Cable-driven parallel robot capable of automatically hanging cable in space

Abstract

A cable-driven parallel robot capable of automatically hanging a cable in a space is characterized by comprising a movable base, a rope, a rope driving device and an automatic cable hanging unit; the rope driving device is installed on the movable base, and the rope is led out by the rope driving device and then fixed to the environment surface to form an anchor point. The rope driving device can drive the rope to be retracted and released cooperatively, so that the multi-degree-of-freedom movement of the movable base in the space is realized; if the working space or the working area needs to be changed, the automatic rope hanging unit can move the tail end of the rope to a new position and fix the tail end again, and adjustment of the rope hanging point is achieved. According to the design, the robot is endowed with flexible operation capacity in a complex space environment, and the robot is suitable for various three-dimensional operation scenes and has wide application prospects.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a cable-driven parallel robot capable of autonomously hanging cables in space. Background Art

[0002] The cable-driven parallel robot is a type of parallel mechanism that uses flexible ropes instead of rigid rods to connect and drive the moving platform. This design not only retains the high load advantage of the traditional parallel structure, but also has the characteristics of low motion inertia, large workspace, low cost and easy structural reconstruction, making it have unique application potential in complex working environments. At present, the cable-driven parallel robot has been widely used in industrial production and economic construction, especially in obstacle avoidance and flexible operation.

[0003] However, most existing cable-driven parallel robots fix the cable exit point on the frame and control the position and posture of the platform by adjusting the cable length. This design limits the robot's range of motion, so that it can only operate within the area covered by the frame, making it difficult to meet the more variable three-dimensional space operation requirements, thus hindering its further application in a wider range of fields. Summary of the invention

[0004] In order to solve the problem of limited range of motion of existing cable-driven parallel robots, the purpose of the present invention is to provide a cable-driven parallel robot that can autonomously hang cables in space. The robot has an autonomous hanging cable function, and can adjust the rope hanging point according to the operation requirements to achieve a wider range of operation coverage. After the hanging cable is fixed, the robot can flexibly control the position and posture of the mobile base by adjusting the length of the rope. This design significantly improves the adaptability and operation efficiency of the robot in a complex three-dimensional space environment, expands its application scenarios, and provides a reliable solution for diversified operation needs.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A rope-driven parallel robot capable of autonomously hanging ropes in space comprises a mobile base, a rope, a rope driving device and an autonomous hanging rope unit; the rope driving device is installed on the mobile base, and the rope is led out by the rope driving device and then fixed on the surface of the environment to form an anchor point; the rope driving device can drive the rope to be retracted and released in coordination to realize multi-degree-of-freedom movement of the mobile base in space; if the workspace or working area needs to be changed, the autonomous hanging rope unit can move the end of the rope to a new position and re-fix it to realize the adjustment of the rope hanging point.

[0007] Preferably, the rope drive device includes a servo motor, a reducer, a drum, a force sensor and a pulley block; the rope is wound on the drum, and is led out after changing direction through the pulley block; the servo motor drives the drum to rotate, thereby adjusting the extension length of the rope; the force sensor is installed at the bottom of the pulley to measure the rope force. This design enables the rope drive device to achieve precise adjustment and real-time monitoring of the rope tension, improving the stability and safety of the system. At the same time, by accurately controlling the retraction and release of the rope, the position of the mobile base is accurately controlled, enhancing the positioning accuracy and operation flexibility of the robot in space.

[0008] Preferably, the number of rope drive devices and ropes configured is determined according to the control requirements of the mobile base; when three-degree-of-freedom translational control of the mobile base is required in three-dimensional space, four sets of rope drive devices and four ropes are configured; when six-degree-of-freedom independent control of the mobile base is required, at least seven sets of rope drive devices and at least seven ropes are configured to meet all-round movement requirements.

[0009] Preferably, assuming that the anchor points of the rope in space are A1, A2, ..., An, the working space of the rope-driven parallel robot is located inside a spatial geometric body with A1 to An as vertices.

[0010] Preferably, if the workspace or working area needs to be changed, the autonomous hanging rope unit can move the end of a rope to a new position and fix it to form a new anchor point layout; by adjusting the anchor points of the rope in the environment one by one, the workspace of the rope-driven parallel robot can be flexibly expanded or switched to adapt to different working requirements.

[0011] Preferably, the configuration of the autonomous cable unit is determined according to the working environment. For an open working environment, an aerial cable laying device can be used. This design reduces the demand for ground facilities and the cost of modifying the working environment, while improving the flexibility and efficiency of the operation. For an environment with limited space or complex terrain, a mechanical cable laying device can be used. This design enables the robot to be flexibly deployed in a complex environment, effectively overcomes terrain obstacles, and improves the robot's operating ability and environmental adaptability.

[0012] Preferably, the aerial cable laying device can be a small aircraft. The small aircraft carries the rope and flies to the target location, and winds the hanging point along a preset path until it is fixed. During the winding process, the rope tension needs to be monitored in real time to ensure the stability and reliability of the fixation.

[0013] Preferably, the mechanical cable laying device may adopt a retractable mechanical device, which is installed on a mobile base and includes a retractable arm and a driving device; the retractable arm places the anchoring assembly at the end of the rope at a specified position based on the driving device and completes the fixation to form a new anchor point.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] The cable-driven parallel robot capable of autonomously hanging cables in space described in the present invention utilizes a rope driving device to achieve multi-degree-of-freedom control of a moving platform in space, and can quickly adapt to different working scenarios.

[0016] The cable-driven parallel robot capable of autonomously hanging cables in space described in the present invention solves the problems of the traditional cable-driven parallel robot requiring manual construction of the frame and a fixed working space by utilizing an autonomous cable hanging unit, thereby realizing dynamic expansion of the working space. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a cable-driven parallel robot capable of autonomously hanging cables in space according to the present invention.

[0018] Figure 2 The present invention is a schematic diagram of a cable-driven parallel robot capable of autonomously hanging cables in space and operating in a certain workspace.

[0019] Figure 3 The present invention is a schematic diagram of the operation of an aerial cable laying device of a cable-driven parallel robot that can autonomously hang cables in space. DETAILED DESCRIPTION

[0020] The following is a detailed description of the implementation mode of the present invention in conjunction with the accompanying drawings and examples. The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings and specific examples. It should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "horizontal", "vertical" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0021] like Figure 1 and Figure 2As shown, an embodiment of the present invention provides a cable-driven parallel robot that can autonomously hang cables in space, including a mobile base 1, a rope driving device 2, a rope 3, and an autonomous hanging cable unit 4. The rope driving device 2 is installed on the mobile base 1. The rope 3 is wound on the drum 21 of the rope driving device 2, and is led out after changing the direction through the pulley group. The servo motor 22 drives the drum 21 to rotate, thereby adjusting the extension length of the rope 3. After the rope 3 is led out by the rope driving device 2, it is fixed to the surface of the environment to form an anchor point. The rope driving device 2 can drive the rope 3 to be retracted and released in coordination to realize the multi-degree-of-freedom movement of the mobile base 1 in space. When it is necessary to realize the independent control of the six degrees of freedom of the mobile base 1, 8 groups of rope driving devices 2 and 8 ropes 3 can be configured to meet the full range of movement requirements. At this time, assuming that the anchor points of the rope 3 in space are A1~A8, the working space of the cable-driven parallel robot is located inside the spatial geometric body with A1~A8 as vertices.

[0022] like Figure 3 As shown, if the workspace or work area needs to be changed, the autonomous hanging cable unit 4 can move the end of a rope 3 to a new position and fix it to form a new anchor point layout. By adjusting the anchor points of the rope 3 in the environment one by one, the workspace of the rope-driven parallel robot can be flexibly expanded or switched to adapt to different work requirements. For example, for an open work environment, the autonomous hanging cable unit 4 can use a small aircraft, such as a drone. When using a drone, the drone first flies to the current anchor point position, unties the rope 3 along a preset flight route, and then flies to a new position with the end of the rope 3, and winds the hanging point along the preset path until it is fixed. During the winding process, the rope tension needs to be monitored in real time to ensure the stability and reliability of the fixation. For example, for an environment with limited space or complex terrain, a mechanical cable arrangement device, such as a retractable mechanical device, can be used, which is installed on a mobile base and includes a retractable arm and a drive device; the retractable arm places the anchor assembly at the end of the rope at a specified position based on the drive device and completes the fixation to form a new anchor point.

[0023] It is worth noting that although the technical solution and preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned implementation methods are merely illustrative. Relevant technical personnel in the field can be inspired by the present invention and make many forms without departing from the purpose of the present invention and the scope of protection of the claims. These all belong to the scope of protection of the present invention.

Claims

1. A cable-driven parallel robot capable of autonomously hanging cables in space, characterized in that: It includes a mobile base, a rope, a rope driving device and an autonomous hanging rope unit; the rope driving device is installed on the mobile base, and the rope is led out by the rope driving device and then fixed on the environmental surface to form an anchor point; the rope driving device can drive the rope to be retracted and released in a coordinated manner to realize the multi-degree-of-freedom movement of the mobile base in space; if the workspace or working area needs to be changed, the autonomous hanging rope unit moves the end of the rope to a new position and re-fixes it to realize the adjustment of the rope hanging point.

2. The cable-driven parallel robot according to claim 1, characterized in that: The rope driving device comprises a servo motor, a reducer, a drum, a force sensor and a pulley block; the rope is wound on the drum, and is led out after changing direction through the pulley block; the servo motor drives the drum to rotate, thereby adjusting the extension length of the rope; The force sensor is installed at the bottom of the pulley to measure the rope tension.

3. The cable-driven parallel robot according to claim 1, characterized in that: The number of rope driving devices and ropes configured is determined according to the control requirements of the mobile base; When three-degree-of-freedom translational control of the mobile base is required in three-dimensional space, four sets of rope drive devices and four ropes are configured; when six-degree-of-freedom independent control of the mobile base is required, at least seven sets of rope drive devices and at least seven ropes are configured to meet all-round movement needs.

4. The cable-driven parallel robot according to claim 1, characterized in that The anchor points of the rope in space are A1, A2, ..., An, and the working space of the rope-driven parallel robot is located inside the spatial geometric body with A1 to An as vertices.

5. The cable-driven parallel robot according to claim 1, characterized in that: If the workspace or working area needs to be changed, the autonomous hanging rope unit moves the end of a rope to a new position and fixes it to form a new anchor point layout; by adjusting the anchor points of the rope in the environment one by one, the workspace of the rope-driven parallel robot can be flexibly expanded or switched to adapt to different working requirements.

6. The cable-driven parallel robot according to claim 1, characterized in that: The configuration of the autonomous cable-laying unit depends on the working environment. For an open working environment, an aerial cable-laying device is used; for an environment with limited space or complex terrain, a mechanical cable-laying device can be used.

7. The cable-driven parallel robot according to claim 6, characterized in that: The aerial cable laying device adopts a small aircraft, which carries the rope and flies to the target position, and winds the hanging point along a preset path until it is fixed. During the winding process, the rope tension needs to be monitored in real time to ensure the stability and reliability of the fixation.

8. The cable-driven parallel robot according to claim 6, characterized in that: The mechanical cable laying device adopts a retractable mechanical device, which is installed on a mobile base and includes a retractable arm and a driving device; the retractable arm places the anchoring component at the end of the rope at a specified position and fixes it based on the driving device to form a new anchor point.

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