and rotating speed, the sensor being positioned at table top predominantly detects 4
The real-time status of flexible cable 3, and be controlled by servomotor, constitute feedback；It is positioned at the sensing of mesa base
Device predominantly detects weight block and the real-time status of article carrying platform 4, master controller directly control, and two regard
Video sensor cooperation, thus navigate to trouble point.And by the dynamic vision of display device display trouble point
Frequently real time status, additionally, the control signal calculated also is sent to the control of parallel robot by master control industrial computer
System processed carries out feedback control；To guarantee to detect fault, record fault within the very first time, analyze event
Barrier, reparation fault and access control system are in order to adjust fault；Master control industrial computer, measure industrial computer, micro-
Receive and dispatch with universal serial bus mode and wireless signal between controller and communicate, constitute a communications network system.
The warning circuit being connected with master control industrial computer sends chimes of doom and/flicker alarm lamp according to master control industrial computer.
Described combination drive controller 13 has four groups, and each group of structure is identical, including hybrid drive,
Photoelectric encoder, converter and driver, the outfan of programmable logic controller (PLC) and converter and driver
Input connect, the outfan of converter and driver is connected with hybrid drive, photoelectric encoder
Outfan is connected with the input of programmable logic controller (PLC).
Described hybrid drive includes AC three phase asynchronous motor, AC servo motor and double-crank connecting rod
Mechanism, AC three phase asynchronous motor and AC servo motor respectively with two crank phases of drag link
Connecting, AC three phase asynchronous motor, AC servo motor are two kinds of enters through rod hinge connection synthesis；
AC three phase asynchronous motor is connected with converter, and AC servo motor is connected with driver, four flexible cables 3
End is connected with the article carrying platform 4 of Compliant Assembly, and four groups of hybrid drives are all able to programme with one
Logic controller connects, four groups of converters, four groups of servo-drivers, four groups of hybrid drive hardware layout
And line is the most identical.
Described first communication device or secondary communication device include that RS-232 or RS-485 or netting twine or USB lead to
T unit.
Described hybrid drive includes AC three phase asynchronous motor, AC servo motor and double-crank connecting rod
Mechanism, AC three phase asynchronous motor and AC servo motor respectively with two crank phases of drag link
Connecting, AC three phase asynchronous motor provides main aerodynamic power, AC servo electricity for drag link
Machine controls the flexible output of drag link, and the input motion of both types is closed by rod hinge connection
Become, so make hybrid drive ensure output motion while, the power distribution etc. of hybrid drive
Characteristic is also improved.Hybrid drive is by doing the AC three phase asynchronous motor of constant speed motion and doing speed change fortune
Two motors of dynamic AC servo motor drive jointly, and AC three phase asynchronous motor provides major power and leads to
Crossing converter and carry out speed governing to ensure AC three phase asynchronous motor invariablenes turning speed, AC servo motor is mainly to soft
The motion of rope parallel robot provides control and regulation effect, works in coordination with traction control flexible cable by four flexible cables 3 in parallel
Article carrying platform 4 high-precision motion of robot, and the linkage of four groups of hybrid drives is can be compiled by one
Journey logic controller carrys out control realization, four groups of converters, four groups of servo-drivers, four groups of hybrid drives
Hardware layout and line are the most identical.
Described first communication device and secondary communication device select private communication RS-232/RS-485 transducer
Communication between master control industrial computer, programmable logic controller (PLC) and measurement industrial computer.Described master control industry control
Machine is responsible for robot system trajectory planning, man-machine interaction, system maintenance, the preservation of data, process, show,
Many functions such as optimization.Four groups of combination drive flexible cables 3 of interconnection are responsible for by described programmable logic controller (PLC)
The position co-ordination of trailer system controls.Described measurement industrial computer is responsible for the collection of measurement data, is processed, transports
Row status information is sent to master control industrial computer in real time.Master control industrial computer, measurement industrial computer and FPGA control
Isa bus is used to be connected between device processed, for setting, download program and the transmission of operating data of equipment.
Described sensor records the signal needed for hybrid-driven wire parallel robot, and passes the signal to measure
Industrial computer, measures industrial computer and processes measurement data in real time and by communicator, measurement data be sent to master control
Industrial computer, the signal received is analyzed processing by master control industrial computer, is formed and controls error signal by logical
T unit sends programmable logic controller (PLC) to, and control instruction is analyzed by programmable logic controller (PLC), meter
Calculating control signal and be handed down to combination drive controller 13, combination drive controller 13 drives four flexible cables 3
Coordinate folding and unfolding and realize the motion of Compliant Assembly, and then constitute a big closed loop transmittance process.
Described display device includes light-emitting diode display, LCD display etc..
The above is preferred implementation of the present utility model, it is noted that general for the art
For logical technical staff, on the premise of without departing from this utility model principle, it is also possible to make some improvement and
Retouching, these improvements and modifications are also considered as protection domain of the present utility model.
Claims (8)
1. a parallel robot controller, it is characterized in that, including three degree of freedom hybrid drive flexible cable parallel robot, master control industrial computer, signal processing circuit, first communication device, secondary communication device, programmable logic controller (PLC), sensor group and combination drive controller, described master control industrial computer is connected with programmable logic controller (PLC) by described first communication device, the outfan of described combination drive controller is connected with Compliant Assembly, described signal processing circuit includes measuring industrial computer, described measurement industrial computer input is connected with described sensor group, described measurement industrial computer outfan is connected with master control industrial computer by secondary communication device, described parallel robot controller also includes the warning circuit being connected with described master control industrial computer, display device；
Described three degree of freedom hybrid drive flexible cable parallel robot includes that mechanism's platform, four the flexible cable towers arranged on four angles of described mechanism platform, described four flexible cable towers connect one end of a flexible cable respectively, and the other end of described flexible cable connects article carrying platform；Described sensor group includes a gravity sensor, three grating displacement sensors, four tension pick-ups and two vision sensors；Described gravity sensor is arranged on article carrying platform, described three grating displacement sensors are arranged on article carrying platform, described three grating displacement sensors measure the displacement of X-direction, Y-direction, Z-direction respectively, described four tension pick-ups are arranged in four flexible cables, and two described vision sensors are separately mounted to above and below article carrying platform.
A kind of parallel robot controller the most according to claim 1, it is characterised in that described flexible cable tower bottom is provided with leading block, and described flexible cable is connected with flexible cable tower by leading block.
A kind of parallel robot controller the most according to claim 2, it is characterized in that, described mechanism platform is provided with support, described support includes vertical mechanism platform and is arranged on the main body of mechanism's platform side, described body top extends the upper extension forming the top being arranged on article carrying platform to article carrying platform, described upper extension is provided with vision sensor, described lower body part extends the lower projection forming the lower section being arranged on article carrying platform to article carrying platform, and described lower projection is provided with vision sensor.
A kind of parallel robot controller the most according to claim 1, it is characterized in that, described signal processing circuit also includes being connected, with described sensor group, the microcontroller that signal conditioning circuit is connected with described signal conditioning circuit, and described microcontroller is connected with measuring industrial computer by wireless signal transmission circuit.
A kind of parallel robot controller the most according to claim 4, it is characterised in that described wireless transceiver circuit includes UWB radio transmitting and receiving chip and PCB antenna.
A kind of parallel robot controller the most according to claim 1, it is characterized in that, described combination drive controller has four groups, each group of structure is identical, including hybrid drive, photoelectric encoder, converter and driver, the outfan of programmable logic controller (PLC) is connected with the input of converter and driver, and the outfan of converter and driver is connected with hybrid drive, and the outfan of photoelectric encoder is connected with the input of programmable logic controller (PLC).
A kind of parallel robot controller the most according to claim 6, it is characterized in that, described hybrid drive includes AC three phase asynchronous motor, AC servo motor and drag link, AC three phase asynchronous motor is connected with two cranks of drag link respectively with AC servo motor, and AC three phase asynchronous motor, AC servo motor are two kinds of enters through rod hinge connection synthesis；AC three phase asynchronous motor is connected with converter, AC servo motor is connected with driver, the end of four flexible cables is connected with the article carrying platform of Compliant Assembly, four groups of hybrid drives are all connected with a programmable logic controller (PLC), and four groups of converters, four groups of servo-drivers, four groups of hybrid drive hardware layout and line are the most identical.
A kind of parallel robot controller the most according to claim 1, it is characterised in that described first communication device or secondary communication device include RS-232 or RS-485 or netting twine or usb communication device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620056779.3U CN205766107U (en) | 2016-01-21 | 2016-01-21 | A kind of parallel robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620056779.3U CN205766107U (en) | 2016-01-21 | 2016-01-21 | A kind of parallel robot controller |
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| Publication Number | Publication Date |
|---|---|
| CN205766107U true CN205766107U (en) | 2016-12-07 |
Family
ID=57414433
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620056779.3U Expired - Fee Related CN205766107U (en) | 2016-01-21 | 2016-01-21 | A kind of parallel robot controller |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903675A (en) * | 2017-04-11 | 2017-06-30 | 河北科技大学 | A kind of telecontrol equipment based on flexible cable parallel technology |
| CN107803825A (en) * | 2017-12-11 | 2018-03-16 | 西安科技大学 | Variable configuration Cable-driven parallel manipulator |
| CN110824978A (en) * | 2019-09-27 | 2020-02-21 | 安徽延达智能科技有限公司 | Fire-fighting robot remote control system |
| CN110962108A (en) * | 2018-09-29 | 2020-04-07 | 洛阳清展智能科技有限公司 | Flexible cable parallel driving robot for boiler detection and maintenance |
| CN112965397A (en) * | 2021-02-18 | 2021-06-15 | 南京工程学院 | Local wired/remote wireless hardware in-loop real-time control device and method based on model |
-
2016
- 2016-01-21 CN CN201620056779.3U patent/CN205766107U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903675A (en) * | 2017-04-11 | 2017-06-30 | 河北科技大学 | A kind of telecontrol equipment based on flexible cable parallel technology |
| CN107803825A (en) * | 2017-12-11 | 2018-03-16 | 西安科技大学 | Variable configuration Cable-driven parallel manipulator |
| CN107803825B (en) * | 2017-12-11 | 2024-01-26 | 西安科技大学 | Variable-configuration flexible cable driven parallel robot |
| CN110962108A (en) * | 2018-09-29 | 2020-04-07 | 洛阳清展智能科技有限公司 | Flexible cable parallel driving robot for boiler detection and maintenance |
| CN110824978A (en) * | 2019-09-27 | 2020-02-21 | 安徽延达智能科技有限公司 | Fire-fighting robot remote control system |
| CN112965397A (en) * | 2021-02-18 | 2021-06-15 | 南京工程学院 | Local wired/remote wireless hardware in-loop real-time control device and method based on model |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161207 Termination date: 20190121 |
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| CF01 | Termination of patent right due to non-payment of annual fee |