Rope-driven robot

Abstract

The rope-driven robot comprises a lifting seat, a dust collection assembly for collecting dust cleaned on a ceiling is arranged above the lifting seat, and a pull rope control swing mechanism for driving the dust collection assembly to swing back and forth in the vertical direction to collect dust is further arranged above the lifting seat; the pull rope control swing mechanism comprises a transverse plate arranged above the lifting base, the top of the transverse plate is rotationally connected with a rotating wheel, and a Z-shaped arc groove is formed in the outer surface of the rotating wheel. According to the robot driven by the rope, through the arrangement of the sweeping control assembly, bristles on five cleaning plates stretch out and draw back in the radial direction, automatic sweeping on a ceiling in a large range is achieved, the ceiling at a high position or in a complex shape is automatically cleaned in cooperation with use of a shearing and lifting machine, working personnel do not need to work high above the ground, and the working efficiency is improved. The cleaning range can be flexibly adjusted, the automation degree is high, and flexibility is high.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a rope-driven robot. Background Art

[0002] In today's industrial production, special operations, and some complex environment exploration scenarios, there is an increasing demand for robots that can move flexibly, adapt to small spaces, and have high load capacity.

[0003] In the daily maintenance of buildings, cleaning the ceiling has always been a difficult problem. Traditional manual cleaning methods are inefficient, and for some high-position or complex-shaped ceilings, workers face the risk of high-altitude operations and the difficulty of reaching every corner. Existing cleaning robots are mostly designed for the ground or walls, and have many shortcomings in ceiling cleaning, such as limited cleaning range and inability to quickly vacuum. In response to this, we proposed a rope-driven robot to solve the above problems. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a rope-driven robot, which solves the problems raised in the background technology.

[0005] To achieve the above object, the present invention is implemented by the following technical solutions: a rope-driven robot, comprising a lifting seat, a dust collecting component for collecting dust cleaned on the ceiling is arranged above the lifting seat, and a rope-controlled swing mechanism for driving the dust collecting component to swing back and forth in a vertical direction to collect dust is also arranged above the lifting seat;

[0006] The cam-type swing mechanism comprises a horizontal plate arranged above the lifting seat, the top of the horizontal plate is rotatably connected to a rotating wheel, the outer surface of the rotating wheel is provided with a Z-shaped arc groove, the top of the rotating wheel is fixed with a triangular arc plate, a mounting seat is fixed on one side of the horizontal plate, a sliding groove is provided inside the mounting seat, the inner surface of the sliding groove is slidably connected with a sliding block, a vertical rod is fixed on the bottom of the sliding block, the bottom end of the sliding block is extended to the bottom of the mounting seat, the outer surface of the vertical rod is slidably connected with the inner surface of the mounting seat, the outer surface of the vertical rod is sleeved with a spring 1, the top of the spring 1 is fixed to the top of the sliding block, the bottom end of the spring 1 is fixed to the bottom wall of the sliding groove, a pull rope is fixed to the bottom end of the vertical rod through a pull ring, a moving seat is fixed on one side of the mounting seat, a convex column is fixed on one side of the moving seat, one end of the convex column extends to the inside of the Z-shaped arc groove, and the convex column slides in the Z-shaped arc groove.

[0007] Preferably, the dust collection assembly includes a vertical tube fixed on the top of the horizontal plate, the inner surface of the vertical tube is slidably connected with a vertical pole, the top of the vertical pole is fixed with a U-shaped plate, and the outer surface of the vertical pole is sleeved with a second spring.

[0008] Preferably, the top end of the second spring is fixed to the bottom of the U-shaped plate, the bottom end of the second spring is fixed to the top end of the vertical tube, a circular plate is fixed to one side of the U-shaped plate, a dust box is fixed to the top of the circular plate, a vacuum cleaner is provided on the top of the dust box, and the outer surface of the triangular arc plate is in contact and extrusion with the bottom of the U-shaped plate.

[0009] Preferably, a cleaning control component for cleaning a large area of ​​dust on the ceiling is arranged on the top of the lifting seat, and the cleaning control component comprises a pentagonal plate arranged above the lifting seat, a large gear is rotatably connected to the top of the pentagonal plate, and a triangular seat is fixed on the pentagonal plate.

[0010] Preferably, a small gear is fixed on the top of the triangular seat, the large gear is meshed with the small gear, and a motor is fixed on the bottom of the triangular seat, and the motor drives the small gear to rotate.

[0011] Preferably, five arc grooves are formed through the large gear, and five moving rods are slidably connected to the inner surface of the pentagonal plate, and limiting columns are fixed on the tops of the five moving rods.

[0012] Preferably, the top ends of the five limiting posts all pass through the arc-shaped groove and extend to the outside of the arc-shaped groove, and the outer surfaces of the five limiting posts are all slidably connected to the inner surface of the arc-shaped groove.

[0013] Preferably, a connecting block is fixed to each of the ends of the five movable rods that are away from each other, a connecting rod is fixed to the top of the connecting block, a cleaning plate is fixed to the top of the connecting rod, and bristles are fixed to the top of the cleaning plate.

[0014] Preferably, a square plate is provided below the lifting seat, and a scissor lift is provided between the top of the square plate and the bottom of the lifting seat.

[0015] Preferably, the scissor lift drives the lifting seat to move up and down, four universal wheels are installed at the bottom of the square plate, and a handle is fixed at the bottom end of the pull rope.

[0016] Beneficial Effects

[0017] The present invention provides a rope-driven robot. Compared with the prior art, it has the following beneficial effects:

[0018] (1) By setting up the cleaning control component, the bristles on the five cleaning plates are used to radially extend and retract, realizing automated cleaning of a larger range of the ceiling. In conjunction with the use of a scissor lift, the ceilings at higher positions or with complex shapes can be automatically cleaned without the need for operators to perform aerial work. The cleaning range can be flexibly adjusted, with a high degree of automation and strong flexibility.

[0019] (2) By setting the dust collection component, the vacuum cleaner is set at the center of the five cleaning plates. When the bristles radially shrink inward to clean the ceiling, the vacuum cleaner is started to automatically absorb the dust under the cleaning. At the same time, by setting the vertical pipe, the vertical rod, and the spring, space is reserved for the vacuum cleaner to adjust the height and change the position.

[0020] (3) The swing mechanism is controlled by pulling the pull cord. By pulling the pull cord once, the height of the vacuum cleaner is raised. At this time, the vacuum cleaner is closer to the ceiling and has stronger suction power, which is convenient for absorbing dust close to the ceiling and is conducive to fine cleaning. The pull cord is pulled down again to lower the height of the vacuum cleaner. At this time, the vacuum cleaner is far from the ceiling, which is convenient for quickly absorbing dust in a larger range. Although the suction power is reduced, the suction range is increased. The height of the vacuum cleaner can be flexibly selected according to the actual needs of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of the external structure of the present invention;

[0022] Figure 2 It is a local structural stereogram of the present invention;

[0023] Figure 3 It is a three-dimensional diagram of the rope-controlled swing mechanism of the present invention;

[0024] Figure 4 For the present invention Figure 3 A partial enlarged view of the middle A;

[0025] Figure 5 It is an exploded view of the rope-controlled swing mechanism of the present invention;

[0026] Figure 6 A three-dimensional diagram of the dust collection assembly of the present invention;

[0027] Figure 7 It is a three-dimensional diagram of the cleaning control component of the present invention.

[0028] In the figure: 1. lifting seat; 2. dust suction assembly; 3. rope-controlled swing mechanism; 4. cleaning control assembly; 5. square plate; 6. scissor lift; 7. universal wheel; 8. handle; 21. vertical pipe; 22. vertical pole; 23. U-shaped plate; 24. spring 2; 25. round plate; 26. dust suction box; 27. vacuum cleaner; 31. horizontal plate; 32. rotating wheel; 33. Z-shaped arc groove; 34. triangular arc plate; 35. Mounting seat; 36, slide groove; 37, slider; 38, vertical rod; 39, spring 1; 310, pull rope; 311, moving seat; 312, convex column; 41, pentagonal plate; 42, large gear; 43, triangular seat; 44, small gear; 45, motor; 46, arc groove; 47, moving rod; 48, limiting column; 49, connecting block; 410, connecting rod; 411, cleaning plate; 412, brush. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The present invention provides three technical solutions, including the following embodiments:

[0031] Example 1: Please refer to Figure 1-Figure 5 , a rope-driven robot, including a lifting seat 1, the lifting seat 1 is made of high-strength aluminum alloy with certain anti-corrosion performance in material selection, which not only ensures structural strength, but also can adapt to the relatively humid working environment of ceiling cleaning, and prevents damage to components due to water vapor erosion. A square plate 5 is arranged below the lifting seat 1, and a scissor lift 6 is arranged between the top of the square plate 5 and the bottom of the lifting seat 1. The scissor lift 6 is a prior art, controlled by an external switch, and electrically connected to an external power supply. After the scissor lift 6 is started, the electric hydraulic system inside it responds quickly, drives the scissor structure to extend or contract, and then drives the lifting seat 1 to perform a smooth lifting operation, whether it is a subtle height adjustment or a large vertical displacement, it can be accurately achieved, four universal wheels 7 are installed at the bottom of the square plate 5, and the setting of the universal wheels 7 can flexibly move the entire device, and a dust collection component 2 for vacuuming the dust cleaned on the ceiling is arranged above the lifting seat 1, and a rope-controlled swing mechanism 3 for driving the dust collection component 2 to swing back and forth in the vertical direction to vacuum is also arranged above the lifting seat 1;

[0032] The rope-controlled swing mechanism 3 includes a horizontal plate 31 arranged above the lifting seat 1, the top of the horizontal plate 31 is rotatably connected to a rotating wheel 32, the outer surface of the rotating wheel 32 is provided with a Z-shaped arc groove 33, and the Z-shaped arc groove 33 is divided into an arc groove part and a vertical groove part. A triangular arc plate 34 is fixed to the top of the rotating wheel 32, and a mounting seat 35 is fixed to one side of the horizontal plate 31. A slide groove 36 is provided inside the mounting seat 35, and a slider 37 is slidably connected to the inner surface of the slide groove 36. The size of the slider 37 is adapted to the size of the slide groove 36. A vertical rod 38 is fixed to the bottom of the slider 37, and the bottom end of the vertical rod 38 extends to the bottom of the mounting seat 35. The outer surface of the vertical rod 38 is slidably connected to the inner surface of the mounting seat 35. A spring 39 is sleeved on the outer surface, the top of the spring 39 is fixed to the top of the slider 37, the bottom of the spring 39 is fixed to the bottom wall of the slide groove 36, the bottom end of the vertical rod 38 is fixed with a pull rope 310 through a pull ring, the bottom end of the pull rope 310 is fixed with a handle 8, a moving seat 311 is fixed to one side of the mounting seat 35, a boss 312 is fixed to one side of the moving seat 311, one end of the boss 312 extends to the inside of the Z-shaped arc groove 33, and the boss 312 slides in the Z-shaped arc groove 33. When the boss 312 slides in the arc groove part of the Z-shaped arc groove 33, it drives the rotating wheel 32 to rotate 180 degrees, and after sliding into the vertical groove part of the Z-shaped arc groove 33, the pull rope 310 is driven to reset under the action of the spring 39.

[0033] By controlling the setting of the swing mechanism 3 through a pull rope, the height of the vacuum cleaner 27 can be raised by pulling the pull rope 310 once. At this time, the vacuum cleaner 27 is closer to the ceiling and has a stronger suction force, which makes it convenient to absorb dust close to the ceiling and is conducive to fine cleaning. The pull rope 310 is pulled down again to lower the height of the vacuum cleaner 27. At this time, the vacuum cleaner 27 is far from the ceiling, which makes it convenient to quickly absorb dust in a larger range. Although the suction force is reduced, the suction range is increased. The height of the vacuum cleaner 27 can be flexibly selected according to the actual needs of the staff.

[0034] Example 2: Based on Example 1, see Figure 2 and Figure 6 As shown, the dust collection assembly 2 includes a vertical tube 21 fixed on the top of the horizontal plate 31, the inner surface of the vertical tube 21 is slidably connected with a vertical rod 22, the top of the vertical rod 22 is fixed with a U-shaped plate 23, and the outer surface of the vertical rod 22 is sleeved with a spring 24, and the setting of the spring 24 allows the dust collector 27 to reset.

[0035] The top of the second spring 24 is fixed to the bottom of the U-shaped plate 23, and the bottom of the second spring 24 is fixed to the top of the vertical tube 21. A circular plate 25 is fixed to one side of the U-shaped plate 23, and one side of the horizontal plate 31 is fixed to the circular plate 25. A dust box 26 is fixed to the top of the circular plate 25. The dust box 26 is connected to the dust outlet of the dust cleaner 27 through a dust suction pipe. The dust box 26 is used to collect and store absorbed dust. A door is provided on the dust box 26, and dust can be discharged after opening. A vacuum cleaner 27 is provided on the top of the dust box 26. The vacuum cleaner 27 is controlled by an external switch and is electrically connected to an external power supply. After starting, it can absorb the swept dust. The outer surface of the triangular arc plate 34 contacts and squeezes the bottom of the U-shaped plate 23.

[0036] Through the setting of the dust suction component 2, the vacuum cleaner 27 is set at the center position of the five cleaning plates 411. When the bristles 412 radially shrink inward to clean the ceiling, the vacuum cleaner 27 is started to automatically absorb the dust swept. At the same time, through the setting of the vertical pipe 21, the vertical rod 22, and the spring 24, space for adjusting the height and changing the position of the vacuum cleaner 27 is reserved.

[0037] Example 3: Based on Example 2, see Figure 7 As shown, a cleaning control component 4 for cleaning a large area of ​​dust on the ceiling is arranged on the top of the lifting seat 1. The cleaning control component 4 includes a pentagonal plate 41 arranged above the lifting seat 1. A large gear 42 is rotatably connected to the top of the pentagonal plate 41, and a triangular seat 43 is fixed on the pentagonal plate 41.

[0038] A small gear 44 is fixed on the top of the triangular seat 43, and the large gear 42 is meshed with the small gear 44. A motor 45 is fixed on the bottom of the triangular seat 43. The motor 45 is a three-phase asynchronous motor that can rotate forward and reverse. It is controlled by an external switch and is electrically connected to an external power supply. The motor 45 drives the small gear 44 to rotate.

[0039] Five arc grooves 46 are formed through the large gear 42 , and five moving rods 47 are slidably connected to the inner surface of the pentagonal plate 41 . Limiting columns 48 are fixed on the tops of the five moving rods 47 , and the sizes of the limiting columns 48 and the arc grooves 46 are adapted.

[0040] Top ends of the five limiting posts 48 penetrate the arc-shaped groove 46 and extend to the outside of the arc-shaped groove 46 , and outer surfaces of the five limiting posts 48 are slidably connected to the inner surface of the arc-shaped groove 46 .

[0041] A connecting block 49 is fixed to the ends of the five moving rods 47 that are away from each other. A connecting rod 410 is fixed to the top of the connecting block 49. A cleaning plate 411 is fixed to the top of the connecting rod 410. The cleaning plate 411 is made of a plastic plate with good flexibility, and its surface is covered with a layer of fine bristles 412. The bristles 412 are made of high-strength nylon wire, which is soft and has sufficient wear resistance, can contact with the ceiling, and can clean the ceiling in a larger range when radially contracted.

[0042] By setting up the cleaning control component 4 and utilizing the radial extension and retraction of the bristles 412 on the five cleaning plates 411, automated cleaning of a larger range of the ceiling is achieved. In conjunction with the use of the scissor lift 6, the ceilings at higher positions or with complex shapes can be automatically cleaned without the need for operators to perform high-altitude operations. The cleaning range can be flexibly adjusted, with a high degree of automation and strong flexibility.

[0043] Example 4: Please refer to Figure 1-Figure 5 , a rope-driven robot, including a lifting seat 1, the lifting seat 1 is made of high-strength aluminum alloy with certain anti-corrosion performance in material selection, which not only ensures structural strength, but also can adapt to the relatively humid working environment of ceiling cleaning, and prevents damage to components due to water vapor erosion. A square plate 5 is arranged below the lifting seat 1, and a scissor lift 6 is arranged between the top of the square plate 5 and the bottom of the lifting seat 1. The scissor lift 6 is a prior art, controlled by an external switch, and electrically connected to an external power supply. After the scissor lift 6 is started, the electric hydraulic system inside it responds quickly, drives the scissor structure to extend or contract, and then drives the lifting seat 1 to perform a smooth lifting operation, whether it is a subtle height adjustment or a large vertical displacement, it can be accurately achieved, four universal wheels 7 are installed at the bottom of the square plate 5, and the setting of the universal wheels 7 can flexibly move the entire device, and a dust collection component 2 for vacuuming the dust cleaned on the ceiling is arranged above the lifting seat 1, and a rope-controlled swing mechanism 3 for driving the dust collection component 2 to swing back and forth in the vertical direction to vacuum is also arranged above the lifting seat 1;

[0044] The rope-controlled swing mechanism 3 includes a horizontal plate 31 arranged above the lifting seat 1, the top of the horizontal plate 31 is rotatably connected to a rotating wheel 32, the outer surface of the rotating wheel 32 is provided with a Z-shaped arc groove 33, and the Z-shaped arc groove 33 is divided into an arc groove part and a vertical groove part. A triangular arc plate 34 is fixed to the top of the rotating wheel 32, and a mounting seat 35 is fixed to one side of the horizontal plate 31. A slide groove 36 is provided inside the mounting seat 35, and a slider 37 is slidably connected to the inner surface of the slide groove 36. The size of the slider 37 is adapted to the size of the slide groove 36. A vertical rod 38 is fixed to the bottom of the slider 37, and the bottom end of the vertical rod 38 extends to the bottom of the mounting seat 35. The outer surface of the vertical rod 38 is slidably connected to the inner surface of the mounting seat 35. A spring 39 is sleeved on the outer surface, the top of the spring 39 is fixed to the top of the slider 37, the bottom of the spring 39 is fixed to the bottom wall of the slide groove 36, the bottom end of the vertical rod 38 is fixed with a pull rope 310 through a pull ring, the bottom end of the pull rope 310 is fixed with a handle 8, a moving seat 311 is fixed to one side of the mounting seat 35, a boss 312 is fixed to one side of the moving seat 311, one end of the boss 312 extends to the inside of the Z-shaped arc groove 33, and the boss 312 slides in the Z-shaped arc groove 33. When the boss 312 slides in the arc groove part of the Z-shaped arc groove 33, it drives the rotating wheel 32 to rotate 180 degrees, and after sliding into the vertical groove part of the Z-shaped arc groove 33, the pull rope 310 is driven to reset under the action of the spring 39.

[0045] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0046] During operation, the lifting seat 1 is lifted by starting the scissor lift 6, and the motor 45 is started to drive the small gear 44 to rotate, and then the small gear 44 drives the large gear 42 to rotate, and then the large gear 42 drives the limiting column 48 to slide in the arc groove 46 when rotating, and at the same time, the limiting column 48 drives the moving rod 47 to slide out of the pentagonal plate 41, so that the five moving rods 47 extend outward to the maximum extent. At this time, the scissor lift 6 drives the bristles 412 to fit with the ceiling of the building, and the motor 45 is reversed. At this time, the five moving rods 47 radially contract inward, thereby driving the bristles 412 to radially clean the dust on the ceiling. When the dust is swept down, the pull rope 310 is pulled, so that the pull rope 310 drives the vertical rod 38 to move downward, and then the vertical rod 38 drives the slider 37 to slide downward in the slide groove 36, and then the slider 37 squeezes the compression spring. When the cam 312 is in the upright position, the cam 312 is in the upright position, and the cam 312 is in the upright position, so that the cam 312 is in the upright position.

[0047] The above embodiments of the invention are described in detail, but the contents are only preferred embodiments of the invention and cannot be considered to limit the scope of the invention. All equivalent changes and improvements made within the scope of the invention should still fall within the scope of the invention.

Claims

1. A rope-driven robot, comprising a lifting seat (1), characterized in that: A dust collecting assembly (2) for collecting dust cleaned on the ceiling is arranged above the lifting seat (1), and a rope-controlled swing mechanism (3) for driving the dust collecting assembly (2) to swing back and forth in a vertical direction for collecting dust is also arranged above the lifting seat (1); The rope-controlled swing mechanism (3) comprises a horizontal plate (31) arranged above the lifting seat (1); a rotating wheel (32) is rotatably connected to the top of the horizontal plate (31); a Z-shaped arc groove (33) is provided on the outer surface of the rotating wheel (32); a triangular arc plate (34) is fixed to the top of the rotating wheel (32); a mounting seat (35) is fixed to one side of the horizontal plate (31); a sliding groove (36) is provided inside the mounting seat (35); a sliding block (37) is slidably connected to the inner surface of the sliding groove (36); a vertical rod (38) is fixed to the bottom of the sliding block (37); the bottom end of the vertical rod (38) extends to the bottom of the mounting seat (35); and the vertical rod (38) is fixed to the bottom of the sliding block (37). The outer surface of the rod (38) is slidably connected to the inner surface of the mounting seat (35); a spring (39) is sleeved on the outer surface of the vertical rod (38); the top end of the spring (39) is fixed to the top of the slider (37); the bottom end of the spring (39) is fixed to the bottom wall of the slide groove (36); a pull rope (310) is fixed to the bottom end of the vertical rod (38) via a pull ring; a moving seat (311) is fixed to one side of the mounting seat (35); a convex column (312) is fixed to one side of the moving seat (311); one end of the convex column (312) extends to the inside of the Z-shaped arc groove (33), and the convex column (312) slides in the Z-shaped arc groove (33).

2. A rope-driven robot according to claim 1, characterized in that: The dust collection assembly (2) comprises a vertical tube (21) fixed on the top of the horizontal plate (31); the inner surface of the vertical tube (21) is slidably connected to a vertical rod (22); a U-shaped plate (23) is fixed to the top of the vertical rod (22); and a second spring (24) is sleeved on the outer surface of the vertical rod (22).

3. A rope-driven robot according to claim 2, characterized in that: The top end of the second spring (24) is fixed to the bottom of the U-shaped plate (23), the bottom end of the second spring (24) is fixed to the top of the vertical pipe (21), a circular plate (25) is fixed to one side of the U-shaped plate (23), a dust collection box (26) is fixed to the top of the circular plate (25), a dust collection box (27) is arranged on the top of the dust collection box (26), and the outer surface of the triangular arc plate (34) is in contact and extrusion with the bottom of the U-shaped plate (23).

4. A rope-driven robot according to claim 1, characterized in that: A cleaning control component (4) for cleaning dust on the ceiling over a large area is arranged on the top of the lifting seat (1). The cleaning control component (4) comprises a pentagonal plate (41) arranged above the lifting seat (1). A large gear (42) is rotatably connected to the top of the pentagonal plate (41). A triangular seat (43) is fixed on the pentagonal plate (41).

5. A rope-driven robot according to claim 4, characterized in that: A small gear (44) is fixed on the top of the triangular seat (43), and the large gear (42) meshes with the small gear (44). A motor (45) is fixed on the bottom of the triangular seat (43), and the motor (45) drives the small gear (44) to rotate.

6. A rope-driven robot according to claim 4, characterized in that: The large gear (42) is provided with five arc-shaped grooves (46) extending therethrough. The inner surface of the pentagonal plate (41) is slidably connected with five moving rods (47). The tops of the five moving rods (47) are all fixed with limiting columns (48).

7. A rope-driven robot according to claim 6, characterized in that: The top ends of the five limiting columns (48) all penetrate the arc-shaped groove (46) and extend to the outside of the arc-shaped groove (46), and the outer surfaces of the five limiting columns (48) are all slidably connected to the inner surface of the arc-shaped groove (46).

8. A cable-driven robot according to claim 6, characterized in that: A connecting block (49) is fixed to the ends of the five movable rods (47) that are away from each other, a connecting rod (410) is fixed to the top of the connecting block (49), a cleaning plate (411) is fixed to the top of the connecting rod (410), and bristles (412) are fixed to the top of the cleaning plate (411).

9. The cable-driven robot according to claim 1, characterized in that: A square plate (5) is arranged below the lifting seat (1), and a shear lift (6) is arranged between the top of the square plate (5) and the bottom of the lifting seat (1).

10. A cable-driven robot according to claim 9, characterized in that: The scissor lift (6) drives the lifting seat (1) to move up and down. Four universal wheels (7) are installed at the bottom of the square plate (5). A handle (8) is fixed at the bottom end of the pull rope (310).

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