WO2017181608A1 - Steel cable robot - Google Patents

Steel cable robot Download PDF

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Publication number
WO2017181608A1
WO2017181608A1 PCT/CN2016/100980 CN2016100980W WO2017181608A1 WO 2017181608 A1 WO2017181608 A1 WO 2017181608A1 CN 2016100980 W CN2016100980 W CN 2016100980W WO 2017181608 A1 WO2017181608 A1 WO 2017181608A1
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WO
WIPO (PCT)
Prior art keywords
machine
cable
steel cable
pulleys
fixed
Prior art date
Application number
PCT/CN2016/100980
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French (fr)
Chinese (zh)
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WO2017181608A8 (en
Inventor
李伟民
Original Assignee
奥马迪机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 奥马迪机器人有限公司 filed Critical 奥马迪机器人有限公司
Publication of WO2017181608A1 publication Critical patent/WO2017181608A1/en
Publication of WO2017181608A8 publication Critical patent/WO2017181608A8/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the invention relates to the technical field of mechanical automation, and in particular to a cable rope robot.
  • the existing cable rope robots are shown in Figs. 1 and 2, and include a machine table 1, a pulley 2 and a cable 3, respectively, and the pulleys 2 are respectively fixed and fixed at the top four corners of the machine table 1 and at the top corner positions of the industrial site.
  • the steel cable 3 is wound on the pulley 2 and driven by a power device such as a motor, and the front and rear, left and right, and up and down movement control of the machine 1 can be realized by the telescopic adjustment of the cable 3 at the four corner positions, and the bottom of the machine 1 can be produced according to actual conditions.
  • the cable robot can be widely used in the field of industrial automation production or processing, and can be applied to industrial sites with large site area.
  • the equipment cost and installation cost of the automatic movement control of the working tool are reduced, but since the stretching force of the cable 3 at the four corner positions is difficult to always maintain balance during the front and rear movement of the machine table 1, the front and rear of the machine 1 and the left and right movements are difficult.
  • the tilt of the machine 1 will occur. The greater the distance between the front and rear of the machine 1 and the left and right movements, the more serious the tilting phenomenon of the machine 1 will result in the cable robot. Method is applied to actual industrial production or processing precision of the field.
  • the present invention aims to provide a cable rope robot which is simple in structure and convenient to use and which does not affect the normal operation and production of the industrial site and can ensure that the machine platform does not tilt when moving forward and backward and left and right.
  • the present invention adopts the following technical solutions:
  • the utility model relates to a steel cable robot, which comprises a machine platform, a pulley and a steel cable.
  • the pulleys are respectively mounted on a high-altitude position fixed on the machine table and the industrial site, and the steel cable is wound on the pulley and driven by the power device to expand and contract.
  • a gyroscope is fixed, and the axis of the gyroscope coincides with the axis of the machine.
  • the pulley and the steel cable respectively correspond to at least three groups.
  • the cable rope robot of the invention has the pulleys correspondingly mounted on the machine platform and the industrial site at a high altitude position, the cable is wound on the pulley and driven by the power device to expand and contract, and the gyroscope is mounted and fixed on the machine table, and the gyroscope is mounted on the machine platform.
  • the axis coincides with the axis of the machine, which can ensure that the machine does not tilt when moving forward and backward and left and right without affecting the normal operation and production of the industrial site. It has simple structure, convenient use and can be widely used in practical industrial sites. Features in precise production or processing.
  • FIG. 1 is a schematic top plan view of a conventional cable crane
  • FIG. 2 is a schematic view showing a tilt state of a conventional cable rope robot when moving left and right and back and forth;
  • FIG. 3 is a schematic top plan view of a cable rope robot according to the present invention.
  • FIG. 4 is a schematic view showing the front structure of a cable rope robot according to the present invention.
  • a wire rope robot of the present invention comprises a machine table 1, a pulley 2 and a steel cable 3.
  • the pulleys 2 are respectively mounted and fixed on the machine platform 1 and the high-altitude position of the industrial site, and the cable 3 is wound around The pulley 2 is stretched and contracted by the power unit.
  • the pulley 2 and the cable 3 respectively include at least three groups.
  • the machine 1 is fixed to the gyro 4, and the axis of the gyro 4 coincides with the axis of the machine 1.
  • the working principle of the invention is that the pulleys 2 are respectively fixed and fixed on the machine platform 1 and the high-altitude position of the industrial site, the cable 3 is wound on the pulley 2 and is driven and contracted by the power device, and the gyroscope is fixed and fixed on the machine table 1. 4.
  • the axis of the gyroscope 4 coincides with the axis of the machine 1. It can ensure that the machine 1 does not tilt when moving forward and backward and left and right without affecting the normal operation and production of the industrial site.
  • the bottom of the machine 1 is actually produced according to the actual production. Or processing needs to be equipped with corresponding working tools, which can be widely used in the precise production or processing of actual industrial sites, with simple structure and convenient use.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is a steel cable robot, comprising: a machine (1); pulleys (2); and a steel cable (3). The pulleys (2) are respectively attached and fixed to the machine (1) and an elevated position at an industrial site. The steel cable (3) winds around the pulleys (2), and is driven by a power device to extend and retract. There are at least three groups of pulleys and corresponding steel cables. A gyroscope (4) is attached and fixed to the machine (1). Am axis of the gyroscope (4) overlaps an axis of the machine. The invention ensures that the machine does not tilt when moving to the front, back, left or right, and thus normal operation and production at the industrial site are not affected. The bottom of the machine is provided with corresponding operation tools according to actual production or processing needs. The invention can be widely applied to precision production or processing at an industrial site, has a simple structure, and can be used conveniently.

Description

一种钢索机器人  Steel cable robot
技术领域Technical field
本发明涉及机械自动化技术领域，具体涉及一种钢索机器人。The invention relates to the technical field of mechanical automation, and in particular to a cable rope robot.
背景技术Background technique
目前现有的钢索机器人如附图1、2所示，包括机台1、滑轮2和钢索3，滑轮2分别对应安装固定在机台1的顶部四角及工业现场的顶空四角位置处，钢索3缠绕在滑轮2上并由电机等动力装置带动伸缩，通过四角位置处的钢索3伸缩调节可以实现机台1的前后、左右、上下移动控制，机台1底部可根据实际生产或加工需要加装相应的作业工具，实现作业工具的前后、左右、上下移动的自动化控制；该钢索机器人可广泛应用于工业自动化生产或加工领域，应用于较大场地面积的工业现场能大大减少作业工具自动化移动控制的设备成本及安装成本，但是由于在机台1前后、左右移动过程中，四角位置处的钢索3拉伸力很难始终保持平衡，机台1的前后及左右移动过程中会发生机台1倾斜的现象，机台1前后及左右移动距离越大，机台1的倾斜现象越严重，导致该钢索机器人无法应用于实际工业现场的精确生产或加工中。At present, the existing cable rope robots are shown in Figs. 1 and 2, and include a machine table 1, a pulley 2 and a cable 3, respectively, and the pulleys 2 are respectively fixed and fixed at the top four corners of the machine table 1 and at the top corner positions of the industrial site. The steel cable 3 is wound on the pulley 2 and driven by a power device such as a motor, and the front and rear, left and right, and up and down movement control of the machine 1 can be realized by the telescopic adjustment of the cable 3 at the four corner positions, and the bottom of the machine 1 can be produced according to actual conditions. Or processing needs to install corresponding working tools to realize the automatic control of the front, back, left and right movement of the working tool; the cable robot can be widely used in the field of industrial automation production or processing, and can be applied to industrial sites with large site area. The equipment cost and installation cost of the automatic movement control of the working tool are reduced, but since the stretching force of the cable 3 at the four corner positions is difficult to always maintain balance during the front and rear movement of the machine table 1, the front and rear of the machine 1 and the left and right movements are difficult. During the process, the tilt of the machine 1 will occur. The greater the distance between the front and rear of the machine 1 and the left and right movements, the more serious the tilting phenomenon of the machine 1 will result in the cable robot. Method is applied to actual industrial production or processing precision of the field.
为解决上述问题，目前有一种方式是在机台1的底部四角及工业现场的低位四角位置处加装滑轮2和钢索3，虽然该方式能保证机台1在前后、左右移动时不发生倾斜，但是工业现场的顶空四角位置处及低位四角位置处的钢索3在伸缩过程中极易发生缠绕的现象，而且低位四角位置处的钢索3会影响工业现场其他正常的作业及生产，极为不便。In order to solve the above problems, there is currently a way to install the pulley 2 and the cable 3 at the bottom four corners of the machine table 1 and the low four corners of the industrial site, although this method can ensure that the machine 1 does not occur when moving forward and backward, left and right. Tilting, but the cable 3 at the four corners of the top and the four corners of the industrial site is prone to entanglement during the expansion and contraction process, and the cable 3 at the lower four corners will affect other normal operations and production at the industrial site. Very inconvenient.
发明内容Summary of the invention
针对现有技术的不足，本发明旨在提供一种结构简单、使用方便的不影响工业现场正常作业及生产的可保证机台在前后及左右移动时不倾斜的钢索机器人。In view of the deficiencies of the prior art, the present invention aims to provide a cable rope robot which is simple in structure and convenient to use and which does not affect the normal operation and production of the industrial site and can ensure that the machine platform does not tilt when moving forward and backward and left and right.
为实现上述目的，本发明采用如下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种钢索机器人，包括机台、滑轮和钢索，滑轮对应分别安装固定在机台和工业现场的高空位置上，钢索缠绕在滑轮上并由动力装置带动伸缩，所述机台上安装固定有陀螺仪，陀螺仪的轴心与机台的轴心重合。The utility model relates to a steel cable robot, which comprises a machine platform, a pulley and a steel cable. The pulleys are respectively mounted on a high-altitude position fixed on the machine table and the industrial site, and the steel cable is wound on the pulley and driven by the power device to expand and contract. A gyroscope is fixed, and the axis of the gyroscope coincides with the axis of the machine.
进一步的，所述滑轮和钢索对应分别至少包括有三组。Further, the pulley and the steel cable respectively correspond to at least three groups.
本发明具有如下有益效果：The invention has the following beneficial effects:
本发明一种钢索机器人，其滑轮对应分别安装固定在机台和工业现场的高空位置上，钢索缠绕在滑轮上并由动力装置带动伸缩，机台上安装固定有陀螺仪，陀螺仪的轴心与机台的轴心重合，在不影响工业现场正常作业及生产的情况下可保证机台在前后及左右移动时不倾斜，具有结构简单、使用方便、可广泛应用于实际工业现场的精确生产或加工中的特点。The cable rope robot of the invention has the pulleys correspondingly mounted on the machine platform and the industrial site at a high altitude position, the cable is wound on the pulley and driven by the power device to expand and contract, and the gyroscope is mounted and fixed on the machine table, and the gyroscope is mounted on the machine platform. The axis coincides with the axis of the machine, which can ensure that the machine does not tilt when moving forward and backward and left and right without affecting the normal operation and production of the industrial site. It has simple structure, convenient use and can be widely used in practical industrial sites. Features in precise production or processing.
附图说明DRAWINGS
图1为目前现有的钢索机器人的俯视结构示意图；1 is a schematic top plan view of a conventional cable crane;
图2为目前现有的钢索机器人在左右及前后移动时的倾斜状态示意图；2 is a schematic view showing a tilt state of a conventional cable rope robot when moving left and right and back and forth;
图3为本发明一种钢索机器人的俯视结构示意图；3 is a schematic top plan view of a cable rope robot according to the present invention;
图4为本发明一种钢索机器人的正面结构示意图。4 is a schematic view showing the front structure of a cable rope robot according to the present invention.
图中：1、机台；2、滑轮；3、钢索；4、陀螺仪。In the figure: 1, machine; 2, pulley; 3, steel cable; 4, gyroscope.
具体实施方式detailed description
下面结合附图及具体实施例，对本发明作进一步的描述，以便于更清楚的理解本发明要求保护的技术思想。The present invention will be further described in conjunction with the accompanying drawings and specific embodiments in order to provide a better understanding of the claimed invention.
如图3、4所示本发明一种钢索机器人，包括机台1、滑轮2和钢索3，滑轮2对应分别安装固定在机台1和工业现场的高空位置上，钢索3缠绕在滑轮2上并由动力装置带动伸缩，滑轮2和钢索3对应分别至少包括有三组，机台1上安装固定有陀螺仪4，陀螺仪4的轴心与机台1的轴心重合。As shown in Figures 3 and 4, a wire rope robot of the present invention comprises a machine table 1, a pulley 2 and a steel cable 3. The pulleys 2 are respectively mounted and fixed on the machine platform 1 and the high-altitude position of the industrial site, and the cable 3 is wound around The pulley 2 is stretched and contracted by the power unit. The pulley 2 and the cable 3 respectively include at least three groups. The machine 1 is fixed to the gyro 4, and the axis of the gyro 4 coincides with the axis of the machine 1.
本发明的工作原理为：其滑轮2对应分别安装固定在机台1和工业现场的高空位置上，钢索3缠绕在滑轮2上并由动力装置带动伸缩，机台1上安装固定有陀螺仪4，陀螺仪4的轴心与机台1的轴心重合，在不影响工业现场正常作业及生产的情况下可保证机台1在前后及左右移动时不倾斜，机台1底部根据实际生产或加工需要加装相应的作业工具，可广泛应用于实际工业现场的精确生产或加工中，结构简单、使用方便。The working principle of the invention is that the pulleys 2 are respectively fixed and fixed on the machine platform 1 and the high-altitude position of the industrial site, the cable 3 is wound on the pulley 2 and is driven and contracted by the power device, and the gyroscope is fixed and fixed on the machine table 1. 4. The axis of the gyroscope 4 coincides with the axis of the machine 1. It can ensure that the machine 1 does not tilt when moving forward and backward and left and right without affecting the normal operation and production of the industrial site. The bottom of the machine 1 is actually produced according to the actual production. Or processing needs to be equipped with corresponding working tools, which can be widely used in the precise production or processing of actual industrial sites, with simple structure and convenient use.
对于本领域的技术人员来说，可根据以上描述的技术方案以及构思，做出其它各种相应的改变以及变形，而所有的这些改变以及变形都应该属于本发明权利要求的保护范围之内。Various other changes and modifications may be made by those skilled in the art in light of the above-described technical solutions and concepts, and all such changes and modifications are intended to fall within the scope of the appended claims.

Claims (2)

  1. 一种钢索机器人，包括机台(1)、滑轮(2)和钢索(3)，滑轮(2)对应分别安装固定在机台(1)和工业现场的高空位置上，钢索(3)缠绕在滑轮(2)上并由动力装置带动伸缩，其特征在于：所述机台(1)上安装固定有陀螺仪(4)，陀螺仪(4)的轴心与机台(1)的轴心重合。 A cable rope robot comprises a machine platform (1), a pulley (2) and a steel cable (3), and the pulleys (2) are respectively mounted and fixed on the machine platform (1) and the high-altitude position of the industrial site, the steel cable (3) Wrapped around the pulley (2) and driven by the power unit, characterized in that the machine (1) is fixed with a gyroscope (4), the axis of the gyroscope (4) and the machine (1) The axes coincide.
  2. 如权利要求1所述的一种钢索机器人，其特征在于：所述滑轮(2)和钢索(3)对应分别至少包括有三组。 A cable robot according to claim 1, wherein said pulley (2) and said cable (3) respectively comprise at least three groups.
PCT/CN2016/100980 2016-04-18 2016-09-30 Steel cable robot WO2017181608A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610242406.XA CN105690403A (en) 2016-04-18 2016-04-18 Steel cable robot
CN201610242406.X 2016-04-18

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WO2017181608A1 true WO2017181608A1 (en) 2017-10-26
WO2017181608A8 WO2017181608A8 (en) 2018-05-31

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CN105690403A (en) * 2016-04-18 2016-06-22 李伟民 Steel cable robot
CN107098276A (en) * 2017-05-12 2017-08-29 江苏信息职业技术学院 A kind of rope suspension crane
CN110655014B (en) * 2019-09-30 2021-04-13 大唐东营发电有限公司 Boiler maintenance platform for power plant

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