Rope towed remote operating platform

Abstract

The invention discloses a rope-traction remote operating platform in the field of program-control manipulators. The rope-traction remote operating platform comprises a movable platform, a plurality of branched chains, driving ropes, a static platform, a flexible pipe bundle guide rope, a plurality of independent motors and a control system, each independent motor is controlled by the control system and drives the corresponding driving rope through transmission of the flexible pipe bundle guide rope, the driving ropes and the branched chains are arranged between the movable platform and the static platform, and moving of the movable platform is driven by each driving rope and constrained by each branched chain. A driving structure and a moving constraint structure are separated, the characteristics that the ropes are flexible and transmission distance is basically free of limitation are utilized fully, and functions of remote and accurate control and going into narrow and complex space are realized.

Description

technical field [0001] The invention relates to a device in the field of automatic robot technology, in particular to a rope traction remote operation platform. Background technique [0002] As a commonly used mechanical structure, the operating platform can be used to carry instruments and machinery that require specific overall actions, and is widely used in military, aerospace, industrial production, and various fields of daily life. Typical applications such as simulated aircraft training, vibration simulation, surgery, vector nozzles of fighter jets, etc. The usual operating platforms are divided into two types: series structure and parallel structure. The advantage of the series structure is that it is simple in design and easy to control, but the response control effect is affected by the inertia of the mechanism and the characteristics of motion decoupling. It is difficult to meet the requirements when the speed and accuracy of the fast response are required; the ad...

AI Technical Summary

Problems solved by technology

Under some harsh working conditions, the driving structure is not allowed to enter the platform working space, or the action structure is required to be as simple and small as possible. The traditional structural operating platform that combines the driving structure and the motion constraint structure cannot meet the requirements. The simple method of reducing the structure Not only will the cost be significantly increased, but also the reliability of the mechanism will be reduced, and sometimes it cannot even meet the needs of driving force and structural strength and stiffness

However, the operation signal acquisition of multi-degree-of-freedom mechanism is complex, the kinematics inverse solution is difficult to solve, the control efficiency is low, and the real-time response is poor, which has also become a bottleneck restricting its development and application.

[0003] After searching the prior art, it was found that Chinese Patent Document No. CN103878764, published on 2014-6-25, discloses a three-degree-of-freedom pneumatic hybrid drive parallel platform, such as figure 1 As shown, it realizes the control of the pose of the moving platform through the cylinder and the pneumatic muscle group connected between the moving platform and the static platform. In the working space of the platform under working conditions, or in working conditions where the action structure is required to be simplified and reduced as much as possible, the parallel mechanism is difficult to apply due to the space limitation of the driving part.

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