A rope-driven parallel robot end platform and a rope-driven parallel robot

Abstract

The application relates to the technical field of robots, and provides a rope-driven parallel robot end platform and a rope-driven parallel robot, the rope-driven parallel robot end platform comprising a connecting plate, a connecting cylinder and sliders, the connecting plate being connected with the connecting cylinder, a plurality of the sliders being slidingly connected to the connecting plate, a first connecting part being arranged on the connecting plate, a second connecting part being arranged on the slider, the first connecting part being used for being connected with the second connecting part to fix the relative positions of the connecting plate and the slider, the connecting plate or the connecting cylinder being used for connecting a load, and the slider being used for being connected with a rope. Different characteristics of different loads and various operation requirements of different operation tasks can be adapted, meanwhile, the use is convenient to adjust, cost waste caused by the need of redesigning and manufacturing the end platform when different operation tasks and different loads are responded to is avoided, resources are saved, and operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a rope-driven parallel robot end platform and a rope-driven parallel robot. BACKGROUND

[0002] Parallel robot generally refers to a closed-loop mechanism in which a moving platform and a fixed platform are connected through at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel. The characteristics of parallel robot are no cumulative error, high precision; the driving device can be placed on the fixed platform or near the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response. The parallel robot driven by rope connection and driving the moving platform is called rope-driven parallel robot, which uses lightweight and flexible rope instead of rigid link as kinematic chain to realize the movement driving of the end platform, that is, the moving platform. The rope-driven parallel robot inherits the configuration advantages of high load of rigid parallel mechanism, and has the characteristics of small motion inertia, large workspace, low cost and easy reconfiguration of rope driving, which is a new type of robot with great application potential.

[0003] In the prior art, the end platform of the rope-driven parallel robot is generally a structure designed according to specific tasks and specific loads, which limits the motion trajectory and path planning of the end platform, and the adaptation to the load. However, in actual application, different loads have different characteristics, such as different mass, shape and center of mass, and different work tasks also have different characteristics and requirements, such as different motion acceleration and trajectory type. Obviously, the current single rope-driven parallel robot end platform cannot meet the needs of such variable work, and sometimes it is necessary to design and produce the end platform to adapt to the variable load and work task, which not only wastes cost, but also reduces work efficiency. SUMMARY

[0004] The technical problem to be solved by the present application is how to expand the application range of the end platform of the rope-driven parallel robot and improve the work efficiency.

[0005] The present application provides a rope-driven parallel robot end platform, which comprises a connecting plate, a connecting cylinder and a sliding block, the connecting plate is connected with the connecting cylinder, a plurality of sliding blocks are slidingly connected to the connecting plate, a first connecting part is arranged on the connecting plate, a second connecting part is arranged on the sliding block, the first connecting part is used for connecting with the second connecting part to fix the relative position of the connecting plate and the sliding block, the connecting plate or the connecting cylinder is used for connecting a load, and the sliding block is used for connecting with a rope.

[0006] Optionally, the rope-driven parallel robot end platform further comprises a receiving frame, two ends of each of the two connecting barrels are connected to each other, two of the connecting plates are respectively arranged at opposite ends of the two connecting barrels, and the receiving frame is connected to the lower connecting plate, and the receiving frame is used for receiving the load.

[0007] Optionally, the rope-driven parallel robot end platform further comprises a receiving plate, the two connecting barrels are respectively connected to opposite ends of the receiving plate, and the connecting plate and the receiving plate are respectively arranged at opposite ends of the connecting barrel, and the receiving plate is used for receiving the load.

[0008] Optionally, the connecting plate comprises a main plate, a sub-plate is arranged at each of opposite four corners of the main plate in a direction away from the main plate, the slider is slidingly connected to the sub-plate, and the first connecting part is arranged on the sub-plate.

[0009] Optionally, a sliding rail is arranged on the sub-plate in the extending direction thereof, one end of the slider is provided with a sliding part matched with the sliding rail, and the opposite end of the slider is provided with a third connecting part used for being connected with the rope.

[0010] Optionally, one end of the connecting barrel is provided with a first flange plate, and the other end is provided with a second flange plate, the first flange plate is connected to the connecting plate, and the second flange plate is used for being connected to the load, or the two second flange plates on the two connecting barrels are used for being connected to each other.

[0011] Optionally, an arc-shaped hole is arranged on the second flange plate, and the arc shape of the arc-shaped hole is arranged along the circumferential direction of the second flange plate, and the arc-shaped hole is used for cooperating with a threaded part to connect the load or another second flange plate.

[0012] Optionally, the rope-driven parallel robot end platform further comprises a positioning shaft, a positioning hole is arranged on the connecting plate, a positioning barrel is arranged in the connecting barrel along the axis of the connecting barrel, the positioning hole and the positioning barrel are matched with the positioning shaft, the positioning shaft is arranged in the positioning hole and the positioning barrel, and a supporting plate is arranged in the connecting barrel, and the supporting plate is connected between the barrel wall of the connecting barrel and the barrel wall of the positioning barrel.

[0013] Optionally, the rope-driven parallel robot end platform further comprises a positioning part, the first connecting part is a long slot structure, the second connecting part is a hole structure, and the positioning part is used for being connected with the first connecting part and the second connecting part.

[0014] Compared with the prior art, the rope-driven parallel robot end platform provided by the application has the following technical effects:

[0015] The rope-driven parallel robot end platform provided by the application can be applied to a rope-driven parallel robot, and the structure of the connecting plate connecting the connecting barrel is provided, one connecting plate and one connecting barrel are connected to form a structural unit, different end platform structure configurations can be formed through the combination connection between the structural units, for example, two structural units are connected in opposite directions, the two connecting barrels are connected, and then one of the connecting plates is connected to the load, or two structural units are connected to the load, such as being connected to opposite ends of the load, and the load is connected through the connecting barrel, so that different requirements of different loads in terms of different mass, center of mass and shape can be met, meanwhile, a plurality of sliders are connected to the connecting plate through sliding connection, and then the first connecting part and the second connecting part are connected and positioned, in use, the positions of the sliders relative to the connecting plate can be adjusted according to actual needs, that is, the positions of the plurality of ropes and the rope knotting points of the end platform are adjusted, different motion trajectories and paths can be adapted and planned, different combinations of the rope knotting point space positions are further expanded through the different combinations between the above structural units, the application range of the rope-driven parallel robot end platform is further expanded, different characteristics of different loads and a plurality of operation requirements of different operation tasks can be met, meanwhile, the rope-driven parallel robot end platform is convenient to adjust and use, the cost waste caused by the need to redesign and manufacture the end platform when different operation tasks and different loads are dealt with is avoided, resources are saved, and the operation efficiency is improved.

[0016] In addition, the application also provides a rope-driven parallel robot comprising the above rope-driven parallel robot end platform.

[0017] Compared with the prior art, the rope-driven parallel robot provided by the application has the same technical effects as the rope-driven parallel robot end platform, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 FIG. 1 is a structural schematic diagram of a structural unit of the rope-driven parallel robot end platform of the embodiment of the application;

[0019] Figure 2 FIG. 2 is a structural schematic diagram of the rope-driven parallel robot end platform of the embodiment of the application; Figure 1 ;

[0020] Figure 3 FIG. 3 is a structural schematic diagram of the rope-driven parallel robot of the embodiment of the application; Figure 1 ;

[0021] Figure 4 FIG. 4 is a structural schematic diagram of the rope-driven parallel robot end platform of the embodiment of the application; Figure 2 ;

[0022] Figure 5Structure diagram of the connecting plate of the embodiment of the present application Figure 2

[0023] Figure 6 Structure diagram of the connecting plate of the embodiment of the present application

[0024] Figure 7 Structure diagram of the connecting plate of the embodiment of the present application

[0025] Figure 8 Structure diagram of the connecting cylinder of the embodiment of the present application

[0026] Figure 9 Structure diagram of the connecting cylinder of the embodiment of the present application

[0027] Figure 10 Structure diagram of the connecting cylinder of the embodiment of the present application

[0028] Figure 11 Structure diagram of the connecting cylinder of the embodiment of the present application

[0029] Explanation of reference numerals:

[0030] 10-connecting plate, 11-main plate, 111-positioning hole, 12-sub plate, 121-first connecting part, 122-sliding rail, 20-connecting cylinder, 21-first flange plate, 22-second flange plate, 221-arc-shaped hole, 23-positioning cylinder, 24-supporting plate, 30-sliding block, 31-second connecting part, 32-third connecting part, 40-load, 50-rope, 60-accepting frame, 70-accepting plate, 80-positioning shaft, 90-driving mechanism, 01-frame. DETAILED DESCRIPTION

[0031] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0032] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0033] ​In the description of the present application, the orientation or position relationship indicated by "upper", "lower", "left", "right", "top", "bottom", "front", "back", "inner" and "outer" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application, and does not indicate or imply that the device referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0034] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] In the description of the present application, the description of the terms "embodiment", "one embodiment" and "one embodiment" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or embodiment are included in at least one embodiment or embodiment of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or embodiment. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or embodiments in a suitable manner.

[0036] To solve the above technical problems, as Figures 1 to 5 shown, the embodiment of the present application provides a rope-driven parallel robot end platform, which comprises a connecting plate 10, a connecting cylinder 20 and a sliding block 30, the connecting plate 10 is connected with the connecting cylinder 20, a plurality of sliding blocks 30 are slidably connected to the connecting plate 10, and the connecting plate 10 is provided with a first connecting part 121, the sliding block 30 is provided with a second connecting part 31, the first connecting part 121 is used for connecting with the second connecting part 31 to fix the relative position of the connecting plate 10 and the sliding block 30, the connecting plate 10 or the connecting cylinder 20 is used for connecting a load 40, and the sliding block 30 is used for connecting with a rope 50.

[0037] It should be noted that the connecting plate 10 is a plate structure, the connecting cylinder 20 is a cylindrical structure, and the sliding block 30 can be slidably connected to the connecting plate 10 through a structure such as a sliding groove, for example, four sliding blocks 30 are slidably connected to one connecting plate 10, one connecting plate 10, one connecting cylinder 20 and four sliding blocks 30 constitute a structural unit of the rope-driven parallel robot end platform, as Figure 2As shown, when two structural units are connected to form a structural configuration of the rope-driven parallel robot end platform, two connecting barrels 20 are connected, and the lower connecting plate 10 is used to connect the load 40, and as shown Figure 3 As shown, the rope-driven parallel robot can include a frame 01, a driving mechanism 90 is arranged on the frame 01, and eight ropes 50 are respectively connected to eight sliders 30 in two structural units and correspondingly connected to the driving mechanism 90; further, as shown Figure 4 As shown, two structural units can be respectively connected at both ends of a load structure, such as a receiving plate 70 for receiving a load, to form another structural configuration of the end platform, and as shown Figure 5 As shown, eight ropes 50 can also be used to connect eight sliders 30 in two structural units to drive and control the end platform. In addition, for the planning of the motion trajectory and path of the rope-driven parallel robot end platform, the shape, mass, and center of mass of the actual load 40, as well as the requirements of the task, can be planned, and specifically, the spatial position of the slider 30 relative to the connecting plate 10, that is, the knot point of the driving rope 50 and the end platform, and the position of the structural unit connecting the load 40, and the structural configuration of the end platform formed by the combination of the structural units, can be calculated in advance by computer algorithm combined with spatial kinematics model, and after adjusting and fixing according to the calculation results, the operation is more accurate and reliable. More specifically, by slidingly connecting a plurality of sliders 30, such as four, on the connecting plate 10, that is, the end platform connected and driven by eight ropes 50 has more degrees of freedom, the motion trajectory is more abundant, the control is more agile and accurate, and thus it can adapt to more types of loads 40 and task requirements.

[0038] In this embodiment, the rope-driven parallel robot end platform provided by the present embodiment can be applied to a rope-driven parallel robot, and by setting the structural form of the connecting plate 10 connecting the connecting barrel 20, one connecting plate 10 and one connecting barrel 20 can form a structural unit, and different end platform structural configurations can be formed by the combination and connection of structural units, for example, as shown Figure 2 As shown, two structural units are connected, which can be connected by two connecting barrels 20, and then one connecting plate 10 is used to connect the load 40, or as shown Figure 4As shown, two structural units are connected to the load 40, such as being connected at opposite ends of the load 40, etc. The load 40 can be connected through the connecting barrel 20, which can adapt to different requirements of different masses, mass centers and shapes of different loads 40, etc. Meanwhile, a plurality of sliders 30 are slidably connected to the connecting plate 10, and are connected and positioned through the first connecting part 121 and the second connecting part 31. In use, the positions of the sliders 30 relative to the connecting plate 10 can be adjusted according to actual needs, that is, the positions of the plurality of ropes 50 and the knotting points of the end platform are adjusted, different motion trajectories and paths can be adapted and planned, and the combination forms of the spatial positions of the knotting points of the ropes 50 are further expanded through different combinations between the above structural units, thereby expanding the application range of the end platform of the rope-driven parallel robot, so that different characteristics of different loads 40 and a variety of operation requirements of different operation tasks can be adapted, and the use is convenient. The cost waste caused by the need to redesign and manufacture the end platform when dealing with different operation tasks and different loads 40 is avoided, resources are saved, and operation efficiency is improved.

[0039] Optionally, as shown in Figure 2 and Figure 3 The end platform of the rope-driven parallel robot further comprises a receiving frame 60, two ends of each of the two connecting barrels 20 away from the connecting plate 10 are connected to each other, and the two connecting plates 10 are located at opposite ends of the two connecting barrels 20. The receiving frame 60 is connected to the lower connecting plate 10 and is used for receiving the load 40.

[0040] Specifically, the receiving frame 60 comprises a connecting column and a flat plate. The connecting column is used for connecting the lower connecting plate 10 and is connected to the lower end of the connecting plate 10. The flat plate is connected to the lower end of the connecting column and is used for receiving the load 40. The end platform with this structure is suitable for receiving loads 40 with small mass or small shape, and the two groups of sliders 30, that is, the two groups of sliders 30 slidably connected to the two connecting plates 10 have initial positions at the upper and lower ends and have more degrees of freedom for planning and adjusting.

[0041] In this embodiment, the receiving frame 60 is provided, and the two structural units are connected to each other, that is, the two connecting barrels 20 are connected to each other to form the end platform, which has two groups of sliders 30 and is located at, for example, the upper and lower ends, so as to form more planning and combinations of knotting point positions, thereby enriching the motion trajectories of the end platform of the rope-driven parallel robot and expanding the application range. Meanwhile, the receiving frame 60 is connected to the lower connecting plate 10, so as to stably receive the load 40 and run more stably.

[0042] Optionally, as shown in Figure 3 and Figure 4As shown, the rope-driven parallel robot end platform further comprises a receiving plate 70, two connection barrels 20 are connected to opposite ends of the receiving plate 70 respectively, and the connection plate 10 and the receiving plate 70 are located at opposite ends of the connection barrel 20 respectively, and the receiving plate 70 is used for receiving the load 40.

[0043] Specifically, the receiving plate 70 is a plate structure, and the positions of the two connection barrels 20 connected to the receiving plate 70 can be adjusted according to actual needs, and it should be noted that the specific structures of the above-mentioned receiving frame 60 and the receiving plate 70 can be adaptively designed according to different shapes, masses and mass center positions of the actual load 40, and the specific structures are not limited here.

[0044] In this embodiment, by arranging the receiving plate 70 and connecting the two connection barrels 20 to opposite ends of the receiving plate 70, on the one hand, the receiving plate 70 can be stably connected, that is, the load 40 is stably connected, and on the other hand, the two groups of sliders 30 on the two connection plates 10 are located at opposite ends of the receiving plate 70 at the same time, so that the ropes 50 do not interfere with each other, which is more convenient for planning the motion trajectory of the load 40, and also enriches the types of motion trajectory of the load 40, and further expands the application range of the rope-driven parallel robot end platform.

[0045] Optionally, as shown in Figure 1 , Figure 6 and Figure 7 , the connection plate 10 comprises a main plate 11, opposite four corners of the main plate 11 extend in a direction away from the main plate 11 and have a sub-plate 12 respectively, the slider 30 is slidingly connected to the sub-plate 12, and the first connecting part 121 is arranged on the sub-plate 12.

[0046] Specifically, the main plate 11 is a circular plate structure and is used for being connected with the connection barrel 20, which is reasonable in structure and stable in connection, and the sub-plate 12 is a long strip plate structure and is arranged in pairs of symmetry and integrally formed with the main plate 11, which is more firm in structure.

[0047] In this embodiment, by arranging the connection plate 10 in the form of the main plate 11 and the four sub-plates 12, on the one hand, the opposite four sub-plates 12 can more conveniently slidingly connect the sliders 30, and can slidingly adjust the relative positions on the sub-plates 12, that is, adjust the positions of the rope connecting points, so that the adjustment of the rope connecting points of the rope-driven parallel robot end platform is more regular and does not interfere with each other, which is convenient for planning and calculating the overall motion trajectory, and on the other hand, the four sub-plates 12 are arranged in the direction away from the main plate 11, so that the overall structure of the connection plate 10 is more symmetrical and stable, that is, the connection of the load 40 is more stable and reliable.

[0048] Optionally, as shown inFigure 1 , Figure 6 and Figure 7 As shown, a slide rail 122 is provided on the sub-plate 12 along its extension direction. One end of the slider 30 is provided with a sliding part adapted to the slide rail 122. The other end of the slider 30 is provided with a third connecting part 32, which is used to connect with the rope 50.

[0049] Specifically, the slide rail 122 can be a long groove structure, and correspondingly, the sliding part on the slider 30 can be a long protrusion structure. Of course, it should be noted that the surface connecting the slider 30 and the slide rail 122 can be a smooth plane as the sliding part to achieve a sliding connection, and no specific limitation is made here. At the same time, the third connecting part 32 can be a connecting post, connecting ring, or other structures, used to connect the rope 50 and serve as a knotting point. Its specific structure is also not specifically limited here, as long as it can stably connect the rope 50.

[0050] In this embodiment, by setting a slide rail 122 on the sub-plate 12, the slider 30 can be connected more stably. Furthermore, a sliding part adapted to the slide rail 122 is set on the slider 30, making the structure fit more tightly, the adjustment smoother, and the adjustment path more precise. In addition, by setting a third connecting part 32 on the slider 30, the rope 50 can be connected, which means that the adjustment of the knot point position is more regular and facilitates the advance calculation and planning of the movement trajectory.

[0051] Optionally, such as Figure 1 , Figure 6 , Figure 7 and Figure 10 As shown, the end effector platform of the rope-driven parallel robot also includes a positioning component. The first connecting part 121 is an elongated hole structure, and the second connecting part 31 is a hole structure. The positioning component is used to connect with the first connecting part 121 and the second connecting part 31.

[0052] Specifically, the positioning component can be a threaded component, not shown in the figure, such as a structure using a screw and a nut. The screw passes through the hole structure of the second connecting part 31 on the slider 30, and then through the elongated hole structure of the first connecting part 121 on the connecting plate 10. After that, the nut is tightened to fix the positioning, that is, the relative position of the slider 30 and the connecting plate 10 is fixed. Furthermore, the length direction of the elongated hole of the first connecting part 121 is consistent with the direction of the slide rail 122, which facilitates position adjustment and precise positioning.

[0053] In the embodiment, the positioning member is arranged to stably connect and position the sliding block 30 and the connecting plate 10, that is, to stably limit the position of the knot tying point, and the overall structure is more stable and reliable. Meanwhile, the first connecting portion 121 on the connecting plate 10 is arranged as a long hole structure, and the second connecting portion 31 on the sliding block 30 is arranged as a hole structure. On one hand, the positioning member is more convenient to connect and fix. On the other hand, when the position of the sliding block 30 is adjusted, the sliding block 30 can be adjusted and positioned along the length direction of the long hole, and the adjustment is more accurate and reliable.

[0054] Optionally, as shown in Figure 1 、 Figure 8 and Figure 9 , one end of the connecting cylinder 20 is provided with a first flange plate 21, and the other end is provided with a second flange plate 22. The first flange plate 21 is connected with the connecting plate 10, and the second flange plate 22 is used to be connected with the load 40, or the two second flange plates 22 on the two connecting cylinders 20 are used to be connected with each other.

[0055] Specifically, the first flange plate 21 and the second flange plate 22 are both extended outward from the cylinder wall of the connecting cylinder 20, and a plurality of connecting holes are formed on them, which facilitates connection and positioning, and the integrated structure is more firm and reliable.

[0056] In the embodiment, the first flange plate 21 and the second flange plate 22 are arranged at opposite ends of the connecting cylinder 20, which is more convenient and stable to connect the load 40 and the connecting plate 10, or to connect the two connecting cylinders 20 with each other. It should be noted that when the end platform of the rope-driven parallel robot is a structure in which two structural units are connected with each other as shown in Figure 2 and 3 , the two second flange plates 22 of the two connecting cylinders 20 are connected with each other. When the end platform of the rope-driven parallel robot is a structure in which two structural units are connected at opposite ends of the load 40 as shown in Figure 4 and 5 , the two second flange plates 22 of the two connecting cylinders 20 are connected with, for example, the receiving plate 70. Meanwhile, the structures of the first flange plate 21 and the second flange plate 22 are more convenient for connection and positioning after the rotation angle between the structural members is adjusted, so that the overall adjustable range is further expanded, the application range is wider, and the overall work efficiency is further improved.

[0057] Optionally, as shown in Figure 1 、 Figure 8 and Figure 9As shown, the second flange plate 22 is provided with arc-shaped holes 221, and the arc shape of the arc-shaped holes 221 is arranged along the circumference of the second flange plate 22. The arc-shaped holes 221 are used to connect the load 40 or another second flange plate 22 through screw cooperation.

[0058] Specifically, the number of arc-shaped holes 221 can be multiple, and the arc-shaped holes 221 are arranged along the circumference of the second flange plate 22. The arc-shaped holes 221 are long holes with arc-shaped long edges, that is, the long edges are arc-shaped edges, and the arc-shaped edges are circular arc edges. The center of the circular arc is concentric with the center of the connecting cylinder 20 and the second flange plate 22, which facilitates rotation adjustment.

[0059] In this embodiment, by providing arc-shaped holes 221 on the second flange plate 22, the arc-shaped holes 221 and the screw cooperation can be used to connect the load 40 or another second flange plate 22. Specifically, when the end platform of the rope-driven parallel robot is a structure as shown in Figure 2 and 3 , two structure units are connected in opposite directions, and the two second flange plates 22 of the two connecting cylinders 20 are connected through the arc-shaped holes 221 and the screw cooperation. When the end platform of the rope-driven parallel robot is a structure as shown in Figure 4 and 5 , two structure units are connected at opposite ends of the load 40, such as a receiving plate 70 that receives the load 40. The two second flange plates 22 of the two connecting cylinders 20 are connected through the arc-shaped holes 221 and the screw cooperation, such as the receiving plate 70. By rotating the connecting cylinder 20 and adjusting the connection position of the screw relative to the arc-shaped hole 221, the connecting plate 10 can be adjusted in rotation relative to the load 40, that is, the connection point is adjusted in rotation relative to the load 40. This achieves angle adjustment, further enriches the adjustment range of the movement trajectory and action path of the load 40, and makes adjustment convenient and fast, further improving the overall work efficiency.

[0060] Alternatively, as shown in Figure 1 , Figure 8 , Figure 9 and Figure 11 , the rope-driven parallel robot end platform further comprises a positioning shaft 80. The connecting plate 10 is provided with a positioning hole 111, and the connecting cylinder 20 is provided with a positioning cylinder 23 along its axis. The positioning hole 111 and the positioning cylinder 23 are matched with the positioning shaft 80. The positioning shaft 80 is arranged in the positioning hole 111 and the positioning cylinder 23. The connecting cylinder 20 is provided with a support plate 24 connected between the cylinder wall of the connecting cylinder 20 and the cylinder wall of the positioning cylinder 23.

[0061] Specifically, the positioning hole 111 is arranged on the connecting plate 10, as shown inFigure 6 and Figure 7 As shown in the figure, the positioning hole is opened at the center position of the main plate 11 of the connecting plate 10, that is, the center part of the connecting plate 10, which is more accurate in positioning and convenient for rotation adjustment, and meanwhile, the support plates 24 provided in the connecting cylinder 20 are vertical plate structures provided along the axial direction, and there are four of them, which are symmetrically and evenly distributed, and the structure is more stable and firm, and preferably, the cylinder wall of the connecting cylinder 20, the support plates 24 and the positioning cylinder 23 are integrally formed.

[0062] In the embodiment, by providing the positioning shaft 80, and opening the corresponding positioning hole 111 on the connecting plate 10, and providing the corresponding positioning cylinder 23 in the connecting cylinder 20, when the connecting plate 10 is connected with the connecting cylinder 20, the positioning shaft 80 can be further used for axial positioning, and the connection precision is higher, and meanwhile, when the angle is adjusted, the positioning shaft 80 can also be used as the rotation center shaft for positioning during the adjustment process, so that the rotation adjustment is more accurate and reliable, and by providing the support plates 24 to support, position, connect and fix the positioning cylinder 23 in the connecting cylinder 20, the stability of the overall structure is further improved.

[0063] In addition, as shown in the figures, Figure 3 and Figure 5 Another embodiment of the present application provides a rope-driven parallel robot, which comprises the above-mentioned rope-driven parallel robot end platform.

[0064] Specifically, the rope-driven parallel robot further comprises a frame 01, which is provided with a plurality of driving mechanisms 90, such as motor-driven roller structures, and drives a plurality of ropes 50, which are connected with the sliders 30 of the above-mentioned rope-driven parallel robot end platform and are correspondingly arranged.

[0065] In the embodiment, the rope-driven parallel robot provided by the embodiment has the same technical effects as the above-mentioned rope-driven parallel robot end platform, and details are not repeated here.

[0066] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications will all fall within the protection scope of the present application.

Claims

1. A cable-driven parallel robot end effector platform, characterized in that, The assembly includes a connecting plate (10), a connecting cylinder (20), and a slider (30). The connecting plate (10) is connected to the connecting cylinder (20). Multiple sliders (30) are slidably connected to the connecting plate (10). The connecting plate (10) is provided with a first connecting part (121), and the slider (30) is provided with a second connecting part (31). The first connecting part (121) is used to connect with the second connecting part (31) to fix the relative position of the connecting plate (10) and the slider (30). The connecting plate (10) or the connecting cylinder (20) is used to connect a load (40), and the slider (30) is used to connect with a rope (50). The cable-driven parallel robot end-effector platform also includes a support frame (60), with two ends of the two connecting cylinders (20) away from the connecting plate (10) connected to each other. The two connecting plates (10) are located at opposite ends of the two connecting cylinders (20), and the support frame (60) is connected to the connecting plate (10) located below. The support frame (60) is used to support the load (40). or, The cable-driven parallel robot end platform also includes a receiving plate (70), and two connecting cylinders (20) are respectively connected to the opposite ends of the receiving plate (70). The connecting plate (10) and the receiving plate (70) are respectively located at the opposite ends of the connecting cylinders (20). The receiving plate (70) is used to support the load (40).

2. The cable-driven parallel robot end effector platform according to claim 1, characterized in that, The connecting plate (10) includes a main plate (11), and sub-plates (12) extend from the four opposite corners of the main plate (11) in a direction away from the main plate (11). The slider (30) is slidably connected to the sub-plates (12), and the first connecting part (121) is disposed on the sub-plates (12).

3. The cable-driven parallel robot end effector platform according to claim 2, characterized in that, The subplate (12) is provided with a slide rail (122) extending in its direction. One end of the slider (30) is provided with a sliding part that is adapted to the slide rail (122). The other end of the slider (30) is provided with a third connecting part (32). The third connecting part (32) is used to connect with the rope (50).

4. The cable-driven parallel robot end effector platform according to claim 1, characterized in that, One end of the connecting cylinder (20) is provided with a first flange plate (21) and the other end is provided with a second flange plate (22). The first flange plate (21) is connected to the connecting plate (10), and the second flange plate (22) is used to connect to the load (40), or the two second flange plates (22) on the two connecting cylinders (20) are used to connect to each other.

5. The cable-driven parallel robot end effector platform according to claim 4, characterized in that, The second flange plate (22) is provided with an arc-shaped hole (221), and the arc of the arc-shaped hole (221) is provided along the circumference of the second flange plate (22). The arc-shaped hole (221) is used to connect the load (40) or another second flange plate (22) with a threaded part.

6. The cable-driven parallel robot end effector platform according to claim 1, characterized in that, It also includes a positioning shaft (80), a positioning hole (111) is provided on the connecting plate (10), and a positioning cylinder (23) is provided inside the connecting cylinder (20) along its axis. The positioning hole (111) and the positioning cylinder (23) are both adapted to the positioning shaft (80). The positioning shaft (80) passes through the positioning hole (111) and the positioning cylinder (23). A support plate (24) is provided inside the connecting cylinder (20). The support plate (24) is connected between the cylinder wall of the connecting cylinder (20) and the cylinder wall of the positioning cylinder (23).

7. The cable-driven parallel robot end effector platform according to claim 6, characterized in that, It also includes a positioning element, wherein the first connecting part (121) is an elongated hole structure and the second connecting part (31) is a hole structure, and the positioning element is used to connect with the first connecting part (121) and the second connecting part (31).

8. A rope-driven parallel robot, characterized in that, Includes the rope-driven parallel robot end-effector platform as described in any one of claims 1 to 7.

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