Plane cable-driven parallel robot capable of autonomously changing rope anchor points

Abstract

The invention discloses a plane cable-driven parallel robot capable of autonomously changing rope anchor points. The plane cable-driven parallel robot comprises a movable base, a power module, a rope, an anchoring device and a rope traction mechanism. The rope traction mechanism comprises a telescopic mechanism, a driving device and a tail end buckling mechanism, and the anchoring device at the tail end of the rope is placed at a preset position through horizontal rotation and tail end telescopic movement of the rope traction mechanism; when the tail end of each rope is fixed to the surface of the environment through the anchoring device, the power module installed on the movable base drives the ropes to be wound and unwound cooperatively, and the movable base is driven to move in the plane. And if the robot needs to change the working space or the working area in the operation process, the anchoring device is moved to a new position by the rope traction mechanism. The robot can autonomously change the position of the anchor point device in the plane, large-range movement of the whole robot and flexible adjustment of the working space are achieved, and the robot can be suitable for movement and operation tasks under various complex terrains and has wide application prospects.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a planar cable-driven parallel robot capable of autonomously changing a cable anchor point. Background Art

[0002] A cable-driven parallel robot is a parallel robot that drives a moving platform through a rope connection. This type of robot uses ropes instead of rigid rods as a kinematic chain, which not only inherits the high load advantage of rigid parallel mechanisms, but also exhibits the unique characteristics of small inertia, large workspace, low cost and easy reconfiguration of rope-driven motion. With these advantages, cable-driven parallel robots have brought new solutions and development opportunities to modern production and engineering operations.

[0003] Existing cable-driven parallel robots usually fix the cable outlet point on the frame and adjust the position and posture of the terminal platform by changing the length of the rope. This frame-based cable-driven method greatly limits the robot's working space, making it only able to move within the frame coverage area. When faced with complex and changing working scenarios, existing cable-driven parallel robots are difficult to adapt quickly and cannot fully play their due role, which in turn limits their application in a wider range of fields. Summary of the invention

[0004] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a planar cable-driven parallel robot that can autonomously change anchor points. By introducing a rope traction mechanism, the robot can locate and switch rope anchor points in a two-dimensional plane, thereby realizing flexible movement in a large workspace. The robot can be applied to a variety of tasks in complex planar environments and has broad application prospects.

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

[0006] A planar cable-driven parallel robot capable of autonomously changing the anchor point of a rope, characterized in that it comprises a mobile base, a power module, a rope, an anchoring device and a rope traction mechanism; the rope traction mechanism comprises a retractable mechanism, a driving device for driving the horizontal rotation of the retractable mechanism and the telescopic movement of the end thereof, and an end snap mechanism located at the end of the retractable mechanism, and the anchoring device at the end of the rope is placed in a preset position through the horizontal rotation and telescopic movement of the end of the rope traction mechanism; when the ends of the ropes of the cable-driven parallel robot are fixed to the surface of the environment through the anchoring device, the power module installed on the mobile base drives the ropes to be retracted and released in coordination, driving the mobile base to realize movement in a plane; if the robot needs to change the working space or the working area during operation, the rope traction mechanism moves the rope anchoring device to a new position.

[0007] Preferably, for an environment where a wide range of magnetic metal objects exist, the anchoring device uses a magnetic connection device. This design can achieve fast and firm fixation without the need for additional mechanical structures, thus simplifying the anchoring process. ; When a magnetic connection device is selected, the rope directly uses an electric wire, or the electric wire is woven inside the rope. The electric wire controls the on and off of the magnetic connection device to achieve the fixation and separation of the anchoring device in the environment; the magnetic connection device reaches a predetermined position in the environment under the guidance of the rope traction mechanism, and becomes the anchor point of the cable-driven robot after being magnetically fixed to the environment; for outdoor environments covered with dense vegetation or rocky environments with uneven surfaces, the anchoring device adopts a gripping device with a micro-thorn structure, which can provide additional grip and stability, and can remain stable even on uneven or multi-obstacle surfaces; the gripping device is guided by the rope traction mechanism to a preset position in the environment, and after being fixed to the surface of the environment, it forms the anchor point of the cable-driven robot; for smooth surface environments, the anchoring device adopts a negative pressure suction cup, which design can generate a strong adsorption force to ensure stable fixation on a smooth surface; the negative pressure suction cup is guided to a preset position by the rope traction mechanism, and after the negative pressure suction cup is adsorbed and fixed to the surface of the environment, it forms the anchor point of the cable-driven robot.

[0008] Preferably, the magnetic connection device is an electromagnet. This design allows the presence or absence of magnetism to be controlled by electric current, thereby achieving fast and accurate magnetic connection and disconnection, thereby improving the flexibility and control accuracy of the robot.

[0009] Preferably, the main body of the retractable mechanism is composed of two curled materials, which are arranged back to back and are synchronously retracted or extended under the action of a driving device. After passing through rollers, they are connected by means of adhesive or mechanical connecting materials on their backs to enhance the rigidity and stability after extension, thereby avoiding the bending phenomenon caused by the asymmetric performance of the curled material.

[0010] Preferably, the driving device of the rope traction mechanism includes a servo motor and its transmission device and a steering gear. After the motor is decelerated by the transmission mechanism, it drives the curling material to be synchronously retracted or extended, and the steering gear realizes the rotation of the retractable mechanism to guide the anchoring device at the end of the rope to a preset position.

[0011] Preferably, the servo motor and its transmission device include a servo motor, a driving gear connected to the shaft of the servo motor, and a passive gear meshing with the driving gear; the two curled materials are coaxially connected to the driving gear and the passive gear respectively, the servo motor in the servo motor and its transmission device drives the driving gear to rotate, thereby driving the shaft of the curled material coaxial with the driving gear to rotate, the driving gear meshes to drive the passive gear to rotate, thereby driving the curled material coaxial with the passive gear to rotate, so that the two curled materials are synchronously retracted or extended.

[0012] The end buckle mechanism is used to achieve tight connection and separation with the anchoring device at the end of the rope.

[0013] Preferably, the power module is composed of a servo motor, a reducer, a drum, a force sensor, and a pulley block. The servo motor drives the drum to wind the rope through the reducer. The rope changes direction through the guide pulley and is led out by the pulley block. The force sensor is installed at the bottom of the guide pulley of the pulley block to measure the rope force, so that the robot can monitor and adjust the rope tension in real time, thereby improving the safety and accuracy of the operation.

[0014] Preferably, at least three universal wheels are installed on the bottom of the mobile base, and the universal wheels enable the mobile base to move and rotate in any direction within a plane.

[0015] Preferably, there should be at least two ropes, and additional ropes can be added as needed. Through different rope configurations, the mobile base can be driven to move along a single degree of freedom, move along two degrees of freedom, and move along two degrees of freedom and rotate along one degree of freedom in a two-dimensional plane. This design provides a variety of movement modes, allowing the robot to adapt to different operating requirements and environmental conditions. For example, single-degree-of-freedom movement is suitable for fast movement on a straight path, two-degree-of-freedom movement is suitable for curved paths in a plane, and two-degree-of-freedom movement and one-degree-of-freedom rotation is suitable for complex tasks that require turning or positioning during movement.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] The planar cable-driven parallel robot capable of autonomously changing anchor points of the present invention utilizes a rope traction mechanism and an anchoring device to solve the problems of the traditional cable-driven parallel robot requiring manual construction of a frame and a fixed working space, and has the characteristics of high environmental adaptability, a large working space, and flexible and efficient operation.

[0018] The planar cable-driven parallel robot capable of autonomously changing anchor points of the present invention utilizes a rope traction mechanism and an anchoring device to achieve rope guidance, and has the functions and characteristics of accurately guiding ropes and quickly adapting to different working scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a planar cable-driven parallel robot capable of autonomously changing anchor points according to the present invention.

[0020] Figure 2 This is a schematic diagram of a rope traction mechanism of a planar cable-driven parallel robot capable of autonomously changing anchor points according to the present invention. Figure 1 .

[0021] Figure 3 This is a schematic diagram of a rope traction mechanism of a planar cable-driven parallel robot capable of autonomously changing anchor points according to the present invention. Figure 2 . DETAILED DESCRIPTION

[0022] 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.

[0023] like Figure 1 As shown, an embodiment of the present invention provides a planar cable-driven parallel robot capable of autonomously changing the anchor point of a rope, comprising a rope traction mechanism 1, a power module 2, an anchor device 3, a rope 4, and a mobile base 5. The rope traction mechanism 1 can rotate and extend in a plane, thereby guiding the anchor device 3 at the end of the rope 4 to reach a preset anchor point position. When the ends of the four ropes 4 of the robot are fixed to the surface of the environment through the anchor device 3, the four power modules 2 located on the mobile base 5 can drive the rope 4 respectively, driving the mobile base 5 to realize three-degree-of-freedom movement in the plane. If the robot needs to change the working space during operation, the rope traction mechanism 1 can again guide the rope 4 to a new anchor point position. Through the above-mentioned structural design and operation process, the robot can autonomously change the anchor point in a plane and realize flexible movement in a large working space.

[0024] like Figure 2 and Figure 3As shown, the present invention is a rope traction mechanism 1 of a planar cable-driven parallel robot capable of autonomously changing anchor points. The rope traction mechanism 1 includes a retractable mechanism 11, a driving device 12, and an end snap mechanism 13. The driving device 12 includes a servo motor and its transmission device 121 and a steering gear 122. The servo motor and its transmission device 121 include a servo motor, a driving gear 117 connected to the shaft of the servo motor, and a passive gear 116 meshing with the driving gear 117; the main body of the retractable mechanism 11 is composed of two curling materials, and the curling materials can use a tape measure, a coil spring, or a retractable arm. In this embodiment, it is composed of a first tape measure 111 and a second tape measure 112, each with a Velcro surface that can be adhered to each other, which are bonded back to back, and the end snap mechanism 13 is arranged at the ends of the first tape measure 111 and the second tape measure 112. The first tape measure 111 and the second tape measure 112 are coaxially connected to the driving gear 117 and the passive gear 116 respectively. The servo motor in the servo motor and its transmission device 121 drives the driving gear 117 to rotate, thereby driving the shaft of the first tape measure 111 coaxial with the driving gear 117 to rotate, and the driving gear 117 engages to drive the passive gear 116 to rotate, thereby driving the second tape measure 112 coaxial with the passive gear 116 to rotate, so that the first tape measure 111 and the second tape measure 112 are synchronously wound or extended. After the first tape measure 111 and the second tape measure 112 pass through the roller 113, they are adhered by Velcro on their surfaces. This design method can effectively improve the overall rigidity of the tape measure and avoid the bending phenomenon of the tape measure during operation. A servo engine 122 is installed below the housing 115 of the rope traction mechanism 1, and the servo engine 122 drives the entire rope traction mechanism 1 to achieve 360° rotation. The rope pulling mechanism 1 is placed in a housing 115 with a cover 114 , and the first measuring tape 111 and the second measuring tape 112 can be freely extended and retracted from an opening of the housing 115 .

[0025] Taking the environment where there are a large range of magnetic metal objects as an example, the anchoring device 3 can adopt a magnetic connection device, such as an electromagnet. When the electromagnet is selected, the rope 4 is actually an electric wire led out of the electromagnet, and the electric wire is used to control the magnetism of the electromagnet. When the cable-driven parallel robot needs to change the anchor point, the retractable mechanism 11 in the rope traction mechanism 1 reaches the current anchor point under the control of the drive device 12, and the end buckle mechanism 13 of the rope traction mechanism 1 is connected to the electromagnet at the end of the rope. Then, the electromagnet is demagnetized to separate it from the current anchor point. Then, the rope traction mechanism 1 guides the electromagnet at the end of the rope to the new anchor point through telescopic and rotating actions. When the rope 4 contacts the new anchor point, the on-off state of the electromagnet is changed, so that the electromagnet 3 is adsorbed at the new anchor point, and the rope 4 is fixed to the new anchor point through the electromagnet. Afterwards, the end buckle 13 of the rope traction mechanism 1 is separated from the electromagnet at the end of the rope, and the drive device 12 retracts the first tape measure 111 and the second tape measure 112. At this point, the rope 4 can achieve the positioning and switching of the rope anchor point with the help of the rope traction mechanism 1.

[0026] For outdoor environments with dense vegetation or rocky environments with uneven surfaces, the anchoring device uses a gripping device with a micro-thorn structure; the gripping device is guided to a preset position in the environment by a rope traction mechanism, and after being fixed to the surface of the environment, it forms an anchor point for the cable-driven robot; for smooth surface environments, the anchoring device uses a negative pressure suction cup, which is guided to a preset position by a rope traction mechanism, and after being adsorbed and fixed to the surface of the environment, it forms an anchor point for the cable-driven robot.

[0027] The power module is composed of a servo motor, a reducer, a drum, a force sensor, and a pulley block. The servo motor drives the drum to wind the rope through the reducer. The rope changes direction through the guide pulley and is led out by the pulley block. The force sensor is installed at the bottom of the guide pulley of the pulley block to measure the rope force.

[0028] When the ends of the ropes of the robot are fixed to the surface of the environment through the anchoring device 3, the power module 2 located on the mobile base 5 can drive the ropes 4 respectively, so as to drive the mobile base 5 to realize three-degree-of-freedom movement in a plane.

[0029] 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 planar cable-driven parallel robot capable of autonomously changing the anchor point of a cable, characterized in that: It includes a mobile base, a power module, a rope, an anchoring device and a rope traction mechanism; the rope traction mechanism includes a retractable mechanism, a driving device for driving the horizontal rotation and the terminal telescopic movement of the retractable mechanism, and an end buckle mechanism located at the end of the retractable mechanism, through the horizontal rotation and the terminal telescopic movement of the rope traction mechanism, the anchoring device at the end of the rope is placed in a preset position; when the ends of each rope of the cable-driven parallel robot are fixed to the environmental surface through the anchoring device, the power module installed on the mobile base drives the ropes to be retracted and released in coordination, driving the mobile base to realize movement in a plane; if the robot needs to change the working space or working area during operation, the rope traction mechanism will move the rope anchoring device to a new position.

2. The planar cable-driven parallel robot according to claim 1, characterized in that: For environments with a large range of magnetic metal objects, the anchoring device adopts a magnetic connection device. When the magnetic connection device is selected, the rope directly adopts an electric wire, or the electric wire is woven inside the rope, and the electric wire controls the on and off of the magnetic connection device to achieve the fixation and separation of the anchoring device in the environment; the magnetic connection device reaches a predetermined position in the environment under the guidance of the rope traction mechanism, and becomes an anchor point of the rope-driven robot after being magnetically fixed to the environment; For outdoor environments with dense vegetation or rocky environments with uneven surfaces, the anchoring device uses a gripping device with a micro-thorn structure; the gripping device is guided to a preset position in the environment by a rope traction mechanism, and after being fixed to the surface of the environment, forms an anchor point for the rope-driven robot; For a smooth surface environment, the anchoring device uses a negative pressure suction cup, which is guided to a preset position by a rope traction mechanism. After the negative pressure suction cup is adsorbed and fixed on the environmental surface, it forms an anchor point for the rope-driven robot.

3. The planar cable-driven parallel robot according to claim 2, characterized in that: The magnetic connection device is an electromagnet.

4. The planar cable-driven parallel robot according to claim 1, characterized in that: The main body of the retractable mechanism is composed of two curled materials, which are arranged back to back and are synchronously retracted or extended under the action of a driving device. After passing through rollers, they are connected by means of adhesive or mechanical connecting materials on their backs to enhance the rigidity and stability after extension, thereby avoiding the bending phenomenon caused by the asymmetric performance of the curled materials.

5. The planar cable-driven parallel robot according to claim 4, characterized in that: The driving device of the rope traction mechanism includes a servo motor and its transmission device and a steering gear. After the motor is decelerated by the transmission mechanism, it drives the curling material to be synchronously retracted or extended, and the steering gear realizes the rotation of the retractable mechanism to guide the anchoring device at the end of the rope to a preset position.

6. The planar cable-driven parallel robot according to claim 5, characterized in that: The servo motor and its transmission device include a servo motor, a driving gear connected to the shaft of the servo motor, and a passive gear meshed with the driving gear; two curled materials are coaxially connected to the driving gear and the passive gear respectively, the servo motor in the servo motor and its transmission device drives the driving gear to rotate, thereby driving the shaft of the curled material coaxial with the driving gear to rotate, the driving gear meshes to drive the passive gear to rotate, thereby driving the curled material coaxial with the passive gear to rotate, so that the two curled materials are synchronously rolled up or extended.

7. The planar cable-driven parallel robot according to claim 1, characterized in that: The end buckle mechanism is used to achieve tight connection and separation with the anchoring device at the end of the rope.

8. The planar cable-driven parallel robot according to claim 1, characterized in that: The power module is composed of a servo motor, a reducer, a drum, a force sensor, and a pulley block. The servo motor drives the drum to wind the rope through the reducer. The rope changes direction through the guide pulley and is led out by the pulley block. The force sensor is installed at the bottom of the guide pulley of the pulley block to measure the rope force.

9. The planar cable-driven parallel robot according to claim 1, characterized in that: At least three universal wheels are installed at the bottom of the mobile base, and the universal wheels enable the mobile base to move and rotate in any direction within a plane.

10. The planar cable-driven parallel robot according to claim 1, characterized in that: There should be at least two ropes, and additional ropes can be added as needed. Through different rope configurations, the mobile base can be driven to move along a single degree of freedom, move along two degrees of freedom, and rotate along two degrees of freedom and one degree of freedom in a two-dimensional plane.

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