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A rope coplanar device for a rope-tracted parallel robot

A robot and rope technology, which is applied in the field of rope traction parallel robots, can solve the problems affecting the control accuracy, the ropes are not coplanar, etc., and achieve the effect of improving accuracy and control precision

Active Publication Date: 2016-12-07
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, because most of the rope-tracted parallel robots are driven by motors, during the movement, it is inevitable that the two ropes that should be on the same plane will not be coplanar due to external factors such as vibration, which will affect the control accuracy.

Method used

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  • A rope coplanar device for a rope-tracted parallel robot
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  • A rope coplanar device for a rope-tracted parallel robot

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Embodiment Construction

[0012] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0013] to combine Figure 1 to Figure 4 , the present invention includes a first type U-shaped guide rail 1, a second type U-shaped guide rail 3, a first guide rail end cover 2 fixedly connected with the first type U-shaped guide rail 1, and a first guide rail end cover 2 fixedly connected with the second type U-shaped guide rail 3 Two guide rail end covers 4 and a vertical connecting shaft 5 for connecting the first type U-shaped guide rail 1 and the second guide rail end cover 4, and the vertical connecting shaft 5 is connected with the first type U-shaped guide rail 1 and the second guide rail end cover The connection mode of 4 is a rotary connection, that is, two U-shaped guide rails 1 and 3 can rotate around the vertical connecting shaft 5, and four pulleys 8 are respectively arranged on the inner wall of each U-shaped guide rail...

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Abstract

The invention provides a rope coplanar device of a rope-traction parallel robot. The rope coplanar device comprises two staggered U-shaped rope guiding rails and a vertical shaft, wherein four pulleys are respectively distributed on the inner wall of each rope guiding rail in a staggered manner; the two guiding rails are connected by the vertical shaft and have rotational freedom degree in between. The rope coplanar device provided by the invention has the advantages that due to the two guiding rails with the U-shaped design, not only intersection points of ropes have certain staggering, but also the two ropes are ensured to be positioned on the same plane at a place without staggering, i.e., the two coplanar intersected ropes without interference in the movement of the rope-traction parallel robot can be ensured.

Description

technical field [0001] The invention relates to the field of rope-drawn parallel robots, in particular to a rope coplanar device for rope-drawn parallel robots. Background technique [0002] The rope pulling parallel robot is a new type of robot developed in the 1980s. It is widely used in material handling, industrial processing, virtual realization, wind tunnel support, astronomical observation, medical rehabilitation and other fields due to its advantages of large working space, fast movement speed, strong carrying capacity, lightness and flexibility. However, because most of the rope-tracted parallel robots are driven by motors, during the movement, it is inevitable that the two ropes that should be on the same plane will not be coplanar due to external factors such as vibration, which will affect the control accuracy. Contents of the invention [0003] The object of the present invention is to provide a rope coplanar device for a rope traction parallel robot that can...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 王克义张松吴博松方硕
Owner HARBIN ENG UNIV
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