CN209812308U - Teleoperation device of rope-driven three-freedom translation parallel robot - Google Patents
Teleoperation device of rope-driven three-freedom translation parallel robot Download PDFInfo
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- CN209812308U CN209812308U CN201920503877.0U CN201920503877U CN209812308U CN 209812308 U CN209812308 U CN 209812308U CN 201920503877 U CN201920503877 U CN 201920503877U CN 209812308 U CN209812308 U CN 209812308U
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- rope
- side wall
- workbench
- parallel robot
- driven
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- 238000013519 translation Methods 0.000 title claims abstract description 19
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 22
- 239000010959 steel Substances 0.000 claims description 22
- 239000004677 Nylon Substances 0.000 claims description 19
- 229920001778 nylon Polymers 0.000 claims description 19
- 230000014616 translation Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 description 11
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000005389 magnetism Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000013341 scale-up Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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Abstract
The utility model discloses a teleoperation device of a rope-driven three-freedom-translation parallel robot, which comprises a base, a workbench, a rocker operation table, a plurality of groups of side wall supporting columns, ropes, rubber wheel assemblies and sliders, wherein the workbench and the plurality of groups of side wall supporting columns are arranged on the base; the sliding block is arranged on the side wall supporting column and can slide up and down on the side wall supporting column; the rubber wheel assembly is arranged on the top of the side wall support column through the rotary table; a plurality of groups of ropes are arranged on the operating platform in parallel, one end of each rope is connected to the central operating plate of the operating platform and passes through the rubber wheel, and the other end of each rope is connected to the sliding block. The utility model discloses correspond with actual device ratio, can be used to drive the rope parallel robot who corresponds and accomplish the three degree of freedom translations in the space to accomplish the operation, single can accomplish the operation on the operation panel, efficiency improves greatly, and artifical intensity of labour reduces greatly.
Description
Technical Field
The utility model relates to a rope parallel robot technical field, concretely relates to rope drive three freedom translation parallel robot's teleoperation device.
Background
With the social progress, the parallel robot is widely applied to industrial production. Parallel robots have a lower structural weight compared to serial mechanisms, and they are capable of performing work with high precision such as positioning, handling, stacking, etc. due to their rigidity in a mechanically closed chain structure. The rope-driven parallel robot as a novel parallel mechanism has the advantages of simple structure, strong reconstruction, light weight, large working space, low cost and the like. In recent years, the technology of the rope-driven parallel robot is greatly developed, and the application field is more and more extensive.
When the rope drives the parallel robot to move and the external environment is contacted, the traditional position control can not meet the control requirement of the rope driving parallel robot. Aiming at the problem, a teleoperation device of a rope-driven three-freedom translation parallel robot is provided. The remote operation device can be operated by a single person, the parallel robot is driven by the control rope to realize three-degree-of-freedom translation operation in space, the corresponding high-strength operation task is completed, and the remote operation device is simple to operate and easy to operate. The single person can accomplish appointed operation on the operation panel, and work efficiency improves greatly, and artifical intensity of labour reduces greatly.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a teleoperation device of three freedom translation parallel robot of rope drive to solve prior art's not enough.
The utility model adopts the following technical scheme:
a teleoperation device of a rope-driven three-freedom translation parallel robot comprises a base, a workbench, a rocker operation table, a plurality of groups of side wall supporting columns, ropes, rubber wheel assemblies and sliding blocks,
the rocker operating platform comprises an operating rod, a ball pair, a central operating plate, a plurality of groups of electromagnets and steel balls to be magnetized, wherein the operating rod is connected with the upper part of the central operating plate through the ball pair, the plurality of groups of electromagnets are arranged below the central operating plate, the steel balls to be magnetized are embedded in the bottoms of each group of electromagnets, and the magnetic pole directions of the electromagnets correspond to the steel balls to be magnetized;
the rubber wheel assembly comprises a support, a rotating shaft, a rubber wheel, a coded disc and a rotating table, wherein the rubber wheel is fixed on the rotating shaft, the rotating shaft is installed on the support, the coded disc is arranged at one end of the rotating shaft, the support is arranged on the rotating table, and the support can rotate around a Z axis on the rotating table;
the workbench and the plurality of groups of side wall supporting columns are arranged on the base, the workbench is positioned in the center of the base, the plurality of groups of side wall supporting columns are uniformly distributed around the workbench, and the rocker operating platform is positioned on the workbench, namely, the steel ball to be magnetized is contacted with the surface of the workbench;
the sliding block is arranged on the side wall supporting column and can slide up and down on the side wall supporting column; the rubber wheel assembly is arranged on the top of the side wall support column through the rotary table;
a plurality of groups of ropes are arranged on the operating platform in parallel, one end of each rope is connected to the central operating plate of the operating platform and passes through the rubber wheel, and the other end of each rope is connected to the sliding block.
Furthermore, the device also comprises a plurality of groups of balance weights, and the balance weights are arranged at the bottom of the sliding block.
Furthermore, the device also comprises a plurality of groups of auxiliary wheels, wherein the auxiliary wheels are arranged at the upper part of the side wall supporting column and are outside the stroke of the sliding block; one end of the rope is connected to the central operating plate of the operating platform, passes through the rubber wheel and the auxiliary wheel, and the other end of the rope is connected to the sliding block.
Further, the lower parts of the adjacent side wall supporting columns are connected through a connecting rod.
Further, a support matched with the sliding block is arranged at the bottom of the side wall supporting column.
Further, the workstation is liftable workstation.
Furthermore, the liftable workbench is a spring damping liftable workbench.
Further, the rope is a nylon rope.
The utility model has the advantages that:
1. the utility model discloses correspond with actual rope drive parallel robot device ratio, can be used to drive the rope parallel robot who corresponds and accomplish the three degree of freedom translations in the space to accomplish the operation, reduce the operation degree of difficulty of rope drive parallel robot, single can accomplish the operation on the operation panel, efficiency improves greatly, and artifical intensity of labour reduces greatly.
2. The operating rod and the central operating plate are connected through the ball pair, so that the torsional moment transmitted to the operating rod in the manual operation process is filtered out, the central operating plate is prevented from being twisted in the operation process, and the operating platform can be translated at the top of the working platform.
3. The steel ball is magnetized by the electromagnet, so that the steel ball has weak magnetism, is in contact with the workbench, has small smooth friction on a contact surface, and can smoothly roll on the workbench when being adsorbed on the workbench.
4. Through the contact of nylon rope and rubber wheel, increased contact surface frictional force for can not produce relative displacement between nylon rope and the rubber wheel basically, the actual displacement of nylon rope has effectively been transmitted the code wheel on, can read out the length of nylon rope through the rubber wheel in real time.
5. The nylon rope is connected to the bottom of the sliding block through the balance weight, so that the nylon rope is in a tight state in the working process of the teleoperation device, the rocker operation table cannot suddenly shake due to human misoperation, and the rope-driven three-freedom-translation parallel robot is prevented from greatly vibrating after mapping.
6. The horizontal force transmitted to the sliding block is filtered out through the auxiliary wheel, so that the sliding friction force of the sliding block in the axial direction is reduced, and the sliding block moves more smoothly.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an enlarged schematic view of the rubber wheel assembly.
Detailed Description
The invention is further explained below with reference to examples and figures. The following examples are provided only for illustrating the present invention and are not intended to limit the scope of the present invention.
A teleoperation device of a rope-driven three-freedom-translation parallel robot is shown in figures 1 and 2 and comprises a base 18, a workbench 9, a rocker operation table, a plurality of groups of side wall supporting columns 19, nylon ropes 3, rubber wheel assemblies, sliding blocks 10, balance weights 11 and auxiliary wheels 12. The sets are typically 3-8 sets, with 3 sets being illustrated in FIG. 1.
The workbench 9 is a lifting workbench, and the lifting workbench is preferably a spring damping lifting workbench. The working table 9 can ascend and descend within a certain range through the action of pressing down and pulling up in the manual operation process, then the rocker operating table moves horizontally on the working table 9, three-degree-of-freedom translation of the rope parallel robot in space is achieved, and the working table 9 can be kept at the height and cannot sink in the operation process.
The rocker operating platform comprises an operating rod 4, a ball pair 5, a central operating plate 6, a plurality of groups of electromagnets 7 and steel balls 8 to be magnetized. The operating rod 4 is connected with the upper portion of the central operating plate 6 through the ball pair 5, the operating rod 4 and the central operating plate 6 are connected through the ball pair 5, the torsion moment transmitted to the operating rod 4 in the manual operation process is filtered out, the central operating plate 6 is prevented from being twisted in the operation process, and the operating table can be made to move horizontally on the working table 9. A plurality of groups of electromagnets 7 (3 groups in the example in the figure) are arranged below the central operation plate 6, a steel ball 8 to be magnetized is embedded in the bottom of each group of electromagnets 7, and the magnetic pole direction of each group of electromagnets 7 corresponds to the steel ball 8 to be magnetized. In the remote operation process, the electromagnet 7 is adopted to magnetize the steel ball 8, so that the steel ball 8 has weak magnetism, the steel ball 8 is in contact with the workbench 9, the smooth friction of a contact surface is small, and the steel ball 8 can be adsorbed on the workbench 9 and can smoothly roll on the workbench 9. The magnetic size is determined by the simultaneous force balance equation of the force applied on the shaft.
The rubber wheel component comprises a support 16, a rotating shaft 13, a rubber wheel 1, a coded disc 2 and a rotary table 17, wherein the rubber wheel 1 is fixed on the rotating shaft 13, the rotating shaft 13 is installed on the support 16, the coded disc 2 is arranged at one end of the rotating shaft 13, the support 16 is arranged on the rotary table 17, and the support 16 can rotate around the Z axis on the rotary table 17.
The workbench 9 and the plurality of groups of side wall support columns 19 are arranged on the base 18, the workbench 9 is positioned in the center of the base 18, the plurality of groups of side wall support columns 19 are uniformly distributed around the workbench 9, and the rocker operating platform is positioned on the workbench 9, namely, the magnetized steel ball 8 is in surface contact with the workbench 9.
Slider 10 is located on lateral wall support column 19, can slide from top to bottom at lateral wall support column 19, and slider 10 bottom is located to counter weight 11, connects in slider 10 bottom through counter weight 11, ensures that nylon rope 3 is in the state of tightening in teleoperation device working process for the rocker operation panel can not lead to sudden rocking because of artificial misoperation, thereby avoids mapping the back rope drive three freedom translation parallel robot's vibration by a wide margin. The size of the counterweight is determined by the simultaneous force equation solving of two conditions that after an operator releases his hands, the rocker operating console can be magnetically adsorbed on the workbench 9 and the nylon rope 3 keeps straight in the moving process, so that a proper counterweight range can be obtained. The bottom of the side wall support column 19 is provided with a seat 14 matched with the slide block 10. The auxiliary wheel 12 is arranged on the upper part of the side wall supporting column 19 and is outside the stroke of the slider 10, so that the stroke limitation caused by the auxiliary wheel 12 when the slider 10 moves is avoided. The rubber wheel assembly is mounted on top of the sidewall support column 19 by the turntable 17. The lower parts of the adjacent side wall supporting columns 19 are connected through a connecting rod 15.
A plurality of groups of nylon ropes 3 are connected in parallel on the operating platform, one ends of the nylon ropes 3 are connected on a central operating plate 6 of the operating platform, pass through the rubber wheel 1 and the auxiliary wheel 12, and the other ends of the nylon ropes are connected on the sliding block 10. Adopt the form of nylon rope 3 and the contact of rubber wheel 1, increased contact surface frictional force for can not produce relative displacement basically between nylon rope 3 and the rubber wheel 1, the actual displacement of nylon rope 3 has effectively been transmitted to code wheel 2 on, can read out the length of nylon rope 3 through rubber wheel 1 in real time. The auxiliary wheel 12 is used for filtering out the force in the horizontal direction transmitted to the sliding block 10, so that the sliding friction force of the sliding block 10 in the axial direction is reduced, and the movement is smoother.
The utility model discloses the working process is as follows: the operation rod 4 is manually operated, the steel ball 8 is magnetized in the electrifying work of the electromagnet 7, so that the steel ball 8 has weak magnetism, the steel ball 8 moves on the plane on the workbench 9, the parallel nylon ropes 3 around the steel ball 8 are pulled to move, the rubber wheel 1 is driven to rotate, meanwhile, the whole rubber wheel assembly (except the rotary table 17) can rotate around the Z axis on the rotary table 17, meanwhile, the code wheel 2 generates digital signals, and then the digital signals are amplified and mapped to the actual rope to drive the three-freedom translation parallel robot. The utility model discloses teleoperation device is according to the three free translation parallel robot of actual rope drive of mapping relation control scale-up to the displacement signal of code wheel 2 transmission corresponds three free translation parallel robot of actual rope drive through the scale-up control and drives parallelly connected rope and pull the displacement.
Claims (9)
1. A teleoperation device of a rope-driven three-freedom translation parallel robot is characterized by comprising a base, a workbench, a rocker operation table, a plurality of groups of side wall supporting columns, ropes, rubber wheel assemblies and sliding blocks,
the rocker operating platform comprises an operating rod, a ball pair, a central operating plate, a plurality of groups of electromagnets and steel balls to be magnetized, wherein the operating rod is connected with the upper part of the central operating plate through the ball pair, the plurality of groups of electromagnets are arranged below the central operating plate, the steel balls to be magnetized are embedded in the bottoms of each group of electromagnets, and the magnetic pole directions of the electromagnets correspond to the steel balls to be magnetized;
the rubber wheel assembly comprises a support, a rotating shaft, a rubber wheel, a coded disc and a rotating table, wherein the rubber wheel is fixed on the rotating shaft, the rotating shaft is installed on the support, the coded disc is arranged at one end of the rotating shaft, the support is arranged on the rotating table, and the support can rotate around a Z axis on the rotating table;
the workbench and the plurality of groups of side wall supporting columns are arranged on the base, the workbench is positioned in the center of the base, the plurality of groups of side wall supporting columns are uniformly distributed around the workbench, and the rocker operating platform is positioned on the workbench, namely, the steel ball to be magnetized is contacted with the surface of the workbench;
the sliding block is arranged on the side wall supporting column and can slide up and down on the side wall supporting column; the rubber wheel assembly is arranged on the top of the side wall support column through the rotary table;
a plurality of groups of ropes are arranged on the operating platform in parallel, one end of each rope is connected to the central operating plate of the operating platform and passes through the rubber wheel, and the other end of each rope is connected to the sliding block.
2. The teleoperation device of the rope-driven three-freedom translational parallel robot as claimed in claim 1, further comprising a plurality of groups of counterweights, wherein the counterweights are arranged at the bottom of the sliding block.
3. The teleoperation device of the rope-driven three-freedom translational parallel robot as claimed in claim 1, further comprising a plurality of sets of auxiliary wheels, wherein the auxiliary wheels are arranged on the upper part of the side wall support column and are outside the stroke of the slide block; one end of the rope is connected to the central operating plate of the operating platform, passes through the rubber wheel and the auxiliary wheel, and the other end of the rope is connected to the sliding block.
4. The teleoperation device of the rope-driven three-freedom translational parallel robot as claimed in claim 2, further comprising a plurality of sets of auxiliary wheels, wherein the auxiliary wheels are arranged on the upper part of the side wall support column and are outside the stroke of the slide block; one end of the rope is connected to the central operating plate of the operating platform, passes through the rubber wheel and the auxiliary wheel, and the other end of the rope is connected to the sliding block.
5. The teleoperation device of a rope-driven three-freedom translational parallel robot as claimed in any one of claims 1 to 4, wherein the lower parts of adjacent sidewall supporting columns are connected by a connecting rod.
6. The teleoperation device of a rope-driven three-freedom translational parallel robot as claimed in any one of claims 1 to 4, wherein the bottom of the side wall support column is provided with a support matched with the slide block.
7. The teleoperation device of a rope-driven three-freedom translational parallel robot as claimed in any one of claims 1 to 4, wherein the workbench is a liftable workbench.
8. The teleoperation device of a rope-driven three-freedom translational parallel robot as claimed in claim 7, wherein the liftable table is a spring-damped liftable table.
9. The teleoperation device of a rope-driven three-freedom translation parallel robot as claimed in any one of claims 1 to 4, wherein the rope is nylon rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920503877.0U CN209812308U (en) | 2019-04-15 | 2019-04-15 | Teleoperation device of rope-driven three-freedom translation parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920503877.0U CN209812308U (en) | 2019-04-15 | 2019-04-15 | Teleoperation device of rope-driven three-freedom translation parallel robot |
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| Publication Number | Publication Date |
|---|---|
| CN209812308U true CN209812308U (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920503877.0U Withdrawn - After Issue CN209812308U (en) | 2019-04-15 | 2019-04-15 | Teleoperation device of rope-driven three-freedom translation parallel robot |
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| Country | Link |
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| CN (1) | CN209812308U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
-
2019
- 2019-04-15 CN CN201920503877.0U patent/CN209812308U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
| CN109909978B (en) * | 2019-04-15 | 2024-02-23 | 中国计量大学 | Teleoperation device of rope-driven three-freedom translation parallel robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191220 Effective date of abandoning: 20240223 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20191220 Effective date of abandoning: 20240223 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |