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An upper-supported space four-cable super-span robot

A supportive, robotic technology, applied in the field of machinery, which can solve problems such as limited and large working space.

Active Publication Date: 2017-03-22
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, the movement of the terminal moving platform of the existing cable parallel mechanism is still limited within the space formed by the supporting point of the cable, that is, the working space is located within the range of the connecting line of the supporting point of the cable, and the volume occupied by the supporting mechanism of the cable is larger than that of the terminal. Working space range

Method used

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  • An upper-supported space four-cable super-span robot
  • An upper-supported space four-cable super-span robot
  • An upper-supported space four-cable super-span robot

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Embodiment Construction

[0023] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0024] In the present invention, the upper-supported space four-cable super-span robot such as figure 1 As shown, it is composed of a support frame 1, a cable outlet mechanism, a motion mechanism and an end effector.

[0025] The support frame 1 is made of aluminum alloy material, and is suspended on the crane when working, and has a quadrilateral structure; adjacent sides of the support frame 1 are connected with horizontal diagonal supports, and the diagonal supports are located inside the quadrilateral structure.

[0026] Such as figure 2 , the cable outlet mechanism is composed of four cable outlet units, each cable outlet unit is composed of a motor 4, a coupling 8, a reduction box 9 and a reel 10, and the cable outlet units are respectively arranged under the four corners of the support frame 1, each Each cable-out unit is located in a ...

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Abstract

A top-supported type over-span space robot with four ropes comprises a mechanical supporting frame, a rope pay-off mechanism, a moving mechanism and an end executor. The top-supported type over-span space robot is a hung type robot with one to four ropes connected in parallel. Rope supporting structures are located above a working space; in use, the whole robot is hung on a crown block, and therefore interference can be avoided when the end executor moves in an over-span mode. One end of each of the four ropes is connected with the end executor, and the other end of each rope is connected to a corresponding drum through a pulley. Motors are used for driving the ropes, so that the end executor is made to have three translational-motion freedom degrees, and wide-range over-span motion of the mechanisms can be achieved; the manufacturing cost is reduced, the problem that the operation space range of an existing parallel-rope robot cannot exceeds the range of the supporting frame is solved, and the top-supported type over-span space robot with the four ropes has wide application prospects in the fields of material carrying, mechanism spraying and the like.

Description

technical field [0001] The invention belongs to the technical field of machinery, in particular to an upper-supported space four-cable super-span robot. Background technique [0002] The cable parallel mechanism uses the rope instead of the rigid component to drive the movement of the moving platform, so that it has certain flexibility, high-speed movement and light structure weight. Big. Now aerospace, medical rehabilitation and wind tunnel experiments have broad application prospects. [0003] However, the movement of the terminal moving platform of the existing cable parallel mechanism is still limited within the space formed by the supporting point of the cable, that is, the working space is located within the range of the connecting line of the supporting point of the cable, and the volume occupied by the supporting mechanism of the cable is larger than that of the terminal. Working space range. If the movement range of the terminal is greater than the connection ran...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/10
Inventor 唐晓强邵珠峰田斯慧汪劲松刘辛军李煜琦祝玉兰季益中项程远刘振辉
Owner TSINGHUA UNIV