Movable platform of suspension type rope traction parallel robot and parallel robot

Abstract

The invention discloses a movable platform of a suspension type rope traction parallel robot and the parallel robot, which are applied to the parallel robot and comprise a movable platform frame (1), a modular anchoring base (2), a rope anchoring mechanism (3), a movable platform falling protector (4) and a robot measurement and control device, rope anchoring mechanisms (3) are mounted on eight corner modules of the movable platform frame (1); the rope force of the tail end of the rope is measured; the movable platform frame (1) is provided with a mechanical arm, a movable platform falling protector (4) and a robot measurement and control device, motion parameters of the movable platform and the mechanical arm are measured, and work of the mechanical arm is controlled in combination with the measured rope force. According to the rope traction parallel robot, the anchoring point of a modular structure is adopted, installation and exchange are easy, meanwhile, the rope force of the tail end of the rope at the anchoring point can be measured, the rope traction parallel robot can complete more accurate operation tasks, and the rope traction parallel robot further comprises the rigid mechanical arm and has the excellent performance of rope traction flexibility and good rigidity of the rigid mechanical arm.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical structures, in particular to the field of parallel robots, and specifically to a movable platform of a suspended rope-pulled parallel robot with a rope force measurement function and capable of rapid modular installation, and a parallel robot. Background Art

[0002] The rope-pulled parallel robot is a robot whose end effector is driven by multiple ropes. The rope-pulled parallel robot has the characteristics of strong load capacity, small motion inertia and large workspace, and is widely used in large equipment lifting, aviation simulation support system and logistics warehousing.

[0003] The size of rope-pulled robots is getting bigger and bigger, but the requirements for refined operations are increasing day by day; in terms of application scenarios, large-scale suspended rope-pulled parallel robots need to change different configurations under different working conditions to adapt to different tasks. At the same time, the need for precise operation is very necessary. Compared with small-sized rope-pulled parallel robots, due to the larger scale of the rope motion path, there are friction and interference forces on the rope motion path that are difficult to model, and the mechanical properties of the rope are more complex, which significantly affects the accurate measurement of the rope force parameters of the rope-pulled parallel robot. The rope anchoring position of the larger-sized suspended rope-pulled parallel robot is relatively fixed, which makes it difficult to change the configuration of the rope-pulled robot. In addition, although the suspended rope-pulled parallel robot has the ability to move in a large workspace, its posture control ability is poor, so its use in many practical tasks is very limited, and the accuracy of the rope-pulled parallel robot is poorer than that of the rigid manipulator.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a moving platform and a parallel robot of a suspended rope-traction parallel robot, which adopts a modular structure of anchor points and is easy to install and replace. At the same time, it can realize the measurement of the rope force at the end of the rope at the anchor point, so that the rope-traction parallel robot can complete more precise operation tasks. It also includes a rigid robotic arm, which combines the flexibility of rope traction and large-space movement ability with the rigidity and high precision of a rigid robotic arm, and has the excellent performance of being able to perform precise operation tasks.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] A movable platform of a suspended rope-pulled parallel robot, comprising a movable platform frame 1, a modular anchoring base 2, a rope anchoring mechanism 3, a movable platform fall arrester 4 and a robot measurement and control device;

[0008] The moving platform frame 1 is a hollow cubic frame; the eight corners are partially or completely installed with rope anchoring mechanisms 3 through modular anchoring bases 2; the rope anchoring mechanism 3 is provided with a force sensor 31 for measuring the rope force at the end of the rope;

[0009] The mechanical arm and the moving platform anti-fall device 4 are installed on the lower outer side of the lower frame of the moving platform frame 1; the moving platform anti-fall device 4 protects the mechanical arm from damage;

[0010] A robot measurement and control device is installed on the inner side of the lower frame of the moving platform frame 1 to measure the motion parameters of the moving platform and the mechanical arm and control the operation of the mechanical arm in combination with the measured rope force.

[0011] Preferably, the moving platform fall arrester 4 includes four legs, the upper ends of the legs are respectively fixed to the four corners below the lower frame of the moving platform frame 1, the lower ends of the legs are expanded outward, and the inner cavity space range of the four legs is larger than the working space of the robot arm.

[0012] The side frames and / or upper frames of the moving platform frame 1 are provided with X-shaped reinforcing tie bars 11 .

[0013] Preferably, the material of the moving platform frame 1 and the moving platform fall arrester 4 is aluminum, aluminum alloy, titanium and / or titanium alloy.

[0014] Preferably, the rope anchoring mechanism 3 comprises a universal connector, a force sensor 31 and a rope support rod joint 32;

[0015] The universal connector is installed on the modular anchoring base 2. One end of the force sensor 31 is installed on the universal connector through a connecting rod 33 and rotates freely with the universal connector. The other end of the force sensor 31 is connected to the rope support rod joint 32 to measure the rope force at the end of the rope of the rope support rod joint 32.

[0016] Preferably, the universal connector comprises a universal anchoring joint shaft 34, an anchoring rotating block 35 and an anchoring swing arm 36;

[0017] The universal anchoring joint shaft 34 is installed on the modular anchoring base 2, and the anchoring rotating block 35 is installed on the universal anchoring joint shaft 34 through a bearing and rotates freely;

[0018] The anchoring rotating block 35 is provided with a transverse axis 37 orthogonal to the axis of the universal anchoring joint shaft 34;

[0019] The anchoring swing arm 36 comprises two arms, and the two arms are respectively mounted on both ends of the horizontal axis 37 through bearings.

[0020] Preferably, the robot measurement and control device includes a main industrial computer, a moving platform industrial computer 5, an inertial measurement unit 6 and a cable force measurement unit 7;

[0021] The cable force measuring unit 7 measures the cable force of the rope of the manipulator;

[0022] The main industrial computer is connected to the dynamic platform industrial computer 5, and the dynamic platform industrial computer 5 is connected to the inertial measurement unit 6, receives the motion parameters of the dynamic platform measured by the inertial measurement unit 6, and controls the mechanical arm gripper;

[0023] The main industrial computer is connected to the cable force measuring unit 7, receives the rope force of the manipulator measured by the cable force measuring unit 7, and controls the operation of the manipulator.

[0024] A suspended rope-traction parallel robot comprises the above-mentioned moving platform of the suspended rope-traction parallel robot, wherein the mechanical arm installed below the moving platform frame 1 of the moving platform of the suspended rope-traction parallel robot is a rigid mechanical arm 8.

[0025] Compared with the prior art, the movable platform and parallel robot of the suspended rope-traction parallel robot of the present invention adopt a modular structure of anchor points, which are easy to install and replace. At the same time, the rope force at the end of the rope at the anchor point can be measured, so that the rope-traction parallel robot can complete more precise operation tasks. It also includes a rigid robotic arm, which combines the flexibility of rope traction and large-space movement ability with the rigidity and high precision of a rigid robotic arm, and has the excellent performance of being able to perform precise operation tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0027] Figure 1 This is a schematic diagram of the main structure of the moving platform of the suspended rope-traction parallel robot provided in the first embodiment of the present invention;

[0028] Figure 2 A schematic diagram of the top view of the moving platform of the suspended rope-traction parallel robot provided in the first embodiment of the present invention;

[0029] Figure 3 A schematic diagram of a partial structure of a moving platform of a suspended rope-pulled parallel robot provided in the first embodiment of the present invention;

[0030] Figure 4 A schematic diagram of the structure of a rope anchoring mechanism of a movable platform of a suspended rope-pulled parallel robot is provided for the first embodiment of the present invention;

[0031] Figure 5A principle block diagram of a robot measurement and control device for a movable platform of a suspended rope-pulled parallel robot is provided for the first embodiment of the present invention;

[0032] Figure 6 A schematic diagram of the three-dimensional structure of a suspended rope-pulled parallel robot is provided for the second embodiment of the present invention;

[0033] Figure 7 A schematic diagram of the rigid mechanical arm structure of a suspended rope-traction parallel robot is provided for the second embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in combination with the specific content of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, which does not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0035] First, the terms that may be used in this article are explained as follows:

[0036] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y means both “X” or “Y” and “X and Y”.

[0037] The terms "include", "comprises", "contains", "has" or other descriptions with similar semantics should be interpreted as non-exclusive inclusion. For example, including certain technical feature elements (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or products, etc.) should be interpreted as including not only certain technical feature elements explicitly listed, but also other technical feature elements known in the art that are not explicitly listed.

[0038] The term "consisting of..." means excluding any technical feature elements not explicitly listed. If this term is used in a claim, it will make the claim closed, so that it does not contain technical feature elements other than the technical feature elements explicitly listed, except for the conventional impurities related to them. If this term only appears in a clause of a claim, it only limits the elements explicitly listed in the clause, and the elements recorded in other clauses are not excluded from the overall claim.

[0039] Unless otherwise specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this article can be understood according to specific circumstances.

[0040] The orientation or position relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the drawings and are only for the convenience and simplification of description, and do not explicitly or implicitly indicate that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation of this document.

[0041] The following is a detailed description of the movable platform of the suspended rope-pulled parallel robot provided by the present invention. The contents not described in detail in the embodiments of the present invention belong to the prior art known to professionals in the field. If no specific conditions are specified in the embodiments of the present invention, the conventional conditions in the field or the conditions recommended by the manufacturer are followed. If the manufacturer of the reagents or instruments used in the embodiments of the present invention is not specified, they are all conventional products that can be purchased commercially.

[0042] Embodiment 1

[0043] like Figure 1 to Figure 2 As shown, a moving platform of a suspended rope-traction parallel robot includes a moving platform frame 1, a modular anchoring base 2, a rope anchoring mechanism 3, a moving platform fall arrester 4 and a robot measurement and control device.

[0044] The moving platform frame 1 is a hollow cube frame; aluminum or aluminum alloy profiles are connected to form a hollow cube structure through connectors, and its external structural dimensions can be freely determined by selecting or cutting profiles of different lengths, and it has a wide range of applications. At the same time, the side frame and / or upper frame of the moving platform frame 1 are provided with X-shaped reinforcement ribs 11, and the X-shaped reinforcement ribs 11 are also cut from aluminum or aluminum alloy profiles. Here, the X-shaped reinforcement ribs 11 are cross-designed to withstand forces in two directions, which helps to eliminate the deformation of the mechanism and improve the accuracy of the end effector. It is generally set on a surface with a larger area and no components are installed, such as the upper frame and the side frame. The moving platform frame 1 is made of aluminum or aluminum alloy profiles to ensure that it has sufficient rigidity and strength to reduce the interference caused by the movement of the robotic arm to the moving platform, improve the accuracy of the end effector, and ensure that the center of gravity of the overall moving platform will not be significantly offset. In some special scenarios, such as in space, the moving platform frame 1 can be made of titanium or titanium alloy profiles. Of course, other materials can also be used, all of which are within the scope of protection of the present invention.

[0045] like Figure 3 As shown, the eight corners of the hollow cube frame of the moving platform frame 1 are partially or completely installed with rope anchoring mechanisms 3 through modular anchoring bases 2; that is, at most eight groups of rope anchoring mechanisms 3 can be installed through the eight corners, which can fully meet the use requirements, and in practice, a specific number can be installed as needed.

[0046] The modularity of the modular anchoring base 2 here refers to the fact that the eight corners of the moving platform frame 1 are provided with consistent standard installation interfaces, such as bolt group holes of different sizes opened at the eight corners, which are the same size as the bolt group holes opened on the modular anchoring base 2. At the same time, bolt group holes of the same size are also used on other devices that may be used, such as cameras, etc. The rope anchoring mechanisms 3 installed on the eight corners can be interchanged or replaced with other devices that may be used to achieve "modular" installation.

[0047] In this example, the rope anchoring mechanism 3 is provided with a force sensor 31 for measuring the rope force at the end of the rope; specifically, Figure 4 As shown, the rope anchoring mechanism 3 includes a universal connector, a force sensor 31 and a rope support rod joint 32; the universal connector includes a universal anchoring joint shaft 34, an anchoring rotating block 35 and an anchoring swing arm 36.

[0048] The universal connector is installed on the modular anchoring base 2, specifically, the universal anchoring joint shaft 34 is installed on the modular anchoring base 2, and they are fixedly connected. There are two bolt holes on the modular anchoring base 2, which serve as "modular" bolt group holes connected to the moving platform frame 1, and can be fixed in the corresponding positions of the bolt group holes of the moving platform frame 1 and fixed by bolt connection. The part of the modular anchoring base 2 extending out of the moving platform frame 1 is provided with a hole as the mounting hole of the universal anchoring joint shaft 34, and the universal anchoring joint shaft 34 can be connected by threading. Specifically, the universal anchoring joint shaft 34 is a threaded shaft end, which is screwed into the threaded hole of the modular anchoring base 2 for fixed connection, and the radial tightening screws can be tightened to prevent loosening.

[0049] The anchoring rotating block 35 of the universal connector is installed on the universal anchoring joint shaft 34 through a bearing and can rotate freely; specifically, there is an installation position for installing a bearing on the universal anchoring joint shaft 34, and a low-resistance roller bearing is installed. The anchoring rotating block 35 is installed on the roller bearing and can rotate freely. The anchoring rotating block 35 can rotate in the traction direction of the rope.

[0050] The anchoring rotating block 35 is provided with a transverse axis 37 orthogonal to the axis of the universal anchoring joint shaft 34; the transverse axis 37 has a mounting position for mounting a bearing, and two low-resistance roller bearings are mounted thereon. The anchoring swing arm 36 includes two arms, and the two arms are respectively mounted at both ends of the transverse axis 37 through two low-resistance roller bearings, thereby realizing a universal connection of the universal connector. Of course, the universal connector here can also use a known universal joint structure, which is within the protection scope of this patent.

[0051] One end of the force sensor 31 is mounted on the universal connector through the connecting rod 33 and rotates freely with the universal connector. Specifically, one end of the force sensor 31 is mounted on the anchoring swing arm 36 through the connecting rod 33. The connection between the two arms of the anchoring swing arm 36 is provided with a threaded hole. The connecting rod 33 is a stud, one end of which is connected to the threaded hole of the anchoring swing arm 36 and is locked by a nut. At the same time, the nut can be used to lock it after the depth of the connecting rod 33 stud is screwed into the threaded hole of the anchoring swing arm 36. This end of the force sensor 31 is also a threaded hole. The other end of the connecting rod 33 is connected to the threaded hole of the force sensor 31 and is locked by a nut. At the same time, the nut can be used to lock it after the depth of the connecting rod 33 stud is screwed into the threaded hole of the force sensor 31.

[0052] The other end of the force sensor 31 is connected to the rope support rod joint 32. The connecting end of the rope support rod joint 32 and the force sensor 31 is also a stud. The end of the force sensor 31 is also a threaded hole. The stud of the force sensor 31 is connected to the threaded hole of the force sensor 31 and can be locked by a nut. The force sensor 31 measures the rope force at the end of the rope of the rope support rod joint 32.

[0053] The other side of the rope support rod joint 32 is crimped to the end of the rope. The rope support rod joint 32 is of standard and unified design, and the force sensor 31 can be quickly replaced and the overall configuration of the suspended rope-traction parallel robot can be changed.

[0054] The force sensor 31 is a pressure sensor with an S-shaped structure. It can be used for both tension and compression. It converts the tiny deformation caused by the pressure / tension signals on both sides into processable electrical signals and outputs them after processing. It has a wide range, simple structure, high accuracy, good sensitivity, fast response time, and long life. It can operate stably in various environments. After adding a transmitter, it has a good filtering effect and can output standard signals. It is a commonly used force sensor.

[0055] The mechanical arm and the moving platform anti-drop device 4 are installed on the outer side of the lower frame of the moving platform frame 1; the moving platform anti-drop device 4 protects the mechanical arm from damage; the moving platform anti-drop device 4 includes four legs, the upper ends of the legs are respectively fixed at the four corners of the lower frame of the moving platform frame 1, the lower ends of the legs are expanded outward, and the inner cavity space range of the four legs is larger than the working space of the mechanical arm. Specifically, the four legs are bent by aluminum or aluminum alloy profiles, and the lower ends thereof are expanded outward to increase the floor area in contact with the ground. The height includes the vertical working space of the mechanical arm, and the lower frame of the moving platform frame 1 can include the horizontal and longitudinal working space of the mechanical arm, ensuring that the inner cavity space range of the four legs is larger than the working space of the mechanical arm. Therefore, the structure of the mechanical arm can be effectively protected and the mechanical arm can be prevented from being damaged. In some special scenarios, such as in space, the moving platform anti-drop device 4 can be made of titanium or titanium alloy profiles. Of course, other materials can also be used, all of which are within the scope of protection of the present invention.

[0056] A mechanical arm mounting plate 12 is provided in the middle of the lower frame of the moving platform frame 1. The mechanical arm mounting plate 12 is fixed to the lower frame of the moving platform frame 1, and the mechanical arm is mounted on the lower surface. The fixing and mounting methods can be bolted, which will not be described in detail. The strength of the mechanical arm mounting plate 12 here must meet the requirements of installing the mechanical arm and withstanding the working power impact of the mechanical arm, etc., and aluminum-plastic plates, aluminum plates, aluminum alloy plates, titanium plates or titanium alloy plates, etc. can be used.

[0057] A robot measurement and control device is installed on the inner side of the lower frame of the moving platform frame 1 to measure the motion parameters of the moving platform and the mechanical arm and control the operation of the mechanical arm in combination with the measured rope tension. The robot measurement and control device includes a main industrial computer, a moving platform industrial computer 5, an inertial measurement unit 6 and a rope tension measurement unit 7. At the same time, the robot measurement and control device may also include a camera, etc.

[0058] The left and right sides of the lower frame of the moving platform frame 1 are also provided with a measuring and controlling device mounting plate 13, on which the moving platform industrial computer 5 is mounted, and on which the inertial measurement unit 6 and the cable force measurement unit 7 are mounted, the cable force measurement unit 7 includes a transmitter. Both the fixing and the mounting methods can be bolted, which will not be described in detail. The measuring and controlling device mounting plate 13 here is sufficient to support the moving platform industrial computer 5, the inertial measurement unit 6 and the cable force measurement unit 7, and its thickness is less than the mechanical arm mounting plate 12 to meet the use requirements, and aluminum-plastic plates, aluminum plates, aluminum alloy plates, titanium plates or titanium alloy plates can be used.

[0059] like Figure 5 As shown, the robot measurement and control device includes a main industrial computer, a moving platform industrial computer 5, an inertial measurement unit 6, a cable force measurement unit 7 and a camera; the main industrial computer is installed on the ground or in the control room, and does not need to be installed on the moving platform. The inertial measurement unit 6 measures the position, velocity, acceleration, attitude, angular velocity and angular acceleration and other motion parameters of the moving platform; the cable force measurement unit 7 measures the rope force of the manipulator, specifically, the force sensor 31 is connected to transmit the measured rope force data to the main industrial computer, and the transmitter can filter the rope force data measured by the force sensor 31 and convert it into a standard ethercat signal for transmission. The camera can be set at a suitable position to monitor the position and attitude of the manipulator, the gripper and the moving platform, such as the camera can be installed at the end of the manipulator or on the aluminum profile frame.

[0060] The mobile platform industrial computer 5 is connected to the inertial measurement unit 6 and the camera, and receives the motion parameters collected by the inertial measurement unit 6, and forms a control signal through data processing to control the movement of the robot's mechanical arm gripper to complete a more precise operation task. At the same time, the camera feeds back the position and posture of the mechanical arm, gripper and mobile platform. The mobile platform industrial computer 5 is also connected to the main industrial computer to accept the unified mobilization of the system.

[0061] In summary, the mobile platform of a suspended rope-pulled parallel robot in this example has modularly installed anchor points with redundant sensors and is equipped with a rigid robotic arm to complete refined operations. The force sensor at the end of the rope can complete high-precision rope force measurement and reduce the influence of interference force on the rope transmission chain of the rope-pulled parallel robot on the dynamics; the modular anchor points that can be quickly disassembled can allow the rope-pulled parallel robot to quickly change its configuration according to various task requirements, and can change the workspace according to the operation task and increase the rigidity of the rope-pulled parallel robot. The installation of a robotic arm on the mobile platform can effectively combine the large workspace of the rope-pulled parallel robot and the ability of the robotic arm to complete complex operation tasks, greatly expanding the use scenarios of the rope-pulled parallel robot. Compared with the design scheme of the mobile platform of the traditional rope-pulled parallel robot, the mobile platform scheme with a variable configuration anchor point for end-cable force measurement can significantly increase the robot's workspace and provide more task flexibility for the rope-pulled robot.

[0062] Embodiment 2

[0063] like Figure 6 and Figure 7 As shown, a suspended rope-pulled parallel robot comprises the movable platform of the suspended rope-pulled parallel robot described in the first embodiment, and the mechanical arm installed below the movable platform frame 1 of the movable platform of the suspended rope-pulled parallel robot is a rigid mechanical arm 8. The rigid mechanical arm 8 is as shown in FIG. Figure 7 As shown, the main body of the rigid robotic arm 8 is a lightweight six-axis robotic arm with a standardized interface at the end of the robotic arm, on which a variety of loads, such as grippers, spray guns, etc., can be installed. This can greatly expand the working scope of the suspended rope-traction robot and complete a variety of tasks in a large space. Its accuracy is higher than that of the suspended rope-traction parallel robot, and it can accurately complete industrial tasks such as picking and assembly with the end load.

[0064] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or in any form that the information constitutes prior art known to those skilled in the art.

Claims

1. A movable platform of a suspended rope-driven parallel robot, characterized in that: It comprises a moving platform frame (1), a modular anchoring base (2), a rope anchoring mechanism (3), a moving platform fall arrester (4) and a robot measurement and control device; The moving platform frame (1) is a hollow cubic frame; the eight corners are partially or completely installed with rope anchoring mechanisms (3) through modular anchoring bases (2); the rope anchoring mechanisms (3) are provided with force sensors (31) for measuring the rope force at the end of the rope; A mechanical arm and a moving platform anti-fall device (4) are installed on the lower outer side of the lower frame of the moving platform frame (1); the moving platform anti-fall device (4) protects the mechanical arm from damage; A robot measurement and control device is installed on the inner side of the lower frame of the moving platform frame (1) to measure the motion parameters of the moving platform and the mechanical arm and control the operation of the mechanical arm in combination with the measured rope force.

2. The movable platform of the suspended rope-driven parallel robot according to claim 1, characterized in that: The moving platform fall arrester (4) comprises four legs, the upper ends of which are respectively fixed to the four corners below the lower frame of the moving platform frame (1), the lower ends of which are expanded outwards, and the inner cavity space range of the four legs is larger than the working space of the robot arm.

3. The movable platform of the suspended rope-driven parallel robot according to claim 1, characterized in that: The side frames and / or upper frames of the moving platform frame (1) are provided with X-shaped reinforcing tie bars (11).

4. The movable platform of the suspended rope-driven parallel robot according to any one of claims 1 to 3, characterized in that: The materials of the moving platform frame (1) and the moving platform fall arrester (4) are aluminum, aluminum alloy, titanium and / or titanium alloy.

5. The movable platform of the suspended rope-driven parallel robot according to claim 1, characterized in that: The rope anchoring mechanism (3) comprises a universal connector, a force sensor (31) and a rope support rod joint (32); The universal connector is mounted on the modular anchor base (2); one end of the force sensor (31) is mounted on the universal connector via a connecting rod (33) and rotates freely with the universal connector; the other end of the force sensor (31) is connected to a rope support rod joint (32) to measure the rope force at the end of the rope of the rope support rod joint (32).

6. The movable platform of the suspended rope-driven parallel robot according to claim 5, characterized in that: The universal connector comprises a universal anchoring joint shaft (34), an anchoring rotating block (35) and an anchoring swing arm (36); The universal anchoring joint shaft (34) is mounted on the modular anchoring base (2), and the anchoring rotating block (35) is mounted on the universal anchoring joint shaft (34) via a bearing and is freely rotatable; The anchoring rotating block (35) is provided with a transverse axis (37) which is orthogonal to the axis of the universal anchoring joint shaft (34); The anchored swing arm (36) comprises two arms, and the two arms are respectively mounted on both ends of the transverse axis (37) through bearings.

7. The movable platform of the suspended rope-driven parallel robot according to claim 1, characterized in that: The robot measurement and control device comprises a main industrial computer, a moving platform industrial computer (5), an inertial measurement unit (6) and a cable force measurement unit (7); The cable force measuring unit (7) measures the cable force of the rope of the mechanical arm; The main industrial computer is connected to the moving platform industrial computer (5), and the moving platform industrial computer (5) is connected to the inertial measurement unit (6), receives the motion parameters of the moving platform measured by the inertial measurement unit (6), and controls the mechanical arm gripper; The main industrial control computer is connected to the cable force measuring unit (7) and receives the rope force measured by the cable force measuring unit (7); And control the work of the robotic arm.

8. A suspended rope-driven parallel robot, characterized in that: The invention comprises a moving platform of a suspended rope-traction parallel robot as claimed in any one of claims 1 to 7, wherein the mechanical arm installed below the moving platform frame (1) of the moving platform of the suspended rope-traction parallel robot is a rigid mechanical arm (8).

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