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Cable pulling parallel robot device with anti-rotation mechanism

An anti-rotation and robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult positioning of end effectors, increased cost and control difficulty, and complex structure of parallel robots, so as to reduce control difficulty, The effect of increased damping and increased stiffness

Inactive Publication Date: 2015-10-28
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in actual situations, since the end effector always has a certain volume, it is difficult to achieve only translation without rotation
Therefore, when the end effector performs a large-scale translational motion, it will be accompanied by a small rotation, which makes it difficult for the end effector to be positioned accurately, reduces the motion accuracy, and causes the effect of the actuator to perform tasks poorly.
[0005] Although the structure of the fully driven and redundantly driven cable-pulled parallel robot can prevent the rotation of the end effector during the movement, the cable-pulled parallel robot with this structure needs to add a set of drives every time a flexible cable is added. This makes the structure of the parallel robot complex, and the cost and control difficulty will be greatly increased

Method used

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  • Cable pulling parallel robot device with anti-rotation mechanism
  • Cable pulling parallel robot device with anti-rotation mechanism
  • Cable pulling parallel robot device with anti-rotation mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] Embodiment 1, for the planar cable traction parallel robot that needs to move in the plane, there are four drivers and active flexible cables, and a set of anti-rotation mechanism device 3 is installed on the end effector 4 in the working plane.

[0032] refer to figure 2 , this example includes an end effector 4, four drivers 1, four active flexible cables 2, and a set of anti-rotation mechanism 3. The end effector 4 is a cuboid that performs tasks in the horizontal plane, and it is required that it cannot rotate vertically during the movement.

[0033]The four driving devices 1 are fixed at designated positions in the work site in an evenly distributed manner, and the four active flexible cables 2 are respectively led out from the four driving devices 1, and are directly connected to the end effector 4 to realize end-to-end alignment. Actuator 4 drive. In order to limit the rotation of the end effector 4 in the vertical direction, a set of anti-rotation mechanism 3...

Embodiment 2

[0035] In Embodiment 2, there are four drivers and active flexible cables, and two sets of anti-rotation mechanism devices 3 are installed on the anti-rotation plane required by the end effector 4 .

[0036] refer to image 3 , this example includes an end effector 4 , four drivers 1 , four active flexible cables 2 , and two anti-rotation mechanisms 3 . The end effector 4 is a cuboid that performs tasks in space, and it is required that it cannot rotate in the vertical direction and the left and right horizontal directions during the movement process.

[0037] The four driving devices 1 are fixed at designated positions in the work site in the form of uniform distribution, and the four active flexible cables 2 are respectively drawn from the four driving devices 1, and are directly connected to the end effector 4 to realize the end effector. device 4 driver. In order to limit the rotation of the end effector 4 in the vertical direction and the left and right horizontal direc...

Embodiment 3

[0041] In Embodiment 3, there are three drivers and active flexible cables, and three sets of anti-rotation mechanism devices 3 are installed on the anti-rotation plane required by the end effector 4 .

[0042] refer to Figure 4 , this example includes an end effector 4, three drivers 1, three active flexible cables 2, and three anti-rotation mechanisms 3. The end effector 4 is a cuboid that performs tasks in space, and it is required to move only in translation during the movement.

[0043] The three driving devices 1 are fixed at designated positions in the work site in the form of uniform distribution, and the three active flexible cables 2 are respectively drawn out from the three driving devices 1, and are directly connected to the end effector 4 to realize the control of the end effector. 4 drives. In order to limit the rotation in all directions in space and ensure that it can only move in translation, it is necessary to install a set of anti-rotation mechanisms 3 on...

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Abstract

The invention discloses a cable-towed parallel robot device with anti-rotating mechanisms. The problems that when an existing cable-towed parallel robot is used for preventing an end effector from rotating, control difficulty is large, cost is high and the structure is complex are mainly solved. The cable-towed parallel robot device comprises an end effector (4), n drive devices (1) and n driving soft cables (2), wherein n is larger than or equal to three. Each drive device (1) is connected with the end effector (4) through one driving soft cable, and the end effector (4) is connected with the anti-rotating mechanisms (3) used for preventing the end effector (4) from rotating in the space operation process. Each anti-rotating mechanism (3) comprises two driven soft cables, two fixed pulleys, a roller, a balance weight soft cable and a balance weight. The installing number and positions of the anti-rotating mechanisms are determined according to the working state, needing rotation prevention, of the end effector. The cable-towed parallel robot device is simple in structure, easy to control and capable of being used for operations such as camera shooting, hoisting, carrying, industry machining, ship constructing, seabed salvaging and fire fighting for a petroleum well.

Description

technical field [0001] The invention belongs to the technical field of mechanical devices, and in particular relates to a parallel robot, which can be used for photographing, lifting, transporting, industrial processing, ship building, seabed salvage, oil well fire extinguishing and other work operations. Background technique [0002] With the development of modern industry, the movement of the rigid hinge-driven end effector can no longer meet the needs of social development in terms of working range, flexibility and ease of assembly, so a cable-tracted parallel robot device was proposed. [0003] The existing cable-tracted parallel robot device uses a flexible cable instead of a rigid hinge to drive the end effector. This device has a large working space, high flexibility in movement, easy operation, easy modularization, easy assembly, light weight, and easy transportation. It has attracted widespread attention due to its low cost and other advantages. This robotic device...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 杜敬利保宏杨海晓段学超崔传贞
Owner XIDIAN UNIV