High-speed cable parallel rigid-flexible coupling redundant robot

Abstract

The invention provides a high-speed cable parallel rigid-flexible coupling redundant robot which comprises a static platform, a driving system, a pulley system, a driving branch chain and a movable platform. The static platform is installed at a fixed position in a plant and provides a fixed base for the whole robot. The three driving systems are fixedly mounted on the static platform, a group of driving ropes are led out respectively, and the driving ropes are guided by the pulley system and are finally connected to the movable platform; the upper ends of the driving branch chains are connected to the static platform, the lower ends of the driving branch chains are connected to the movable platform, and the driving branch chains can be driven by the branch chain driving system to stretch. The rope is controlled to be wound and unwound through the driving system, and three-degree-of-freedom translation of the robot terminal and active adjustment of cable force distribution are finally achieved in combination with telescopic movement of the driving branch chains.

Description

Technical Field

[0001] The invention relates to the field of cable parallel robots, and in particular to a high-speed cable parallel rigid-flexible coupling redundant robot. Background Art

[0002] The cable parallel robot uses flexible ropes instead of rigid branch chains for transmission, and has the advantages of simple structure, large load-to-weight ratio, light weight and low cost.

[0003] Since the rope can only transmit tension, the ropes of the rope parallel robot must be tensioned to avoid loss of control. According to the source of the tension, the rope parallel robot can be divided into three categories: suspension type, tension type, and rope parallel robot with rigid auxiliary branch chain. The suspension rope parallel robot relies on the gravity of the moving platform to tension the rope. Its structure is simple, but it relies on gravity for tensioning and it is difficult to achieve high dynamic motion. The tension rope parallel robot relies on the ropes distributed on both sides of the moving platform to tension. It does not rely on gravity and can achieve high dynamic motion, but the rope is easy to interfere with the external environment.

[0004] The cable parallel robot with rigid auxiliary branches uses rigid auxiliary branches to tension the ropes, which can effectively avoid the problem that the ropes of the pull-type cable parallel robot are easily interfered with the external environment. However, the rigid auxiliary branches are currently mainly based on cylinders, hydraulic cylinders, electric cylinders and other devices, and their structures are relatively bulky, resulting in a decrease in the dynamic performance of the robot. The auxiliary branches with springs and lightweight carbon fiber rod structures are relatively light, but the spring force is a passive force that is only related to its own compression and cannot be actively adjusted. Summary of the invention

[0005] In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to propose a high-speed cable parallel rigid-flexible coupled redundant robot, which has a rigid auxiliary branch chain composed of ropes and lightweight rigid rods. The high-speed extension and retraction of the branch chain can be achieved by rapid retraction and release of the rope, and the output torque of the branch chain drive motor can be controlled and adjusted, thereby actively adjusting the cable force distribution of each rope of the robot, so that the terminal load can be more evenly converted to each drive motor, thereby promoting the robot performance to be more fully exerted.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A high-speed cable parallel rigid-flexible coupling redundant robot, the structure of which includes a static platform 1, a drive system 2, a pulley system 3, an active branch chain 4, and a dynamic platform 5;

[0008] The static platform 1 is responsible for providing an installation location and a fixed base for the drive system 2, the pulley system 3, and the active branch chain 4;

[0009] The driving system 2 includes a motor 21, a motor bracket 22, a drum 23, and a driving rope 24, and is responsible for driving the drum 23 to rotate through the motor 21, thereby controlling the retraction and extension of the driving rope 24 wound around the drum 23, and further adjusting the position of the moving platform 5 connected to the driving rope 24;

[0010] The pulley system 3, including a fixed pulley 31 and a swing pulley 32, is responsible for guiding the direction of the driving rope 24 by using the pulley group, so that the retraction and release of the driving rope 24 is smoother;

[0011] The active branch chain 4 is connected to the static platform 1 at the upper end and the dynamic platform 5 at the lower end, and includes an upper end hinge 41, a branch chain head frame 42, a branch chain driving system 43, a branch chain guide system 44, a branch chain fixing rod 45, a branch chain telescopic rod 46, a branch chain tail frame 47, and a lower end hinge 48. It is responsible for driving the branch chain telescopic rod 46 to perform high-speed telescopic movement through the branch chain driving system 43, thereby assisting in driving the dynamic platform 5 and tensioning each driving rope 24 of the driving system 2; wherein the branch chain driving system 43 includes a branch chain driving motor 431, a cable reel 432, a branch chain contraction cable 433, and a branch chain extension cable 434. The branch chain driving system 43 relies on the rotation of the branch chain driving motor (431) to drive the cable reel 432 to rotate, thereby controlling the branch chain contraction cable 433 and the branch chain extension cable 434. The high-speed retraction and extension of the branch chain 4 drives the active branch chain 4 to perform high-speed telescopic movement; the branch chain guide rope system 44 includes a first fixed pulley 441, a second fixed pulley 442, a third fixed pulley 443, a fourth fixed pulley 444, a fifth fixed pulley 445, and a fixed frame 446, which are responsible for guiding the direction of the branch chain contraction rope 433 and the branch chain extension rope 434, so that the retraction and extension are smoother; the branch chain telescopic rod 46 includes a telescopic rod head 461, a guide wheel 462, a telescopic rod body 463, and a telescopic rod tail 464, which are responsible for being controlled by the branch chain driving system 43 to perform telescopic extension; the branch chain tail frame 47 includes a tail frame body 471, a tail frame pulley 472, and a tail frame guide wheel 473, which are responsible for guiding the branch chain telescopic rod 46 and the branch chain extension rope 434, so that the branch chain extension and retraction and rope retraction are smoother;

[0012] The moving platform 5 is driven by the driving system 2 and the active branch chain 4 to perform corresponding movements in space and cooperate with external clamps, suction cups, tool heads, sensors and other devices to perform tasks of grasping, processing and measuring;

[0013] The static platform 1 is installed at a fixed position inside the factory building, providing a fixed base for the entire robot; three drive systems 2 are fixedly installed on the static platform 1 through motor brackets 22, and each leads out a set of drive ropes 24; each set of drive ropes 24 includes two parallel ropes that are synchronously retracted and released, one end of the two ropes is fixedly connected to the drum 23, and is led out from the drum 23 and retracted and released by its rotation, and is guided by the pulley system 3 installed on the static platform, and finally the other ends of the two ropes are fixedly connected to the moving platform 5; the upper end of the active branch chain 4 is connected to the static platform 1 through the upper end hinge 41, and the lower end is connected to the moving platform 5 through the lower end hinge 48, and it can be extended and retracted by the drive of the branch chain drive system 43;

[0014] When the robot moves, the motors 21 in the three drive systems 2 rotate to drive the respective rollers 23 to rotate, thereby controlling the retraction and extension of the drive ropes 24; the three groups of drive ropes 24 are coordinated to retract and extend to ultimately achieve the position adjustment of the moving platform 5 in space; in this process, the active branch chain 4 is driven by the branch chain drive system 43 to perform corresponding telescopic movements, thereby always ensuring that each group of drive ropes 24 can be tensioned, and output downward tensioning force or upward pulling auxiliary force to the moving platform 5, thereby further enhancing the force output performance and movement speed of the robot;

[0015] Each driving system 2 includes two synchronously retracted and parallel driving ropes 24, which can control one translational degree of freedom of the moving platform 5 and constrain one rotational degree of freedom of the moving platform 5. The three driving systems 2 cooperate to enable the moving platform 5 to perform three-degree-of-freedom translation in space, and its rotational degree of freedom is completely constrained, so that the moving platform 5 always remains parallel to the static platform 1; at the same time, the active branch chain 4 can control the degree of freedom along its own axis. Finally, the number of degrees of freedom constrained in the robot drive system is seven, which is more than the six degrees of freedom required to determine the posture of the moving platform 5, thereby forming a redundant configuration. Through the active adjustment of the active branch chain 4, the internal tension of each driving rope can be adjusted and distributed; the active branch chain 4 relies on the flexible branch chain contraction rope 433 and the branch chain extension rope 434, as well as the lightweight rigid branch chain telescopic rod 46 to achieve telescopic movement. Combined with the flexible driving ropes 24 used by each driving system 2 of the robot, a lightweight high-speed cable parallel rigid-flexible coupling redundant robot is finally formed to achieve high-speed and high-dynamic movement.

[0016] The motor bracket 22 of the driving system 2 is fixedly installed on the static platform 1; the motor 21 is fixedly installed on the motor bracket 22; the drum 23 is fixedly connected to the output shaft of the motor 21 and is driven by the motor 21; each group of driving ropes 24 includes two parallel ropes that are retracted and released synchronously, one end of the two ropes is fixedly connected to the drum 23, led out from the drum 23 and retracted and released by its rotation, each rope is first guided through the fixed pulley 31 of the pulley system 3, and then guided through the swing pulley 32, and finally the other end thereof is fixedly connected to the moving platform 5.

[0017] The pulley system 3 includes a fixed pulley 31 and a swing pulley 32. The fixed pulley 31 is fixedly mounted on the static platform 1; the swing pulley 32 is rotatably mounted on the static platform 1 by means of a rotary hinge, and can swing around the axis of the rotary hinge, thereby adjusting the direction of the rope as the position of the moving platform 5 changes.

[0018] The upper end of the active branch chain 4 is connected to the static platform 1 by means of an upper end hinge 41, and the upper end hinge 41 is a universal joint, a Hooke's joint, or a ball joint; the lower end of the active branch chain 4 is connected to the dynamic platform 5 by means of a lower end hinge 48, and the lower end hinge 48 is a universal joint, a Hooke's joint, or a ball joint; the branch chain head frame 42 is connected to the upper end hinge 41; the branch chain driving system 43 and the branch chain guide cable system 44 are fixedly installed on the branch chain head frame 42, the upper end of the branch chain fixing rod 45 is fixedly installed on the branch chain guide cable system 44, and the lower end is fixedly installed with a branch chain tail frame 47; the branch chain telescopic rod 46 passes through the groove in the center of the branch chain tail frame 47 and can slide along the groove; the lower end hinge 48 is installed at the end of the branch chain telescopic rod 46.

[0019] The branch chain driving system 43 includes a branch chain driving motor 431, a cable wheel 432, a branch chain retraction cable 433, and a branch chain extension cable 434; it is fixedly connected to the branch chain head frame 42 by relying on the flange of the branch chain driving motor 431, and the cable wheel 432 is fixedly connected to the output shaft of the branch chain driving motor 431, and is driven to rotate by the branch chain driving motor 431; one end of the branch chain retraction cable 433 and the branch chain extension cable 434 are both fixedly connected to the cable wheel 432, and are wound around the cable wheel 432 in opposite directions, so that when the cable wheel 432 rotates, one of the two ropes is gradually wound around the cable wheel 432, and the other is gradually released, and when the cable wheel 432 rotates in the opposite direction, the rope retraction and release relationship is also switched in the opposite direction.

[0020] The branch chain guide rope system 44 includes a No. 1 fixed pulley 441, a No. 2 fixed pulley 442, a No. 3 fixed pulley 443, a No. 4 fixed pulley 444, a No. 5 fixed pulley 445, and a fixed frame 446; it is fixedly connected to the branch chain head frame 42 by means of the fixed frame 446; the No. 1 fixed pulley 441, the No. 2 fixed pulley 442, the No. 3 fixed pulley 443, the No. 4 fixed pulley 444, and the No. 5 fixed pulley 445 are all installed on the fixed frame 446, and empty grooves are reserved on the fixed frame 446 for the ropes to pass through. The branch chain contraction rope 433 and the branch chain extension rope 434 pass through these empty grooves and are guided by each fixed pulley, and are finally connected to the telescopic rod head 461 and the telescopic rod tail 464 of the branch chain telescopic rod 46 respectively.

[0021] The branch chain fixing rod 45 includes 1 to 18 hollow rods, the upper end of which is fixedly connected to the fixing frame 446 of the branch chain guide system 44 , and the lower end of which is fixedly connected to the tail frame body 471 of the branch chain tail frame 47 .

[0022] The branch chain tail frame 47 includes a tail frame body 471, a tail frame pulley 472, and a tail frame guide wheel 473; a groove is reserved in the center of the tail frame body 471 for the branch chain telescopic rod 46 to pass through and reciprocate, and 6 to 18 tail frame guide wheels 473 are distributed and installed on the tail frame body 471, and the tires of each guide wheel provide support and guiding functions for the branch chain telescopic rod 46, so that it can reciprocate more smoothly along the groove in the center of the tail frame body 471; the tail frame pulley 472 is installed on the tail frame body 471, and the tail frame body 471 is also provided with a groove for the branch chain extension cable 434 to pass through. The branch chain extension cable 434 passes through this groove and is guided by the tail frame pulley 472, and is finally connected to the telescopic rod head 461 of the branch chain telescopic rod 46.

[0023] The branch chain telescopic rod 46 includes a telescopic rod head 461, a guide wheel 462, a telescopic rod body 463, and a telescopic rod tail 464. 2 to 6 guide wheels 462 are installed on the telescopic rod head 461. At the same time, the groove surrounded by the guide wheels 462 is penetrated by one or more of the branch chain fixing rods 45, thereby providing support and guidance for the telescopic movement of the branch chain telescopic rod 46 along its own axis; the telescopic rod body 463 is a hollow structure, one end of which is fixedly mounted on the telescopic rod head 461, and the other end is fixedly mounted with a telescopic rod tail 464; the telescopic rod body 463 passes through the groove in the center of the tail frame body 471, and can slide back and forth along its own axis under the joint support and guidance of the tail frame guide wheel 473 and the guide wheel 462.

[0024] One end of the branch chain retraction cable 433 is fixedly connected and wound around the cable reel 432, and the other end passes through the empty slot of the fixed frame 446, the third fixed pulley 443, the fourth fixed pulley 444, and the fifth fixed pulley 445 in sequence, and then passes through the hollow area in the center of the telescopic rod body 463, and finally is fixedly connected to the telescopic rod tail 464; one end of the branch chain extension cable 434 is fixedly connected and wound around the cable reel 432, and the other end passes through the empty slot of the fixed frame 446, the first fixed pulley 441, and the second fixed pulley 442 in sequence, and then passes through one of the hollow rods of the branch chain fixing rod 45, and then passes through the empty slot of the tail frame body 471, and is guided by the tail frame pulley 472, and finally is connected to the telescopic rod head 461;

[0025] When the cable wheel 432 rotates in the direction of winding the branch chain contraction cable 433 and extending the branch chain extension cable 434, the branch chain contraction cable 433 is continuously wound, pulling the branch chain telescopic rod 46 to slide along its own axis to the upper hinge 41, and the active branch chain 4 is continuously contracted; when the cable wheel 432 rotates in the opposite direction, the branch chain extension cable 434 is continuously wound, pulling the branch chain telescopic rod 46 to slide along its own axis to the lower hinge 48, and the active branch chain 4 is continuously extended. By controlling the output torque of the branch chain drive motor 431, the auxiliary force output by the active branch chain 4 to the outside world can be effectively adjusted, thereby actively adjusting the cable force distribution of each driving rope of the robot, so that the terminal load can be more evenly converted to each driving motor, thereby promoting the robot performance to be more fully exerted.

[0026] Compared with the prior art, the beneficial effects that can be achieved through the implementation of the present invention are:

[0027] 1. The robot proposed in the present invention adopts a rigid auxiliary branch chain composed of a rope and lightweight rigid rods, which fully utilizes the advantages of cable drive technology. Compared with drive elements based on cylinders, hydraulic cylinders, electric cylinders, etc., it can achieve a higher telescopic speed, thereby effectively improving the dynamic performance of the robot.

[0028] 2. By controlling the output torque of the branch chain drive motor and then adjusting it, the cable force distribution of each drive rope of the robot can be actively adjusted, so that the terminal load can be more evenly transferred to each drive motor, thereby promoting the robot's performance to be more fully utilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the high-speed cable parallel rigid-flexible coupling redundant robot of the present invention.

[0030] Figure 2 It is a schematic diagram of the active branch chain structure of the robot of the present invention.

[0031] Figure 3It is a detailed structural schematic diagram of the robot branch chain driving system and the branch chain guide system of the present invention.

[0032] Figure 4 It is a detailed structural schematic diagram of the robot branch chain tail frame of the present invention.

[0033] Figure 5 It is a schematic diagram of the guiding and connecting form of the branch chain contraction cable and the branch chain extension cable of the robot of the present invention on the active branch chain. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are 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 limiting the present invention.

[0035] like Figure 1 and Figure 2 As shown, a high-speed cable parallel rigid-flexible coupling redundant robot, whose structure includes a static platform 1, a drive system 2, a pulley system 3, an active branch chain 4, and a dynamic platform 5.

[0036] The static platform 1 is responsible for providing an installation location and a fixed base for the drive system 2, the pulley system 3, and the active branch chain 4;

[0037] The driving system 2 includes a motor 21, a motor bracket 22, a drum 23, and a driving rope 24, and is responsible for driving the drum 23 to rotate through the motor 21, thereby controlling the retraction and extension of the driving rope 24 wound around the drum 23, and further adjusting the position of the moving platform 5 connected to the driving rope 24;

[0038] The pulley system 3, including a fixed pulley 31 and a swing pulley 32, is responsible for guiding the direction of the driving rope 24 by using the pulley group, so that the retraction and release of the driving rope 24 is smoother;

[0039] The active branch chain 4 is connected to the static platform 1 at the upper end and the dynamic platform 5 at the lower end, and includes an upper hinge 41, a branch chain head frame 42, a branch chain driving system 43, a branch chain guide system 44, a branch chain fixing rod 45, a branch chain telescopic rod 46, a branch chain tail frame 47, and a lower hinge 48. It is responsible for driving the branch chain telescopic rod 46 to perform high-speed telescopic movement through the branch chain driving system 43, thereby assisting in driving the dynamic platform 5 and tensioning each driving rope 24 of the driving system 2; the dynamic platform 5, driven by the driving system 2 and the active branch chain 4, performs corresponding movements in space, and cooperates with external clamps, suction cups, tool heads, sensors and other devices to perform grasping, processing and measuring tasks;

[0040] The static platform 1 is installed at a fixed position inside the factory building, providing a fixed base for the entire robot; three drive systems 2 are fixedly installed on the static platform 1 through motor brackets 22, and each leads out a set of drive ropes 24; each set of drive ropes 24 includes two parallel ropes that are synchronously retracted and released, one end of the two ropes is fixedly connected to the drum 23, and is led out from the drum 23 and retracted and released by its rotation, and is guided by the pulley system 3 installed on the static platform, and finally the other ends of the two ropes are fixedly connected to the moving platform 5; the upper end of the active branch chain 4 is connected to the static platform 1 through the upper end hinge 41, and the lower end is connected to the moving platform 5 through the lower end hinge 48, and it can be extended and retracted by the drive of the branch chain drive system 43;

[0041] When the robot moves, the motors 21 in the three drive systems 2 rotate to drive the respective rollers 23 to rotate, thereby controlling the retraction and extension of the drive ropes 24; the three groups of drive ropes 24 are coordinated to retract and extend to ultimately achieve the position adjustment of the moving platform 5 in space; in this process, the active branch chain 4 is driven by the branch chain drive system 43 to perform corresponding telescopic movements, thereby always ensuring that each group of drive ropes 24 can be tensioned, and output downward tensioning force or upward pulling auxiliary force to the moving platform 5, thereby further enhancing the force output performance and movement speed of the robot;

[0042] Each driving system 2 includes two synchronously retracted and parallel driving ropes 24, which can control one translational degree of freedom of the moving platform 5 and constrain one rotational degree of freedom of the moving platform 5. The three driving systems 2 cooperate to enable the moving platform 5 to perform three-degree-of-freedom translation in space, and its rotational degree of freedom is completely constrained, so that the moving platform 5 always remains parallel to the static platform 1; at the same time, the active branch chain 4 can control the degree of freedom along its own axis. Finally, the number of degrees of freedom constrained in the robot drive system is seven, which is more than the six degrees of freedom required to determine the posture of the moving platform 5, thereby forming a redundant configuration. Through the active adjustment of the active branch chain 4, the internal tension of each driving rope can be adjusted and distributed; the active branch chain 4 relies on the flexible branch chain contraction rope 433 and the branch chain extension rope 434, as well as the lightweight rigid branch chain telescopic rod 46 to achieve telescopic movement. Combined with the flexible driving ropes 24 used by each driving system 2 of the robot, a lightweight high-speed cable parallel rigid-flexible coupling redundant robot is finally formed to achieve high-speed and high-dynamic movement.

[0043] The motor bracket 22 of the driving system 2 is fixedly installed on the static platform 1; the motor 21 is fixedly installed on the motor bracket 22; the drum 23 is fixedly connected to the output shaft of the motor 21 and is driven by the motor 21; each group of driving ropes 24 includes two parallel ropes that are retracted and released synchronously, one end of the two ropes is fixedly connected to the drum 23, led out from the drum 23 and retracted and released by its rotation, each rope is first guided through the fixed pulley 31 of the pulley system 3, and then guided through the swing pulley 32, and finally the other end thereof is fixedly connected to the moving platform 5.

[0044] The pulley system 3 includes a fixed pulley 31 and a swing pulley 32. The fixed pulley 31 is fixedly mounted on the static platform 1; the swing pulley 32 is rotatably mounted on the static platform 1 by means of a rotary hinge, and can swing around the axis of the rotary hinge, thereby adjusting the direction of the rope as the position of the moving platform 5 changes.

[0045] The branch chain fixing rod 45 includes 1 to 18 hollow rods, the upper end of which is fixedly connected to the fixing frame 446 of the branch chain guide system 44 , and the lower end of which is fixedly connected to the tail frame body 471 of the branch chain tail frame 47 .

[0046] like Figure 2 As shown, the upper end of the active branch chain 4 is connected to the static platform 1 by means of an upper end hinge 41, and the upper end hinge 41 is a universal joint, a Hook's joint, or a ball joint; the lower end of the active branch chain 4 is connected to the dynamic platform 5 by means of a lower end hinge 48, and the lower end hinge 48 is a universal joint, a Hook's joint, or a ball joint; the branch chain head frame 42 is connected to the upper end hinge 41; the branch chain driving system 43 and the branch chain guide system 44 are fixedly mounted on the branch chain head frame 42, the upper end of the branch chain fixing rod 45 is fixedly mounted on the branch chain guide system 44, and the lower end is fixedly mounted with a branch chain tail frame 47; the branch chain telescopic rod 46 passes through the groove in the center of the branch chain tail frame 47 and can slide along the groove; the lower end hinge 48 is mounted at the end of the branch chain telescopic rod 46.

[0047] like Figure 3 As shown, the branch chain driving system 43 includes a branch chain driving motor 431, a cable retracting wheel 432, a branch chain contracting rope 433, and a branch chain extending rope 434; it is fixedly connected to the branch chain head frame 42 by relying on the flange of the branch chain driving motor 431, and the cable retracting wheel 432 is fixedly connected to the output shaft of the branch chain driving motor 431, and is driven to rotate by the branch chain driving motor 431; one end of the branch chain contracting rope 433 and the branch chain extending rope 434 are both fixedly connected to the cable retracting wheel 432, and are wound around the cable retracting wheel 432 in opposite directions, so that when the cable retracting wheel 432 rotates, one of the two ropes is gradually wound around the cable retracting wheel 432, and the other is gradually released, and when the cable retracting wheel 432 rotates in the opposite direction, the retracting and releasing relationship of the ropes is also switched in the opposite direction;

[0048] The branch chain guide rope system 44 includes a No. 1 fixed pulley 441, a No. 2 fixed pulley 442, a No. 3 fixed pulley 443, a No. 4 fixed pulley 444, a No. 5 fixed pulley 445, and a fixed frame 446; it is fixedly connected to the branch chain head frame 42 by means of the fixed frame 446; the No. 1 fixed pulley 441, the No. 2 fixed pulley 442, the No. 3 fixed pulley 443, the No. 4 fixed pulley 444, and the No. 5 fixed pulley 445 are all installed on the fixed frame, and an empty groove for the rope to pass through is reserved on the fixed frame 446, and the branch chain contraction rope 433 and the branch chain extension rope 434 pass through these empty grooves and are guided by each fixed pulley, and are finally connected to the telescopic rod head 461 and the telescopic rod tail 464 of the branch chain telescopic rod 46 respectively.

[0049] like Figure 4 As shown, the branch chain tail frame 47 includes a tail frame body 471, a tail frame pulley 472, and a tail frame guide wheel 473; a groove is reserved in the center of the tail frame body 471 for the branch chain telescopic rod 46 to pass through and reciprocate, and 6 to 18 tail frame guide wheels 473 are distributed and installed on the tail frame body 471, and the tires of each guide wheel provide support and guiding functions for the branch chain telescopic rod 46, so that it can reciprocate more smoothly along the groove in the center of the tail frame body 471; the tail frame pulley 472 is installed on the tail frame body 471, and the tail frame body 471 is also provided with a groove for the branch chain extension cable 434 to pass through. The branch chain extension cable 434 passes through this groove and is guided by the tail frame pulley 472, and is finally connected to the telescopic rod head 461 of the branch chain telescopic rod 46.

[0050] like Figure 5 As shown, the branch chain telescopic rod 46 includes a telescopic rod head 461, a guide wheel 462, a telescopic rod body 463, and a telescopic rod tail 464. 2 to 6 guide wheels 462 are installed on the telescopic rod head 461, and the groove surrounded by the guide wheels 462 is penetrated by one or more of the branch chain fixing rods 45, thereby providing support and guidance for the telescopic movement of the branch chain telescopic rod 46 along its own axis; the telescopic rod body 463 is a hollow structure, one end of which is fixedly mounted on the telescopic rod head 461, and the other end is fixedly mounted with a telescopic rod tail 464; the telescopic rod body 463 passes through the groove in the center of the tail frame body 471, and can slide back and forth along its own axis under the joint support and guidance of the tail frame guide wheel 473 and the guide wheel 462. One end of the branch chain retraction cable 433 is fixedly connected and wound around the cable reel 432, and the other end passes through the empty slot of the fixed frame 446, the third fixed pulley 443, the fourth fixed pulley 444, and the fifth fixed pulley 445 in sequence, and then passes through the hollow area in the center of the telescopic rod body 463, and finally is fixedly connected to the telescopic rod tail 464; one end of the branch chain extension cable 434 is fixedly connected and wound around the cable reel 432, and the other end passes through the empty slot of the fixed frame 446, the first fixed pulley 441, and the second fixed pulley 442 in sequence, and then passes through one of the hollow rods of the branch chain fixing rod 45, and then passes through the empty slot of the tail frame body 471, and is guided by the tail frame pulley 472, and finally is connected to the telescopic rod head 461;

[0051] When the cable wheel 432 rotates in the direction of winding the branch chain contraction cable 433 and extending the branch chain extension cable 434, the branch chain contraction cable 433 is continuously wound, pulling the branch chain telescopic rod 46 to slide along its own axis to the upper hinge 41, and the active branch chain 4 is continuously contracted; when the cable wheel 432 rotates in the opposite direction, the branch chain extension cable 434 is continuously wound, pulling the branch chain telescopic rod 46 to slide along its own axis to the lower hinge 48, and the active branch chain 4 is continuously extended. By controlling the output torque of the branch chain drive motor 431, the auxiliary force output by the active branch chain 4 to the outside world can be effectively adjusted, thereby actively adjusting the cable force distribution of each driving rope of the robot, so that the terminal load can be more evenly converted to each driving motor, thereby promoting the robot performance to be more fully exerted.

[0052] 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 high-speed cable parallel rigid-flexible coupling redundant robot, characterized in that: It comprises a static platform (1), a driving system (2), a pulley system (3), an active branch chain (4), and a dynamic platform (5); The static platform (1) is responsible for providing an installation location and a fixed base for the drive system (2), the pulley system (3), and the active branch chain (4); The driving system (2) comprises a motor (21), a motor bracket (22), a roller (23), and a driving rope (24), and is responsible for driving the roller (23) to rotate through the motor (21), thereby controlling the retraction and extension of the driving rope (24) wound around the roller (23), and further adjusting the position of the moving platform (5) connected to the driving rope (24); The pulley system (3), including a fixed pulley (31) and a swing pulley (32), is responsible for guiding the direction of the driving rope (24) by using the pulley group, so that the retraction and release of the driving rope (24) is smoother; The active branch chain (4) is connected to the static platform (1) at the upper end and to the dynamic platform (5) at the lower end, and comprises an upper end hinge (41), a branch chain head frame (42), a branch chain driving system (43), a branch chain guide system (44), a branch chain fixing rod (45), a branch chain telescopic rod (46), a branch chain tail frame (47), and a lower end hinge (48), and is responsible for driving the branch chain telescopic rod (46) to perform high-speed telescopic movement through the branch chain driving system (43), thereby assisting in driving the dynamic platform (5) and tensioning each driving rope (24) of the driving system (2); The branch chain driving system (43) includes a branch chain driving motor (431), a cable reel (432), a branch chain retracting cable (433), and a branch chain extension cable (434). The branch chain driving system (43) drives the cable reel (432) to rotate by the rotation of the branch chain driving motor (431), thereby controlling the high-speed retraction and extension of the branch chain retracting cable (433) and the branch chain extension cable (434), thereby driving the active branch chain (4) to perform high-speed telescopic movement; the branch chain guide cable system (44) includes a first fixed pulley (441), a second fixed pulley (442), a third fixed pulley (443), a fourth fixed pulley (444), a fifth fixed pulley (445), and a fifth fixed pulley (446). The wheel (445) and the fixed frame (446) are responsible for guiding the direction of the branch chain contraction rope (433) and the branch chain extension rope (434) so ​​that they can be retracted and released more smoothly; the branch chain telescopic rod (46) includes a telescopic rod head (461), a guide wheel (462), a telescopic rod body (463), and a telescopic rod tail (464), which is responsible for being controlled by the branch chain driving system (43) to be telescopic; the branch chain tail frame (47) includes a tail frame frame body (471), a tail frame pulley (472), and a tail frame guide wheel (473), which is responsible for guiding the branch chain telescopic rod (46) and the branch chain extension rope (434), so that the branch chain can be retracted and released more smoothly and the rope can be retracted and released more smoothly; The moving platform (5) is driven by the driving system (2) and the active branch chain (4), performs corresponding movements in space, and cooperates with external grippers, suction cups, tool heads, and sensor devices to perform grasping, processing, and measuring tasks; the static platform (1) is installed at a fixed position inside the factory building to provide a fixed base for the entire robot; three driving systems (2) are fixedly installed on the static platform (1) through motor brackets (22), and each leads to a set of driving ropes (24); each set of driving ropes (24) includes two synchronously retractable ropes. The two parallel ropes are fixedly connected to the drum (23) at one end, drawn out from the drum (23) and retracted and extended by the rotation of the drum (23), and finally fixedly connected to the moving platform (5) at the other end through the guidance of the pulley system (3) installed on the static platform; the upper end of the active branch chain (4) is connected to the static platform (1) through the upper end hinge (41), and the lower end is connected to the moving platform (5) through the lower end hinge (48), and the active branch chain (4) can be extended and retracted by the drive of the branch chain drive system (43); When the robot moves, the motors (21) in the three drive systems (2) rotate to drive the respective rollers (23) to rotate, thereby controlling the retraction and extension of the drive ropes (24); the three groups of drive ropes (24) are coordinated to retract and extend to ultimately achieve the position adjustment of the moving platform (5) in space; during this process, the active branch chain (4) is driven by the branch chain drive system (43) to perform corresponding telescopic movements, thereby always ensuring that each group of drive ropes (24) can be tensioned, and output a downward tensioning force or an upward auxiliary force to the moving platform (5), thereby further enhancing the force output performance and movement speed of the robot; Each driving system (2) includes two synchronously retracted and mutually parallel driving ropes (24), which control one translational freedom of the moving platform (5) and constrain one rotational freedom of the moving platform (5). The three driving systems (2) cooperate to enable the moving platform (5) to perform three-degree-of-freedom translation in space, and its rotational freedom is completely constrained, so that the moving platform (5) always remains parallel to the static platform (1); at the same time, the active branch chain (4) controls the degree of freedom along its own axis. Finally, the number of degrees of freedom constrained in the robot driving system is seven, which is more than the number of degrees of freedom required to determine the movement. The six degrees of freedom required for the posture of the platform (5) form a redundant configuration, and the adjustment and distribution of the internal tension of each drive rope are realized through the active adjustment of the active branch chain (4); the active branch chain (4) relies on the flexible branch chain contraction rope (433) and the branch chain extension rope (434), as well as the lightweight rigid branch chain telescopic rod (46) to achieve telescopic movement, combined with the flexible drive rope (24) used by each drive system (2) of the robot, finally forming a lightweight high-speed cable parallel rigid-flexible coupling redundant robot to achieve high-speed and high-dynamic movement.

2. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: The motor bracket (22) of the driving system (2) is fixedly mounted on the static platform (1); the motor (21) is fixedly mounted on the motor bracket (22); the roller (23) is fixedly connected to the output shaft of the motor (21) and is driven by the motor (21); each set of driving ropes (24) includes two synchronously retracted and released parallel ropes, each rope is first guided through the fixed pulley (31) of the pulley system (3), and then guided through the swing pulley (32), and finally the other end thereof is fixedly connected to the moving platform (5).

3. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: The fixed pulley (31) of the pulley system (3) is fixedly mounted on the static platform (1); the swing pulley (32) is rotatably mounted on the static platform (1) by means of a rotary hinge and can swing around the axis of the rotary hinge, thereby adjusting the direction of the rope as the position of the dynamic platform (5) changes.

4. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: The upper hinge (41) of the active branch chain (4) is a universal joint, a Hook's joint or a ball joint; the lower hinge (48) of the active branch chain (4) is a universal joint, a Hook's joint or a ball joint; the branch chain head frame (42) is connected to the upper hinge (41); the branch chain driving system (43) and the branch chain guide system (44) are fixedly installed on the branch chain head frame (42); the upper end of the branch chain fixing rod (45) is fixedly installed on the branch chain guide system (44), and the lower end is fixedly installed with a branch chain tail frame (47); the branch chain telescopic rod (46) passes through the groove in the center of the branch chain tail frame (47) and can slide along the groove; the lower hinge (48) is installed at the end of the branch chain telescopic rod (46).

5. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: The branch chain driving system (43) is fixedly connected to the branch chain head frame (42) by means of the flange of the branch chain driving motor (431); the cable reel (432) is fixedly connected to the output shaft of the branch chain driving motor (431) and is driven to rotate by the branch chain driving motor (431); one end of the branch chain contraction rope (433) and the branch chain extension rope (434) are fixedly connected to the cable reel (432) and are wound around the cable reel (432) in opposite directions, so that when the cable reel (432) rotates, one of the two ropes is gradually wound around the cable reel (432) and the other is gradually released; when the cable reel (432) rotates in the reverse direction, the retraction and release relationship of the ropes is also switched in the reverse direction.

6. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: The branch chain guide rope system (44) is fixedly connected to the branch chain head frame (42) by means of a fixed frame (446); a first fixed pulley (441), a second fixed pulley (442), a third fixed pulley (443), a fourth fixed pulley (444), and a fifth fixed pulley (445) are all installed on the fixed frame (446), and an empty slot for the rope to pass through is reserved on the fixed frame (446), and the branch chain contraction rope (433) and the branch chain extension rope (434) pass through these empty slots and are guided by the fixed pulleys, and are finally connected to the telescopic rod head (461) and the telescopic rod tail (464) of the branch chain telescopic rod (46) respectively.

7. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: The branch chain fixing rod (45) comprises 1 to 18 hollow rods, the upper end of which is fixedly connected to the fixing frame (446) of the branch chain guide system (44), and the lower end of which is fixedly connected to the tail frame body (471) of the branch chain tail frame (47).

8. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: A groove is reserved in the center of the tail frame body (471) of the branch chain tail frame (47) for the branch chain telescopic rod (46) to pass through and reciprocate. 6 to 18 tail frame guide wheels (473) are distributed and installed on the tail frame body (471). The tires of each guide wheel provide support and guidance functions for the branch chain telescopic rod (46), so that it can reciprocate more smoothly along the groove in the center of the tail frame body (471); the tail frame pulley (472) is installed on the tail frame body (471). The tail frame body (471) is also provided with a groove for the branch chain extension cable (434) to pass through. The branch chain extension cable (434) passes through the groove and is guided by the tail frame pulley (472) and is finally connected to the telescopic rod head (461) of the branch chain telescopic rod (46).

9. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: The guide wheels (462) of the branch chain telescopic rod (46) are 2 to 6 in number and are installed on the telescopic rod head (461). At the same time, one or more of the branch chain fixing rods (45) pass through the grooves formed by the guide wheels (462), thereby providing support and guidance for the telescopic movement of the branch chain telescopic rod (46) along its own axis. The telescopic rod body (463) is a hollow structure, one end of which is fixedly installed on the telescopic rod head (461), and the other end of which is fixedly installed with a telescopic rod tail (464). The telescopic rod body (463) passes through the groove in the center of the tail frame body (471), and can slide back and forth along its own axis under the joint support and guidance of the tail frame guide wheel (473) and the guide wheel (462).

10. The high-speed cable parallel rigid-flexible coupling redundant robot according to claim 1, characterized in that: One end of the branch chain retraction rope (433) is fixedly connected and wound around the rope reel (432), and the other end passes through the empty slot of the fixed frame (446), the third fixed pulley (443), the fourth fixed pulley (444), and the fifth fixed pulley (445) in sequence, and then passes through the hollow area in the center of the telescopic rod body (463), and finally is fixedly connected to the telescopic rod tail (464); one end of the branch chain extension rope (434) is fixedly connected and wound around the rope reel (432), and the other end passes through the empty slot of the fixed frame (446), the first fixed pulley (441), and the second fixed pulley (442) in sequence, and then passes through one of the hollow rods of the branch chain fixing rod (45), and then passes through the empty slot of the tail frame body (471), and is guided by the tail frame pulley (472), and finally is connected to the telescopic rod head (461); When the cable reel (432) rotates in a direction such that the branch chain contraction cable (433) is wound and the branch chain extension cable (434) is extended, the branch chain contraction cable (433) is continuously wound, pulling the branch chain telescopic rod (46) to slide along its own axis toward the upper hinge (41), and the active branch chain (4) is continuously contracted; when the cable reel (432) rotates in the opposite direction, the branch chain extension cable (434) is continuously wound, pulling the branch chain telescopic rod (46) to slide along its own axis toward the lower hinge (48), and the active branch chain (4) is continuously extended; by controlling the output torque of the branch chain drive motor (431), the auxiliary force output by the active branch chain (4) to the outside world can be effectively adjusted, thereby actively adjusting the cable force distribution of each drive cable of the robot, so that the terminal load can be more evenly converted to each drive motor, thereby promoting the robot performance to be more fully exerted.

Images