A dynamic anchor point seat device used on a rope-driven parallel robot

Abstract

The present invention discloses a dynamic anchor point seat device applied to a rope-driven parallel robot, which relates to the technical field of robots and comprises: a main frame, the main frame comprises a first link part, a second link part, a third link part and a bottom plate, both ends of the first link part, the second link part and the third link part are fixedly connected to the bottom plate by bolts; a first slider module and a second slider module, the first slider module is arranged at the top end of the main frame, and the second slider module is arranged at the bottom end of the main frame; a rope-discharging moving module, the rope-discharging moving module is arranged in the main frame; a rope-collecting module, the rope-collecting module is arranged in the main frame. The present invention can collect the extension and contraction amount of the rope, and will not cause the problem of rope stacking and squeezing during the process of collecting and releasing the rope.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a moving anchor point seat device applied to a rope-driven parallel robot. Background Art

[0002] In recent years, with the increase of labor costs in China and the innovation and transformation of manufacturing enterprises, the demand for robots in China has grown rapidly, and it has become an important market for robots in the world. Users have shifted from wholly foreign-owned enterprises and Sino-foreign joint ventures to domestic enterprises and even small and medium-sized enterprises. Many enterprises in the coastal industrially developed areas of China export their products and have high requirements for product quality. More and more enterprises are using robots to replace industrial workers. In the Pearl River Delta region, the average annual growth rate of the use of industrial robots has reached 30%, especially in the fields of assembly, dispensing, handling, welding, etc., which has set off a wave of robot use. At the same time, in the new international and domestic environment, in order to improve the quality and level of development of China's manufacturing industry, the research and development and manufacturing of robot technology is an indispensable and important part.

[0003] Rope-driven parallel robots belong to the field of parallel robots. They are driven by ropes, which are different from traditional rigid push rods. Rope-driven parallel robots have the characteristics of large workspace, fast movement speed, strong load-bearing capacity, light structure, and good flexibility. They have application advantages in large space assembly, microgravity simulation, rehabilitation medicine and other fields. The driving rope of traditional rope-driven parallel robots is fixed, which will lead to uneven force distribution of the rope in certain positions and smaller workspace. Therefore, it is difficult for this type of robot to achieve full workspace movement and maintain good force distribution characteristics.

[0004] Therefore, how to provide a dynamic anchor point seat device for use on a rope-driven parallel robot that facilitates the movement of the robot has become a problem that needs to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present invention is to provide a dynamic anchor seat device for use on a rope-driven parallel robot. The present invention can enable the anchor seat to move on the robot frame. The device can collect the rope expansion and contraction amount during use. The problem of rope stacking and squeezing will not occur during the process of retracting and releasing the rope. The rope output position can also be changed as needed, thereby changing the size of the working space and controlling the end position to realize the full-space movement of the robot.

[0006] To achieve the above object, the present invention provides a moving anchor point seat device applied to a rope-driven parallel robot, comprising:

[0007] A main frame, the main frame comprising a first link, a second link, a third link and a bottom plate, both ends of the first link, the second link and the third link are fixedly connected to the bottom plate by bolts;

[0008] A first slider module and a second slider module, wherein the first slider module is arranged at the top end of the main frame, and the second slider module is arranged at the bottom end of the main frame, and is used to cooperate with the robot guide rail to enable the dynamic anchor point seat device to move on the guide rail;

[0009] A rope-out moving module, which is arranged in the main frame and is used to move the rope-out point position up and down;

[0010] The rope collecting module is arranged in the main frame, and is used for storing the rope and accurately storing the rope, and ensuring that the rope can be tightly wound on the winch without stacking and squeezing.

[0011] Furthermore, the structures of the first slider module and the second slider module are exactly the same, and both include a slide rail bearing, a gear, a gear shaft base, a rigid coupling, a third synchronous wheel, a fourth synchronous wheel, a motor, a motor mounting plate and a sliding base plate. The gear shaft base is fixed to the sliding base plate, and the gear is arranged between the gear shaft base and the sliding base plate. The gear shaft base and the sliding base plate are both rotatably connected to the gear, the slide rail bearing is rotatably connected to the base plate by bolts, the third synchronous wheel and the fourth synchronous wheel are both rotatably connected to the sliding base plate, the sliding base plate is slidably connected to the base plate through a base plate slider, the third synchronous wheel and the fourth synchronous wheel are connected by belt drive, the motor mounting plate is arranged on the sliding base plate, the rigid coupling is arranged between the motor mounting plate and the sliding base plate, the output shaft of the motor is fixedly connected to the third synchronous wheel through a rigid coupling, and the third synchronous wheel is fixedly connected to the gear through a rotating shaft.

[0012] Furthermore, it also includes a synchronization shaft, which is installed on the fourth synchronization wheel of the first slider module and the second slider module through a coupling to ensure the synchronization of the movement of the drive motors of the first slider module and the second slider module.

[0013] Furthermore, the rope-out moving module includes a screw fixing seat, a guide rail support plate, a second T10 screw, a V-groove wheel, a rope-out side plate, an encoder mechanism, a movable bearing seat and a stepper motor. The screw fixing seat is arranged in the second hinge part, and the stepper motor is arranged above the screw fixing seat. The second T10 screw is rotatably connected to the bearing in the screw fixing seat through the shaft of the screw, and the rotating shaft of the stepper motor is fixedly connected to the screw through a coupling. The guide rail support plate is arranged on the second hinge part, and the guide rail support plate is connected to the screw fixing seat through bolts for limiting the screw. The rope-out side plate is fixed on the slider of the second T10 screw, the encoder mechanism is fixed on one side of the rope-out side plate, the movable bearing seat is rotatably installed on the rope-out side plate, the V-groove wheel is installed in the movable bearing seat, and the nylon sleeve is rotatably installed on the V-groove wheel shaft for limiting the position of the V-groove wheel.

[0014] Furthermore, the encoder mechanism includes an encoder, an encoder wheel and an encoder mounting plate, the encoder is arranged on the rope outlet side plate through the encoder mounting plate, the encoder wheel is arranged in the rope outlet side plate, and the rotating shaft of the encoder is rotatably connected to the encoder wheel through a plum blossom coupling.

[0015] Furthermore, the rope collecting module includes a roller shaft connector, a capstan drum, a first synchronous wheel, a second synchronous wheel, a drum screw support plate, a rope driving motor, a rope driving motor mounting plate, and a synchronous wheel mounting frame. The rope driving motor is mounted on the rope driving motor mounting plate, and the rope driving motor mounting plate is arranged on the synchronous wheel mounting frame. The first synchronous wheel and the second synchronous wheel are arranged in the synchronous wheel mounting frame, and the first synchronous wheel and the second synchronous wheel are connected by a synchronous belt. The first synchronous wheel and the second synchronous wheel are rotatably connected to the synchronous wheel mounting frame, and the rotating shaft of the motor is fixedly connected to the first synchronous wheel by a coupling. A capstan drum is arranged below the synchronous wheel mounting frame, and drum shaft connectors are arranged at both ends of the capstan drum. One end of the capstan drum is fixedly connected to the first synchronous wheel by the drum shaft connector, and the other end of the capstan drum is rotatably connected to the drum screw support plate, and the drum screw support plate and the synchronous wheel mounting frame are fixedly connected by a third hinge.

[0016] Furthermore, it also includes a first T10 lead screw, a lead screw slider, an intermediate piece, a V-groove pulley and a tension sensor, wherein the first T10 lead screw is arranged between the synchronous wheel mounting frame and the roller lead screw support plate, one end of the first T10 lead screw is fixedly connected to the second synchronous wheel, the other end of the first T10 lead screw is rotatably connected to the roller lead screw support plate, the lead screw slider is slidably arranged on the first T10 lead screw, the intermediate piece is arranged on the lead screw slider, the intermediate piece is provided with a bearing side plate, the V-groove pulley is arranged on the bearing side plate, the tension sensor is arranged on the roller lead screw support plate, the tension sensor is fixedly connected to the roller lead screw support plate, the rotating shaft of the tension sensor is connected to a pulley, the rope passes around the pulley so that the tension sensor reads the tension of the rope.

[0017] Furthermore, it also includes a guide rail and a guide rail slider, wherein the guide rail is arranged between the third hinge parts, and the guide rail slider is slidably arranged on the guide rail, and the guide rail slider is fixedly connected to the middle piece.

[0018] Furthermore, the first link part, the second link part and the third link part include a first link tube, a second link tube, a third link tube and an aluminum tube end print. Four first link tubes are provided, two second link tubes are provided, and the aluminum tube end print is provided at both ends of the first link tube, the second link tube and the third link tube by interference fit.

[0019] The beneficial effects of the present invention are:

[0020] The anchor seat of the present invention can measure parameters such as the tension of the rope and the amount of rope retraction and release, which brings great convenience to the robot terminal control and overall movement, and can keep the rope position and the position of the entire anchor seat unchanged through structural self-locking and motor braking. In addition to the winch part of the anchor seat being able to rotate, the entire anchor seat can also be driven to move on the robot guide rail through the anchor seat moving motor, so that the force distribution can be uniform and the requirements of a large working space can be achieved. At the same time, the rope outlet can also move up and down under control, so that the rope outlet position can be changed as needed, thereby changing the size of the working space and controlling the terminal position to achieve full-space movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the rope driving device of the dynamic anchor point seat of the present invention;

[0022] Figure 2 It is a schematic structural diagram of another angle of the rope driving device of the dynamic anchor point seat of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the slider module in the present invention;

[0024] Figure 4It is a structural schematic diagram of the connection between the slider module and the synchronous shaft in the present invention;

[0025] Figure 5 This is a front structural schematic diagram of the rope-out moving module of the present invention;

[0026] Figure 6 It is a schematic diagram of the back structure of the rope-out moving module in the present invention;

[0027] Figure 7 It is a structural schematic diagram of the rope collecting module in the present invention.

[0028] Among them, 1. main frame; 101. first link tube; 102. second link tube; 103. third link tube; 104. bottom plate; 2. first slider module; 201. slide rail bearing; 202. gear; 203. rigid coupling; 204. third synchronous wheel; 205. fourth synchronous wheel; 206. motor; 207. sliding bottom plate; 208. motor mounting plate; 209. synchronous shaft; 210. copper column; 211. bottom plate slider; 212. movable bottom plate; 3. second slider module; 4. rope output moving module; 401. screw fixing seat; 402. guide rail support plate; 403. second T10 screw; 404. V groove wheel; 405. rope output side Plate; 407. movable bearing seat; 408. stepper motor; 409. encoder; 410. plum blossom coupling; 411. encoder mounting plate; 5. rope collection module; 501. roller shaft connector; 502. first synchronous wheel; 503. second synchronous wheel; 505. intermediate piece; 506. drum screw support plate; 507. bearing side plate; 508. rope drive motor; 509. rope drive motor mounting plate; 510. synchronous wheel mounting bracket; 511. first T10 screw; 512. screw slider; 514. V-groove pulley; 515. tension sensor; 516. guide rail; 517. guide rail slider; 518. U-shaped pad; 519. capstan drum; 6. rope. DETAILED DESCRIPTION

[0029] In order to achieve the above-mentioned purpose and effect, the technical means and structures adopted by the present invention are described in detail with reference to the accompanying drawings for the features and functions of the preferred embodiments of the present invention.

[0030] In the description of the present invention, it should be noted that the terms, "upper", "lower", "left", "right", "one side", "inside", "outside", "beside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention; the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Example

[0032] like Figure 1-7 As shown, the present invention discloses a dynamic anchor point seat device for a rope-driven parallel robot, which is used on the rope-driven parallel robot and includes a main frame 1, a slider module for sliding on a guide rail, a rope-out moving module 4 for moving the rope-out point position up and down, and a rope-collecting module 5 for collecting and releasing the rope.

[0033] Among them, the main frame 1 includes a first link part, a second link part, a third link part and a base plate 104. Both ends of the first link part, the second link part and the third link part are fixedly connected to the base plate 104 by bolts. The first link part, the second link part and the third link part include a first link tube 101, a second link tube 102, a third link tube 103 and an aluminum tube end print. In this embodiment, four first link tubes 101 are provided, and two second link tubes 102 are provided. The aluminum tube end print is arranged at both ends of the first link tube 101, the second link tube 102 and the third link tube 103 through interference fit. The material of the three link tubes is 6061 aluminum alloy tube. The material is light in weight and high in strength. The aluminum tube has a strong axial bearing capacity, so it can be used as a support to well ensure the assembly relationship of other parts of the anchor seat after assembly. The three connecting tubes have four through holes at both ends, which are used to connect with other parts of the anchor seat by bolts. Since the tube is easily deformed under radial force, we put an aluminum tube end print with the same size as the aluminum tube at both ends of the aluminum tube. This print can limit the shape of the aluminum tube. The entire main frame 1 is very light, which can reduce the weight of the entire anchor seat and the inertia during movement, so that the movement control of the anchor seat can be more precise.

[0034] The slider module includes a first slider module 2 and a second slider module 3. The structures of the first slider module 2 and the second slider module 3 are exactly the same. The first slider module 2 is arranged at the top of the main frame 1, and the second slider module 3 is arranged at the bottom of the main frame 1, which is used to cooperate with the robot guide rail so that the dynamic anchor point seat device moves on the guide rail. The first slider module 2 and the second slider module 3 both include four slide rail bearings 201, gears 202, gear shaft bases, rigid couplings 203, third synchronous wheels 204, fourth synchronous wheels 205, motors 206, sliding base plates 207 and motor mounting plates 208. The gear shaft base is fixed on the sliding base plate 207, and the gear 202 is arranged between the gear shaft base and the sliding base plate 207. The gear shaft base and the sliding base plate 207 are both rotatably connected to the gear 202. The four slide rail bearings 201 of the module are rotatably connected to the base plate 104 by bolts, and the grooves on the slide rail bearings 201 are used to match the guide rails on the robot frame. The third synchronous wheel 204 and the fourth synchronous wheel 205 are connected to the guide rail by a belt drive, and the motor mounting plate 208 is connected to the U-shaped motor pad by a copper column 210, and the U-shaped motor pad is fixed to the sliding base plate 207 by bolts. On the one hand, this allows the motor to have enough installation space to avoid interference. On the other hand, since the copper column cannot lock the parts, the U-shaped motor pad is used as an intermediate transition to fix the motor more firmly.The rigid coupling 203 is arranged between the motor mounting plate 208 and the sliding bottom plate 207. The output shaft of the motor 206 is fixedly connected to the third synchronous wheel 204 through the rigid coupling 203. The third synchronous wheel 204 is fixedly connected to the gear 202 through the rotating shaft, so that the motor 206 can drive the gear 202 to move. The gear 202 cooperates with the rack guide on the other side of the robot guide rail, so that the movement of the anchor seat can be more precise. At the same time, a synchronous shaft 209 is also arranged between the first slider module 2 and the second slider module 3. The synchronous shaft 209 is installed on the fourth synchronous wheel 204 of the first slider module 2 and the second slider module 3 through the coupling. 5, since the anchor seat has two upper and lower slider modules, these two slider modules can jointly drive the anchor seat to move, or one of them can drive it. When the two are jointly driven, the movement of the two motors cannot be guaranteed to be completely synchronized. At this time, the synchronous belt drives the synchronous shaft 209, which can force the two motors to run synchronously to ensure the stability of the movement of the anchor seat; when one motor is working and the other is not working, if there is no synchronous shaft 209, it will cause the anchor seat to be easily stuck on the guide rail due to unilateral force. At this time, the synchronous shaft 209 can drive the other slider module to move, ensuring that both sides of the anchor seat move together to avoid getting stuck. The bottom plate 104 is provided with a slide rail, and the motor and other components are connected to the bottom plate slider 211 through the sliding bottom plate 207, and then move on the slide rail.

[0035] The rope-out moving module 4 is arranged in the main frame 1, and is used to move the rope-out point position up and down. The rope-out moving module includes a screw fixing seat 401, a guide rail support plate 402, a second T10 screw 403, a V-groove wheel 404, a rope-out side plate 405, an encoder mechanism, a movable bearing seat 407 and a stepper motor 408. The screw fixing seat 401 is arranged between the second linking tubes 102, and the stepper motor 408 is arranged above the screw fixing seat 401. The second T10 screw 403 is rotatably connected to the bearing in the screw fixing seat 401 through the shaft of the screw. The stepper motor 408 The rotating shaft is fixedly connected to the second T10 lead screw 403 through a coupling, and the guide rail support plate 402 is arranged on the second linking tube 102. The guide rail support plate 402 is connected to the lead screw fixing seat 401 through bolts, and is used to limit the second T10 lead screw 403. The stepper motor 408 directly drives the second T10 lead screw 403 to rotate. The rotation of the second T10 lead screw 403 will drive the rope output device part on the lead screw to move up and down, thereby changing the position of the rope output point. The rope output device part is composed of two rope output side plates 405 as the main body, and there are four rope guide pulleys inside for guiding the rope. The rope-out side plate 405 is fixed on the slider of the second T10 lead screw 403, and the movable bearing seat 407 is rotatably mounted on the rope-out side plate 405. The movable bearing seat 407 can rotate at a certain angle between the two rope-out side plates 405. The V-groove wheel 404 is mounted in the movable bearing seat 407, and the nylon sleeve is rotatably mounted on the V-groove wheel shaft to limit the position of the V-groove wheel 404. The encoder mechanism includes an encoder 409, an encoder wheel and an encoder mounting plate. The encoder 409 is mounted on one side of the rope-out side plate 405. There is also an encoder wheel between the encoders 409. The encoder wheel is connected to the encoder through a plum blossom coupling 410. When the rope moves on the encoder wheel, it will drive the encoder 409 to rotate, thereby reading the parameters of the rope retraction and release. The encoder 409 is mounted on the rope-out side plate 405 through an aluminum column and an encoder mounting plate 411. Since the two sides are exactly the same side plates, the encoder 409 can be installed on either side.

[0036] The rope collecting module 5 is arranged in the main frame 1, and is used for storing the rope 6 and accurately storing the rope 6, and ensuring that the rope 6 can be tightly wound on the capstan without stacking and squeezing. The rope collecting module includes a roller shaft connector 501, a capstan drum 519, a first synchronous wheel 502, a second synchronous wheel 503, a drum screw support plate 506, a rope driving motor 508, a rope driving motor mounting plate 509, and a synchronous wheel mounting frame 510. The rope driving motor 508 is installed on the rope driving motor mounting plate 509, and the rope driving motor mounting plate 509 is installed on the synchronous wheel mounting frame 510 through a copper column and a U-shaped pad 518. The first synchronous wheel 502 and the second synchronous wheel 503 are provided in the synchronous wheel mounting frame 510. The step wheel 503, the first synchronous wheel 502 and the second synchronous wheel 503 are connected through a synchronous belt, the first synchronous wheel 502 and the second synchronous wheel 503 are rotatably connected to the synchronous wheel mounting frame 510, the rotating shaft of the rope driving motor 508 is fixedly connected to the first synchronous wheel 502 through a coupling, a capstan drum 519 is arranged below the synchronous wheel mounting frame 510, drum shaft connectors are arranged at both ends of the capstan drum 519, one end of the capstan drum 519 is fixedly connected to the first synchronous wheel 502 through the drum shaft connector, the other end of the capstan drum 519 is rotatably connected to the drum screw support plate 506, and the drum screw support plate 506 and the synchronous wheel mounting frame 510 are fixedly connected through the third linking pipe 103.

[0037] The rope collecting module 5 also includes a first T10 lead screw 511, a lead screw slider 512, an intermediate piece 505, a V-groove pulley 514, a tension sensor 515, a guide rail 516 and a guide rail slider 517. The first T10 lead screw 511 is arranged between the synchronous wheel mounting frame 510 and the roller lead screw support plate 506. One end of the first T10 lead screw 511 is fixedly connected to the second synchronous wheel 503, and the other end of the first T10 lead screw 511 is rotatably connected to the roller lead screw support plate 506. The lead screw slider 512 is slidably arranged on the first T10 lead screw 511. The intermediate piece 505 is arranged on On the screw slider 512, the middle piece 505 is provided with a bearing side plate 507, the V-groove pulley 514 is arranged on the bearing side plate 507, the guide rail 516 is arranged between the third linking tubes, the guide rail slider 517 is slidably arranged on the guide rail 516, and is fixedly connected to the middle piece 505 by bolts, the tension sensor 515 is arranged on the roller screw support plate 506, the tension sensor 515 is fixedly connected to the roller screw support plate 506, the rotating shaft of the tension sensor 515 is connected to a pulley, the rope 6 passes around the pulley so that the tension sensor 515 reads the tension of the rope 6.

[0038] The anchor seat of the present invention can measure the tension of the rope 6 and the amount of rope retraction and release, which greatly facilitates the robot terminal control and overall movement. In addition to the rotation of the winch drum 519, the anchor seat can also drive the entire anchor seat to move on the robot guide rail through the anchor seat moving motor, so that the force distribution can be uniform and the requirements of a large working space can be achieved. At the same time, the rope outlet can also move up and down under control, so that the rope outlet position can be changed as needed, thereby changing the size of the working space and controlling the terminal position.

[0039] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A dynamic anchor point device used on a rope-driven parallel robot, It is characterized in that include: A main frame, the main frame comprising a first link part, a second link part, a third link part and a bottom plate, both ends of the first link part, the second link part and the third link part are fixedly connected to the bottom plate by bolts; A first slider module and a second slider module, wherein the first slider module is arranged at the top end of the main frame, and the second slider module is arranged at the bottom end of the main frame, and is used to cooperate with the robot guide rail to enable the dynamic anchor point seat device to move on the guide rail; the structures of the first slider module and the second slider module are exactly the same, and both include a slide rail bearing, a gear, a gear shaft base, a rigid coupling, a third synchronous wheel, a fourth synchronous wheel, a motor, a motor mounting plate and a sliding bottom plate, wherein the gear shaft base is fixed to the sliding bottom plate, the gear is arranged between the gear shaft base and the sliding bottom plate, the gear shaft base and the sliding bottom plate are both rotatably connected to the gear, the slide rail bearing is rotatably connected to the bottom plate by bolts, the third synchronous wheel and the fourth synchronous wheel are both rotatably connected to the sliding bottom plate, the sliding bottom plate is slidably connected to the bottom plate through the bottom plate slider, the third synchronous wheel and the fourth synchronous wheel are connected by belt drive, the motor mounting plate is arranged on the sliding bottom plate, the rigid coupling is arranged between the motor mounting plate and the sliding bottom plate, the output shaft of the motor is fixedly connected to the third synchronous wheel through the rigid coupling, and the third synchronous wheel is fixedly connected to the gear through a rotating shaft; It also includes a synchronization shaft, which is installed on the fourth synchronization wheel of the first slider module and the second slider module through a coupling, and is used to ensure the synchronization of the movement of the driving motors of the first slider module and the second slider module; A rope-out moving module, wherein the rope-out moving module is arranged in the main frame and is used to move the rope-out point position up and down; the rope-out moving module comprises a screw fixing seat, a guide rail support plate, a second T10 screw, a V-groove wheel, a rope-out side plate, an encoder mechanism, a movable bearing seat and a stepper motor, wherein the screw fixing seat is arranged in the second hinged part, the stepper motor is arranged above the screw fixing seat, the second T10 screw is rotatably connected to the bearing in the screw fixing seat through the shaft of the screw, the rotating shaft of the stepper motor is fixedly connected to the screw through a coupling, the guide rail support plate is arranged on the second hinged part, the guide rail support plate is connected to the screw fixing seat through bolts, and is used to limit the position of the screw, the rope-out side plate is fixed on the slider of the second T10 screw, the encoder mechanism is fixed on one side of the rope-out side plate, the movable bearing seat is rotatably installed on the rope-out side plate, the V-groove wheel is installed in the movable bearing seat, and the nylon sleeve is rotatably installed on the V-groove wheel shaft, and is used to limit the position of the V-groove wheel; The rope collecting module is arranged in the main frame, and is used for storing the rope and accurately storing the rope, and ensuring that the rope can be tightly wound on the winch without stacking and squeezing.

2. A moving anchor point seat device for a rope-driven parallel robot as claimed in claim 1, It is characterized in that The encoder mechanism includes an encoder, an encoder wheel and an encoder mounting plate. The encoder is arranged on the rope-outgoing side plate through the encoder mounting plate. The encoder wheel is arranged in the rope-outgoing side plate. The rotating shaft of the encoder is rotationally connected to the encoder wheel through a plum blossom coupling.

3. A dynamic anchor point seat device for a rope-driven parallel robot as claimed in claim 1, It is characterized in that The rope collecting module includes a roller shaft connector, a capstan drum, a first synchronous wheel, a second synchronous wheel, a drum screw support plate, a rope driving motor, a rope driving motor mounting plate, and a synchronous wheel mounting frame. The rope driving motor is mounted on the rope driving motor mounting plate, and the rope driving motor mounting plate is arranged on the synchronous wheel mounting frame. The first synchronous wheel and the second synchronous wheel are arranged in the synchronous wheel mounting frame. The first synchronous wheel and the second synchronous wheel are connected by a synchronous belt. The first synchronous wheel and the second synchronous wheel are rotatably connected to the synchronous wheel mounting frame. The rotating shaft of the motor is fixedly connected to the first synchronous wheel through a coupling. A capstan drum is arranged below the synchronous wheel mounting frame. Drum shaft connectors are arranged at both ends of the capstan drum. One end of the capstan drum is fixedly connected to the first synchronous wheel through the drum shaft connector. The other end of the capstan drum is rotatably connected to the drum screw support plate, and the drum screw support plate is fixedly connected to the synchronous wheel mounting frame through a third hinge.

4. A moving anchor point seat device for a rope-driven parallel robot as claimed in claim 3, It is characterized in that It also includes a first T10 lead screw, a lead screw slider, an intermediate piece, a V-groove pulley and a tension sensor, wherein the first T10 lead screw is arranged between a synchronous wheel mounting frame and a roller lead screw support plate, one end of the first T10 lead screw is fixedly connected to a second synchronous wheel, the other end of the first T10 lead screw is rotatably connected to a roller lead screw support plate, the lead screw slider is slidably arranged on the first T10 lead screw, the intermediate piece is arranged on the lead screw slider, the intermediate piece is provided with a bearing side plate, the V-groove pulley is arranged on the bearing side plate, the tension sensor is arranged on the roller lead screw support plate, the tension sensor is fixedly connected to the roller lead screw support plate, the rotating shaft of the tension sensor is connected to a pulley, the rope passes around the pulley so that the tension sensor reads the tension of the rope.

5. A moving anchor point seat device for a rope-driven parallel robot as claimed in claim 4, It is characterized in that It also includes a guide rail and a guide rail slider, wherein the guide rail is arranged between the third hinge parts, the guide rail slider is slidably arranged on the guide rail, and the guide rail slider is fixedly connected to the middle piece.

6. The dynamic anchor point seat device for a rope-driven parallel robot as claimed in claim 1, It is characterized in that The first link part, the second link part and the third link part include a first link tube, a second link tube, a third link tube and an aluminum tube end print. There are four first link tubes and two second link tubes. The aluminum tube end print is arranged at both ends of the first link tube, the second link tube and the third link tube through interference fit.

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