Heavy-duty lifting robot based on parallel wire driven mechanism
A robot and flexible cable technology, applied in the field of heavy-duty hoisting robots, can solve problems such as low efficiency, inability to realize automatic operations, assembly positioning, and difficulty in attitude adjustment, so as to reduce internal load, force, and structure. force effect
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[0026] The present invention will be described in further detail below with reference to the drawings.
[0027] Such as figure 1 As shown, the present invention includes an upper platform 1, a lower platform 3 and six flexible cables 2. The upper platform 1 is a fixed platform, the lower platform 3 is a motion platform, and the upper platform 1 and the lower platform 3 are connected by six flexible cables 2 to form a Stewart parallel connection. Mechanism; the two ends of each flexible cable 2 are respectively connected with the upper platform 1 and the lower platform 3 to form a branch, a total of six isomorphic branches. Six fixed pulleys 6 and six motors 5 are respectively installed on the upper platform 1, the output end of each motor 5 is connected with a reel 4, and the lower platform 3 is equipped with six cross hinges 7. The upper end of the flexible cable 2 in each branch passes through the fixed pulley 6 installed on the upper platform 1 and then is wound on the reel 4 ...
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