CN208132948U - A kind of compact cords driving parallel robot - Google Patents

A kind of compact cords driving parallel robot Download PDF

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Publication number
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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China
Prior art keywords
rope
motor
parallel robot
brush
compact
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CN201820163174.3U
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Chinese (zh)
Inventor
窦玉超
段艳宾
王大为
兰菲
李红
王颖
孙国栋
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CETC 54 Research Institute
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CETC 54 Research Institute
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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

A kind of compact cords driving parallel robot
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 α111=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.
CN201820163174.3U 2018-01-31 2018-01-31 A kind of compact cords driving parallel robot Active CN208132948U (en)

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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Cited By (4)

* Cited by examiner, † Cited by third party
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

Cited By (4)

* Cited by examiner, † Cited by third party
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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