CN208132948U - A kind of compact cords driving parallel robot - Google Patents
A kind of compact cords driving parallel robot Download PDFInfo
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- CN208132948U CN208132948U CN201820163174.3U CN201820163174U CN208132948U CN 208132948 U CN208132948 U CN 208132948U CN 201820163174 U CN201820163174 U CN 201820163174U CN 208132948 U CN208132948 U CN 208132948U
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- rope
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Abstract
The utility model relates to a kind of compact cords to drive parallel robot, by the traction of four ropes, realize the position adjustment of moving platform.Four motor equipped with winding device are mounted on the same moving platform, one end of four ropes is respectively wound around on four winding devices, the other end of rope is then fixed on four different in space points, and a rope driven Parallel Kinematic Manipulator is thus constituted, wherein two ropes are responsible for transmitting electric energy.When motor is operated according to predetermined rule respectively, it then can be achieved to adjust the position of moving platform, imaged suitable for the object transport of a small range, dynamically track etc., advantage is compact-sized, system building is quick, compensating for previous rope driven Parallel Kinematic Manipulator, structure is complicated, the low disadvantage of efficiency of the practice.
Description
Technical field
The present invention relates to a kind of compact cords driving parallel robot system, it can be achieved that the displacement movement in three directions, is fitted
Dynamic position for small range, low-weight objects adjusts.
Background technique
Currently, rope driving parallel robot generally there are the structure types such as 4 ropes, 6 ropes and 7 ropes, and occurs gradually over object and remove
Fortune, movement simulation, the fields such as dynamically track, but these rope driving parallel robots be both needed to establish complicated rope winding device with
The biggish support device of volume, to all bring certain difficulty in terms of system design and system building, it is often more important that limit
Its application in small spatial dimension is made.
Utility model content
To make up above deficiency, the utility model devises a kind of compact cords driving parallel robot system, not only
Be able to achieve three axis directions dynamic position adjustment, also have the characteristics that it is simple and compact for structure.
Technical solution used by the invention for solving the technical problem is：
A kind of compact cords driving parallel robot comprising casing and multiple motor 8, the motor 8 are all solid
It is fixed to be arranged in casing, it is fitted with elevator wheel 5 in the shaft of each motor, is equipped on each elevator wheel conductive by a circle
Rope, the conductive rope are pierced by outside casing, and the exit points of conductive rope are uniformly distributed along the side wall of casing.
Further, the traversing through end of each conductive rope is fixedly connected with an insulating hanger 3.
It further, further include main control unit, the control port of each motor 8 and the signal of controller 7 are defeated
Exit port is connected.
It further, further include input brush and output brush, the input brush and output brush distinguish each autogamy
It being electrically connected on any one motor and with elevator wheel, the input brush is switched to the positive port of controller 7,
The output brush connects the cathode port of notification controller 7.
The utility model has the beneficial effects that more compact, simple mechanism, which can be used, realizes large-scale position tune
It is whole, and build easy, quick.
Detailed description of the invention
Fig. 1 is the overall structure figure of the utility model；
Fig. 2 is the sectional view of driving device in Fig. 1；
Fig. 3 is the top view of Fig. 1 driving device；
Fig. 4 is the sectional view of elevator wheel；
Fig. 5 is coordinate system setting figure；
In figure：1- conductive cords, 2- driving device, 3- insulating hanger, 4- driving means casing, 5- elevator wheel, 6- rope stretching
Hole, 7- controller, 8- motor, 9- carbon brush, 10- elevator wheel insulating layer, 11- elevator wheel conductive layer, 12- remote controler.
Specific embodiment
The utility model is described further below according to attached drawing 1-5：
A kind of compact cords driving parallel robot, including casing and multiple motor 8, the motor 8 are all fixed
It is arranged in casing, elevator wheel 5 is fitted in the shaft of each motor, a circle conductive cords are fitted on each elevator wheel
Rope, the conductive rope are pierced by outside casing, and the exit points of conductive rope are uniformly distributed along the side wall of casing, each conduction
The traversing through end of rope is all fixedly connected with an insulating hanger 3, and parallel robot is suspended in interior by conductive rope, further includes
Main control unit, input brush and output brush, the control port of each motor 8 and the signal output end of controller 7
Mouth is connected, and the input brush and output brush are respectively fitted on any one motor respectively and electrically connect with elevator wheel
It connects, the input brush is switched to the positive port of controller 7, and the output brush connects the negative pole end of notification controller 7
Mouthful, it inputs brush and output brush and passes through the power input of conducting wire and the controller 7 for being mounted on 4 bottom of driving means casing
It is connected, to realize the power supply of system.
Controller 7 realizes the position control to driving device by wirelessly carrying out data transmission.Detailed process is such as
Under：
1, the inverse kinematic of parallel robot calculates
Coordinate system { O is respectively set on the earth and driving device 20And { O1, and it is each attached with wall to measure insulating hanger 3
Point in coordinate system { O0Under position in right amount be respectively B1, B2, B3, B4, { O in driving device 21Respectively go out under coordinate system
Cord hole position vector is respectively A1, A2, A3, A4, give coordinate system { O1In coordinate system { O0Under pose be { x y z α1 β1
γ1, and α1=β1=γ1=0, then in coordinate system { O0Under the position vector of each rope hole 6 can be expressed as
A'i=[x, y, z]+RAi 1
In formula,
Then under the pose, the length of 2 external conductive rope 1 of driving device can be expressed as
li=| Bi-A'i|=| Bi-[x,y,z]+RAi|2
2 formulas are the inverse kinematic of rope driving parallel robot.
Label in attached drawing 5 is all symbol used in above-mentioned formula.
2, the motion control of rope driving parallel robot
Under original state, conductive cords 1 are all wrapped on elevator wheel 5, and 6 external conductive rope of rope hole, 1 length is zero.Work as standard
When standby installation, each motor 8 drives elevator wheel 5 to put rope outward under control of the controller 7, the insulating hanger 3 to conductive rope 1
After being fixed on the wall, rope is put in stopping, while the length of current conductive rope 1 is recorded by 8 tail portion code-disc of motor.
After the fixation for completing insulating hanger 3, expected pose value can be inputted by remote controler, by calling above-mentioned formula
It calculates and obtains 1 length of desired conductive rope, controller control motor drives elevator wheel to adjust conductive rope outer length
To desired length, the adjustment of pose can be realized.
Claims (4)
1. a kind of compact cords drive parallel robot, it is characterised in that：Including casing and multiple motor（8）, the electricity
Motivation（8）It is all fixed in casing, elevator wheel is fitted in the shaft of each motor（5）, on each elevator wheel
It is fitted with a circle conduction rope（1）, the conductive rope is pierced by outside casing, the exit points of conductive rope along casing side
Wall is uniformly distributed.
2. a kind of compact cords according to claim 1 drive parallel robot, it is characterised in that：Each conduction rope
Traversing through end is all fixedly connected with an insulating hanger（3）.
3. a kind of compact cords according to claim 1 drive parallel robot, it is characterised in that：It further include master control list
Member, each motor（8）Control port and controller（7）Signal output port be connected.
4. a kind of compact cords according to claim 3 drive parallel robot, it is characterised in that：It further include input brush
And output brush, the input brush and output brush be respectively fitted on any one motor respectively and with elevator wheel
Electrical connection, the input brush are switched to controller（7）Positive port, the output brush connects notification controller
（7）Cathode port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820163174.3U CN208132948U (en) | 2018-01-31 | 2018-01-31 | A kind of compact cords driving parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820163174.3U CN208132948U (en) | 2018-01-31 | 2018-01-31 | A kind of compact cords driving parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132948U true CN208132948U (en) | 2018-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820163174.3U Active CN208132948U (en) | 2018-01-31 | 2018-01-31 | A kind of compact cords driving parallel robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN208132948U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110813834A (en) * | 2019-11-05 | 2020-02-21 | 宁波大学 | Solar panel cleaning robot based on non-contact parallel line drive |
| CN113329849A (en) * | 2019-04-08 | 2021-08-31 | 罗伯特奈有限公司 | Cable robot |
| CN113650035A (en) * | 2021-09-16 | 2021-11-16 | 南京信息工程大学 | Rope-driven automobile gear shifting robot |
| WO2024147127A1 (en) * | 2023-01-05 | 2024-07-11 | Foldibot Solutions Ltd | Systems, methods and suspendable robotic devices for manipulating objects |
-
2018
- 2018-01-31 CN CN201820163174.3U patent/CN208132948U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113329849A (en) * | 2019-04-08 | 2021-08-31 | 罗伯特奈有限公司 | Cable robot |
| CN110813834A (en) * | 2019-11-05 | 2020-02-21 | 宁波大学 | Solar panel cleaning robot based on non-contact parallel line drive |
| CN113650035A (en) * | 2021-09-16 | 2021-11-16 | 南京信息工程大学 | Rope-driven automobile gear shifting robot |
| WO2024147127A1 (en) * | 2023-01-05 | 2024-07-11 | Foldibot Solutions Ltd | Systems, methods and suspendable robotic devices for manipulating objects |
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