A six-degree-of-freedom terminal deformable parallel rope traction mechanism

Abstract

The invention discloses a parallel rope traction mechanism with deformable ends of six degrees of freedom, which is mainly composed of a power transmission device, a transmission universal wheel, an execution device and a frame. When in use, the support is fixed on the ground through bolt connection One end of the rope is fixed on the reel, and the other end is connected to the hook of the actuator. The stepping motor rotates through the reducer and drives the reel to rotate, thereby winding the rope on the reel, and the rope passes through the fixed pulley and the transmission universal direction. Wheel guidance, the transmission universal wheel can change the direction of the rope, the hinges and hinges on the actuator can deform the actuator, and after the eight ropes are connected to the actuator hook, the eight stepper motors cooperate to make the actuator move and deform, thereby To realize the grabbing and transfer of goods, the present invention has the advantages of light weight, simple shape, convenient operation, low cost and fast movement speed, improves the automation degree of the goods handling system and the efficiency of goods handling, saves human resources, has strong practicability, and has applications. prospect.

Description

technical field [0001] The invention relates to a six-degree-of-freedom terminal deformable parallel rope traction mechanism, specifically a six-freedom-degree-of-freedom cargo handling robot driven by a flexible cable-driven end effector, which can realize the transport of goods in the limited space of the frame. move. Background technique [0002] The handling industrial robot is a high-precision space motion machine composed of multiple degrees of freedom, so it must have the flexibility and accuracy of movement, as well as the stability of dynamic performance. Therefore, compared with ordinary mechanical equipment, in addition to satisfying high strength, rigidity and reliability, it must also have a smart configuration and good dynamic performance. Most of the existing cargo handling robots use a six-degree-of-freedom parallel rope traction mechanism, but because the end effector itself cannot be deformed, the working space of the cargo handling robot is greatly limite...

AI Technical Summary

Problems solved by technology

Most of the existing cargo handling robots use a six-degree-of-freedom parallel rope traction mechanism, but because the end effector itself is not deformable, the working space of the cargo handling robot is greatly limited.

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