CN209440158U - Cable type intelligent robot - Google Patents

Cable type intelligent robot Download PDF

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Publication number
CN209440158U
CN209440158U CN201822180443.XU CN201822180443U CN209440158U CN 209440158 U CN209440158 U CN 209440158U CN 201822180443 U CN201822180443 U CN 201822180443U CN 209440158 U CN209440158 U CN 209440158U
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CN
China
Prior art keywords
motor
type intelligent
cable type
intelligent robot
winch
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Application number
CN201822180443.XU
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Chinese (zh)
Inventor
钟松凯
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钟松凯
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Priority to CN2018219274882 priority
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Abstract

The utility model discloses a kind of cable type intelligent robot, the robot device includes main stand, two winch mechanisms, end moving platform, alignment apartment, circuit for controlling motor, two winch mechanisms are located at the two sides of main stand bottom, winch mechanism includes motor fixing frame, at least four DC servo motors and at least four capstan winches, motor fixing frame is for fixing DC servo motor, DC servo motor is used to control the rotational angle of capstan winch, alignment apartment includes conductor rope module and anchor point seat module, conductor rope module is used to the rope drawn on capstan winch being oriented to anchor point seat module, anchor point seat module is used to rope being oriented to end moving platform, circuit for controlling motor is for sending a control signal to DC servo motor.The cable type intelligent robot of the utility model can neatly carry out man-machine collaboration, efficiently and safely complete various heavy, dangerous, complicated building tasks.

Description

Cable type intelligent robot
[technical field]
The utility model relates to parallel robot technical fields, more particularly, to a kind of cable type intelligent robot.
[background technique]
With the continuous development of China's economy, the office buildings of various regions, office building contour level building are stood in great numbers and are risen, at present for Small and medium construction construction site mostly uses a large amount of construction worker, does not only take up a large amount of labour, and working efficiency is low;And by More in construction site peril hidden danger, construction personnel's awareness of safety is not strong, and it is unnecessary to often result in operation process Safety accident, actual bodily harm is caused to construction personnel, while monetary losses also are caused to unit in charge of construction.
In recent years, with the fast development of scientific and technological level, robot technology is applied in more and more fields, is built The exploitation and application for building robot will play a significant role in promoting complicated construction automation process.Therefore, it grinds A kind of intelligent rope robot that can be very good to carry out man-machine collaboration is made, can satisfy the eager need of China's building trade It asks, is of great immediate significance.
[utility model content]
The main purpose of the utility model be to provide it is a kind of using flexible rope replace rigid link, traction moving platform movement Cable type intelligent robot.
In order to realize above-mentioned main purpose, cable type intelligent robot provided by the utility model includes main body machine Frame;Two winch mechanisms, two winch mechanisms are located at the two sides of main stand bottom, and winch mechanism includes that motor is fixed Frame, at least four DC servo motors and at least four capstan winches, motor fixing frame for fixing DC servo motor, watch by direct current Motor is taken for controlling the rotational angle of capstan winch;End moving platform on main stand, end moving platform is by two pieces of fixations Panel and four fixed column compositions;Alignment apartment on main stand, alignment apartment include conductor rope module and anchor point seat mould Block, conductor rope module are used to for the rope drawn being oriented to anchor point seat module on capstan winch, and anchor point seat module is used to rope being oriented to end Moving platform;Circuit for controlling motor, circuit for controlling motor is for sending a control signal to DC servo motor.
Further embodiment is, anchor point seat module includes fixing axle and the pulley that rotates around fixing axle.
Further scheme is that circuit for controlling motor includes main control chip and motor driver, main control chip output electricity Machine control signal to motor driver, motor driver is used to control the revolving speed of DC servo motor.
Further scheme is that main control chip is STM32 chip.
Further scheme is that end moving platform is additionally provided with threaded mounting hole, and threaded mounting hole is for installing end Actuator.
It can be seen that cable type intelligent robot provided by the utility model can be very good to carry out man-machine collaboration, Even if architectural construction technology it is complicated, be not suitable for the operation of building site automation at the scene under conditions of, can also neatly into Various heavy, dangerous, complicated building tasks are efficiently and safely completed in row human-computer interaction.
[Detailed description of the invention]
Fig. 1 is the structural schematic diagram of the utility model cable type intelligent robot embodiment.
Fig. 2 is the stereogram exploded view of the utility model cable type intelligent robot embodiment.
Fig. 3 is the partial enlarged view of alignment apartment in the utility model cable type intelligent robot embodiment.
[specific embodiment]
In order to which the objects, technical solutions and advantages of utility model are more clearly understood, with reference to the accompanying drawings and embodiments, The present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain this Utility model, and it is not exclusively for the utility model.
As depicted in figs. 1 and 2, the cable type intelligent robot of the utility model includes main stand 10, two strands Disc mechanism 20, the end moving platform 30 on main stand 10, the alignment apartment 40 on main stand 10 and motor Control circuit.Wherein, two winch mechanisms 20 are located at the two sides of 10 bottom of main stand, and winch mechanism 20 is solid including motor Determine frame, four DC servo motors and four capstan winches, motor fixing frame is for fixing DC servo motor, DC servo motor For controlling the rotational angle of capstan winch.As it can be seen that 1 capstan winch module is respectively installed in bottom at left and right sides of entire robot, control respectively 4 ropes on both sides.Rope is fixed by the mounting hole on capstan winch slot, when operation, is controlled by controlling the rotational angle of capstan winch The variable quantity of rope making rope.
In the present embodiment, end moving platform 30 is made of two pieces of fixed panels and four fixed columns, end moving platform 30 It is additionally provided with threaded mounting hole, threaded mounting hole is for installing end effector.As it can be seen that end moving platform 30 is by two pieces of opposite rotations The regular pentagon panel of turnback is provided with 4 tie points on regular pentagon connector by aluminium column fixed composition, and up and down totally 8 A tie point position.It is provided with the feature of positioning function simultaneously, for being zeroed after robot booting;It is additionally provided with screw thread installation Hole executes particular task for installing end effector, such as mechanical paw, lettering pen etc..
It is the partial enlargement of alignment apartment in the utility model cable type intelligent robot embodiment referring to Fig. 3, Fig. 3 Figure.Alignment apartment 40 includes conductor rope module 41 and anchor point seat module 42, and conductor rope module 41 is for leading the rope drawn on capstan winch To anchor point seat module 42, anchor point seat module 42 is used to rope being oriented to end moving platform 30, wherein anchor point seat module 42 includes solid Dead axle and the pulley rotated around fixing axle.As it can be seen that the anchor point seat module 42 of preset quantity is fixedly mounted on main stand 10 Surrounding, conductor rope module 41 can move along the side of the main stand 10 where it, and conductor rope module 41 will be drawn from capstan winch Rope is oriented to anchor point seat module 42, and the pulley that anchor point seat module 42 is rotated by one around fixing axle is dynamic flat by rope guiding end Platform 30.
In the present embodiment, circuit for controlling motor is for sending a control signal to DC servo motor.Wherein, motor control Circuit includes main control chip and motor driver, and main control chip output motor controls signal to motor driver, motor driver For controlling the revolving speed of DC servo motor.Preferably, main control chip is STM32 chip.As it can be seen that circuit for controlling motor is entire The brain of robot is most crucial part, and main control chip selects the STM32F407ZET6 of STMicw Electronics's production, for connecing It receives, handle data and send control instruction.It is by certain control frequency first by control instruction when main control chip controls motor It is sent to motor driver, motor driver again directly controls motor after receiving control instruction.The control frequency of motor Speed determines the control effect of motor.It is all communicated using CAN communication mode between main control chip and motor driver.
It can be seen that cable type intelligent robot provided by the utility model can be very good to carry out man-machine collaboration, Even if architectural construction technology it is complicated, be not suitable for the operation of building site automation at the scene under conditions of, can also neatly into Various heavy, dangerous, complicated building tasks are efficiently and safely completed in row human-computer interaction, can input journey according to task Sequence, robot the work such as paint, build a wall, carry automatically according to the instruction execution that assigns a task.
It should be noted that the above is only the preferred embodiment of the utility model, but the design concept of utility model is not It is confined to this, it is all to conceive the insubstantial modifications made to the utility model using this, also each fall within the protection of the utility model Within the scope of.

Claims (5)

1. cable type intelligent robot characterized by comprising
Main stand;
Two winch mechanisms, two winch mechanisms are located at the two sides of the main stand bottom, the winch mechanism Including motor fixing frame, at least four DC servo motors and at least four capstan winches, the motor fixing frame is for fixing institute DC servo motor is stated, the DC servo motor is used to control the rotational angle of capstan winch;
End moving platform on the main stand, the end moving platform is by two pieces of fixed panels and four fixed column groups At;
Alignment apartment on the main stand, the alignment apartment include conductor rope module and anchor point seat module, described to lead Rope module is used to for the flexible rope drawn on the capstan winch to be oriented to the anchor point seat module, and the anchor point seat module is used for institute It states flexible rope and is oriented to the end moving platform;
Circuit for controlling motor, the circuit for controlling motor is for sending a control signal to the DC servo motor.
2. cable type intelligent robot according to claim 1, it is characterised in that:
The anchor point seat module includes fixing axle and the pulley around fixing axle rotation.
3. cable type intelligent robot according to claim 1, it is characterised in that:
The circuit for controlling motor includes main control chip and motor driver, and the main control chip output motor controls signal to institute Motor driver is stated, the motor driver is used to control the revolving speed of the DC servo motor.
4. cable type intelligent robot according to claim 3, it is characterised in that:
The main control chip is STM32 chip.
5. cable type intelligent robot according to any one of claims 1 to 4, it is characterised in that:
The end moving platform is additionally provided with threaded mounting hole, and the threaded mounting hole is for installing end effector.
CN201822180443.XU 2018-11-22 2018-12-25 Cable type intelligent robot Active CN209440158U (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201821927488 2018-11-22
CN2018219274882 2018-11-22

Publications (1)

Publication Number Publication Date
CN209440158U true CN209440158U (en) 2019-09-27

Family

ID=68015183

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201822180443.XU Active CN209440158U (en) 2018-11-22 2018-12-25 Cable type intelligent robot

Country Status (1)

Country Link
CN (1) CN209440158U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110900591A (en) * 2019-11-08 2020-03-24 哈尔滨工业大学(深圳) Rope-driven robot and equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110900591A (en) * 2019-11-08 2020-03-24 哈尔滨工业大学(深圳) Rope-driven robot and equipment

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