Cable pseudo-drag preventing device and redundancy-driven parallel robot provided with same
A technology of installation location and Hall device, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complicated wiring and high cost, and achieve the effects of high modularity, high frequency and low power consumption
Active Publication Date: 2017-06-13
TSINGHUA UNIV
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Problems solved by technology
The former has more ropes, which is not conducive to the application. The latter often uses force sensors to solve this problem, but this method is complicated in wiring, needs to consider the installation location, and is expensive, and requires a special power supply line to supply power to the force sensor.
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[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0019] Such as figure 1 Shown is a kind of anti-false pulling device, including a shell 33, a spring 34, a Hall device 35, a permanent magnet 36, and an inner cylinder 37 made of ferromagnetic material; the outer wall of the inner cylinder 37 is provided with a detection gap 371; the upper end of the spring 34 passes through the top of the shell ...
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The invention discloses a cable pseudo-drag preventing device and a redundancy-driven parallel robot provided with the same. The cable pseudo-drag preventing device comprises a charging module, a shell, a spring, Hall devices, permanent magnets and an inner barrel made of a ferromagnetic material. A detecting notch is formed in the inner barrel. Both the upper end and the lower end of the spring are tied to cables, and the length of the spring increases synchronously as the tensioning force of the cables increases; the Hall devices are fixedly arranged on the shell, and the permanent magnets are arranged on the backs of the Hall devices; and the Hall devices recognize the tensioning degree of the cables through positioning changing of the detecting notch. Since the force of the cables is detected through the Hall devices, the cable pseudo-drag preventing device is high in modular degree, simple and reliable in structure and convenient to mount and construct when compared with the prior art.
Description
technical field [0001] The invention relates to the technical field of parallel devices, in particular to a device for preventing false pull of a cable and a redundantly driven parallel robot comprising the device. Background technique [0002] The research and application of the cable parallel mechanism originated in the late 1980s. It is a special flexible mechanism in the parallel mechanism, and its driving branch chain is a flexible cable. Compared with the rigid rod-supported parallel mechanism, the cable parallel mechanism has the advantages of simple structure, large working space, high load capacity, easy disassembly, reorganization, high degree of modularization and fast movement speed. [0003] However, because the rope can only bear the tension but not the pressure, the configuration of the cable parallel mechanism is subject to many restrictions. In order to ensure the complete constraint of the terminal motion of the rope, the number of ropes must be more than ...
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IPC IPC(8): B25J9/16B25J9/08B25J9/00B25J19/02
CPCB25J9/003B25J9/08B25J9/1643B25J19/02
Inventor 邵珠峰邓豪王立平唐晓强尤政张兆坤陈炼
Owner TSINGHUA UNIV