Moving platform of a suspension cable-driven parallel robot and the parallel robot

Abstract

The present invention discloses a moving platform and a parallel robot of a suspended cable-driven parallel robot, which are applied to a parallel robot and include a moving platform frame (1), a modular anchoring base (2), a cable anchoring mechanism (3), a moving platform anti-falling device (4) and a robot measurement and control device. The cable anchoring mechanism (3) is installed at eight corner modules of the moving platform frame (1); and the cable tension of the end of the cable is measured. The moving platform frame (1) is installed with a robotic arm, a moving platform anti-falling device (4) and a robot measurement and control device, which measure the motion parameters of the moving platform and the robotic arm and control the operation of the robotic arm in combination with the measured cable tension. The anchoring points with a modular structure are easy to install and replace. At the same time, the cable tension at the end of the cable of the anchoring point can be measured, enabling the cable-driven parallel robot to complete more precise operation tasks. It also includes a rigid robotic arm, combining the flexibility of cable driving and the good rigidity of the rigid robotic arm.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical structures, particularly to the field of parallel robots, and specifically to a moving platform and a parallel robot of a suspended cable-driven parallel robot with a function of measuring cable tension and capable of rapid modular installation. Background Art

[0002] A cable-driven parallel robot is a robot driven by multiple cables to an end effector. The cable-driven parallel robot has the characteristics of strong load capacity, small moment of inertia and large working space, and is widely used in large equipment hoisting, aviation simulation support systems, logistics warehousing, etc.

[0003] The size of cable-driven robots is getting larger, but the requirements for fine operation are increasing day by day; in the application scenarios, large-scale suspended cable-driven parallel robots need to change different configurations under different working conditions to meet the needs of different tasks. At the same time, it is very necessary to be able to achieve precise operation. Compared with small-sized cable-driven parallel robots, due to the larger scale of the cable movement path, there are frictional forces and interference forces that are difficult to model on the cable movement path, and the mechanical properties of the cables are more complex, which significantly affects the accurate measurement of the cable tension parameters of the cable-driven parallel robot. Moreover, the cable anchoring positions of larger-scale suspended cable-driven parallel robots are relatively fixed, making it difficult to change the configuration of the cable-driven robot. Also, although the suspended cable-driven parallel robot has the ability to move in a large working space, its attitude control ability is poor. Therefore, it is very limited in many practical tasks, and the accuracy of the cable-driven parallel robot is worse than that of a rigid robotic arm.

[0004] In view of this, the present invention is specifically 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 cable-driven parallel robot, which adopt modular anchor points, are easy to install and replace. At the same time, it can measure the cable tension at the end of the cable of the anchor point, enabling the cable-driven parallel robot to complete more precise operation tasks. It also includes a rigid robotic arm, combining the flexibility of cable traction, the large-space movement ability and the excellent performance of the rigid robotic arm with good rigidity and high precision, capable of performing precise operation tasks.

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

[0007] A moving platform of a suspended cable-driven parallel robot includes a moving platform frame 1, a modular anchor base 2, a cable anchoring mechanism 3, a moving platform anti-falling device 4 and a robot measurement and control device;

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

[0009] A robotic arm and a moving platform anti-falling device 4 are installed on the outer side of the lower frame of the moving platform frame 1; the moving platform anti-falling device 4 protects the robotic arm from damage.

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

[0011] Preferably, the moving platform anti-falling device 4 includes four support feet, the upper ends of the support feet are respectively fixed at the four corners below the lower frame of the moving platform frame 1, the lower ends of the support feet expand outwards, and the inner cavity space range of the four support feet is larger than the working space of the robotic arm.

[0012] X-shaped reinforcing ribs 11 are provided on the side frames and / or the upper frame of the moving platform frame 1.

[0013] Preferably, the materials of the moving platform frame 1 and the moving platform anti-falling device 4 are aluminum, aluminum alloy, titanium and / or titanium alloy.

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

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

[0016] Preferably, the universal connector includes 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 shaft 37 orthogonal to the axis of the universal anchoring joint shaft 34;

[0019] The anchoring swing arm 36 includes two arms, and the two arms are respectively installed at both ends of the transverse shaft 37 through bearings.

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

[0021] The described cable force measurement unit 7 measures the cable force of the robotic arm.

[0022] The main industrial control computer is connected to the moving platform industrial control computer 5. The moving platform industrial control 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 robotic arm gripper.

[0023] The main industrial control computer is connected to the cable force measurement unit 7, receives the cable force of the robotic arm measured by the cable force measurement unit 7, and controls the operation of the robotic arm.

[0024] A suspended cable-driven parallel robot includes the moving platform of the above-mentioned suspended cable-driven parallel robot. The robotic arm installed below the moving platform frame 1 of the moving platform of the suspended cable-driven parallel robot is a rigid robotic arm 8.

[0025] Compared with the prior art, the moving platform of the suspended cable-driven parallel robot of the present invention and the parallel robot adopt modular anchor points, which are easy to install and replace. At the same time, it can measure the cable force at the end of the cable of the anchor point, enabling the cable-driven parallel robot to complete more precise operation tasks. It also includes a rigid robotic arm, combining the flexibility of cable traction, the large-space motion ability, and the good rigidity and high precision of the rigid robotic arm, and can perform excellent performance of 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 following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0027] Figure 1 It is the front view structure schematic diagram of the moving platform of the suspended cable-driven parallel robot provided in Embodiment 1 of the present invention;

[0028] Figure 2 It is the top view structure schematic diagram of the moving platform of the suspended cable-driven parallel robot provided in Embodiment 1 of the present invention;

[0029] Figure 3 It is the partial structure three-dimensional structure schematic diagram of the moving platform of the suspended cable-driven parallel robot provided in Embodiment 1 of the present invention;

[0030] Figure 4 It is the structure schematic diagram of the cable anchoring mechanism of the moving platform of the suspended cable-driven parallel robot provided in Embodiment 1 of the present invention;

[0031] Figure 5This is the principle block diagram of the robot measurement and control device for the moving platform of the suspended cable-driven parallel robot provided in the first embodiment of the present invention;

[0032] Figure 6 This is the three-dimensional structure schematic diagram of the suspended cable-driven parallel robot provided in the second embodiment of the present invention;

[0033] Figure 7 This is the structure schematic diagram of the rigid robotic arm of the suspended cable-driven parallel robot provided in the second embodiment of the present invention. Detailed implementation manners

[0034] Next, in combination with the specific content of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments, which does not constitute a limitation to the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] First, the following explanations are given for the terms that may be used in this article:

[0036] The term "and / or" means that either or both of the two can be realized. For example, X and / or Y means that it includes both the cases of "X" or "Y" and the three cases of "X and Y".

[0037] Descriptions with semantic meanings such as "including", "comprising", "containing", "having" or other similar ones should be interpreted as non-exclusive inclusion. For example: including a certain technical feature element (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, processes, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or articles, etc.), it should be interpreted as not only including the clearly listed certain technical feature element, but also including other well-known technical feature elements in the art that are not clearly listed.

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

[0039] Unless otherwise clearly defined or limited, the terms "installation", "connection", "attachment", "fixation", etc. shall 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 an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this text can be understood according to specific circumstances.

[0040] The orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplification of the description, rather than explicitly or implicitly indicating that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this text.

[0041] The moving platform of the suspended cable-towed parallel robot provided by the present invention will be described in detail below. The content not described in detail in the embodiments of the present invention belongs to the prior art well-known to those of ordinary skill in the art. For those conditions not specified in the embodiments of the present invention, they are carried out according to the conventional conditions in the art or the conditions recommended by the manufacturer. For the reagents or instruments not specified by the manufacturer in the embodiments of the present invention, they are all conventional products that can be obtained through commercial purchase.

[0042] Embodiment 1

[0043] As Figures 1 to 2 shown, a moving platform of a suspended cable-towed parallel robot includes a moving platform frame 1, a modular anchoring base 2, a cable anchoring mechanism 3, a moving platform anti-falling device 4 and a robot measurement and control device.

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

[0045] As Figure 3 shown, eight corners or all of the eight corners of the hollow cube frame of the moving platform frame 1 are respectively installed with a rope anchoring mechanism 3 through a modular anchoring base 2; that is, up to eight groups of rope anchoring mechanisms 3 can be installed through the eight corners, which can fully meet the usage requirements, and the specific quantity can be installed according to needs in practice.

[0046] The modularity of the modular anchoring base 2 here means that the eight corners of the moving platform frame 1 are provided with consistent standard installation interfaces, such as bolt group holes of a certain size are opened at the eight corners, and the bolt group holes have 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 equipment that may be used, and other equipment that may be used includes, for example, cameras. The rope anchoring mechanisms 3 installed at the eight corners can be interchanged in position or replaced with other equipment that may be used to achieve "modular" installation.

[0047] In this example, the rope anchoring mechanism 3 is provided with a force measuring sensor 31 for measuring the rope force at the end of the rope; specifically, as Figure 4 shown, the rope anchoring mechanism 3 includes a universal connector, a force measuring 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 described above 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 therebetween. There are two bolt holes on the modular anchoring base 2, which serve as the "modular" bolt group holes for connecting with the moving platform frame 1 and can be fixed at 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 position as the installation hole for the universal anchoring joint shaft 34, and the universal anchoring joint shaft 34 can be connected by threads. Specifically, the end of 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 fastening screws can be added radially to prevent loosening.

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

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

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

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

[0053] On the other side of the rope strut joint 32, it is crimped to the end of the rope. The rope strut joint 32 has a standard unified design, which can quickly replace the force sensor 31 and change the overall configuration of the suspended rope traction parallel robot.

[0054] The force sensor 31 is a pressure sensor with an S-shaped structure that can be used for both tension and compression. It generates a small deformation due to the pressure / tension signals on both sides and converts it into an electrical signal that can be processed and then outputs. It has a wide range, simple structure, high precision, good sensitivity, fast response time, long life, can operate stably in various environments, has a good filtering effect after adding a transmitter, and can output a standard signal. It is a commonly used force sensor.

[0055] The manipulator and the moving platform anti-falling device 4 are installed on the outer side of the lower frame of the moving platform frame 1; the moving platform anti-falling device 4 protects the manipulator from damage; the moving platform anti-falling device 4 includes four support feet, and the upper ends of the support feet are respectively fixed at the four corners under the lower frame of the moving platform frame 1, and the lower ends of the support feet expand outward. The inner cavity space range of the four support feet is larger than the working space of the manipulator. Specifically, the four support feet are bent from aluminum or aluminum alloy profiles, and their lower ends expand outward to increase the floor area in contact with the ground. Their height includes the vertical working space of the manipulator, and together with the lower frame of the moving platform frame 1, it can include the planar transverse and longitudinal working spaces of the manipulator, ensuring that the inner cavity space range of the four support feet is larger than the working space of the manipulator. Therefore, it can effectively protect the structure of the manipulator and prevent the manipulator from being damaged. In some special scenarios, such as in space, the moving platform anti-falling device 4 can be made of titanium or titanium alloy profiles. Of course, other materials can also be used, which are all within the protection scope of the present invention.

[0056] A manipulator mounting plate 12 is provided in the middle of the lower frame of the moving platform frame 1. The manipulator mounting plate 12 is fixed to the lower frame of the moving platform frame 1, and the manipulator is installed on the lower surface. The fixing and installation methods can both use bolt connection, which will not be elaborated here. The strength of the manipulator mounting plate 12 here should meet the requirements of installing the manipulator and withstanding the working dynamic impact of the manipulator. Aluminum plastic board, aluminum board, aluminum alloy board, titanium board or titanium alloy board, etc. can be used.

[0057] The 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 manipulator and control the operation of the manipulator in combination with the measured rope tension force. The robot measurement and control device includes a main industrial control computer, a moving platform industrial control computer 5, an inertial measurement unit 6 and a cable tension force measurement unit 7. At the same time, the robot measurement and control device can also include a camera, etc.

[0058] On the left and right sides of the lower frame of the moving platform frame 1 described above, there are also measurement and control device mounting plates 13. A moving platform industrial computer 5 is installed on one measurement and control device mounting plate 13, and an inertial measurement unit 6 and a cable force measurement unit 7 are installed on the other measurement and control device mounting plate 13. The cable force measurement unit 7 includes a transmitter. The fixing and installation methods can both adopt bolt connection, which will not be elaborated here. The measurement and control device mounting plate 13 here only needs to support the moving platform industrial computer 5, the inertial measurement unit 6 and the cable force measurement unit 7, and its thickness being less than that of the robotic arm mounting plate 12 can meet the usage requirements. Aluminum plastic plates, aluminum plates, aluminum alloy plates, titanium plates or titanium alloy plates, etc. can be used.

[0059] As Figure 5 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 motion parameters of the moving platform, such as position, speed, acceleration, attitude, angular velocity and angular acceleration, etc.; the cable force measurement unit 7 measures the cable force of the robotic arm. Specifically, it connects a force measurement sensor 31 to transmit the measured cable force data to the main industrial computer, and the transmitter can filter the cable force data measured by the force measurement 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 robotic arm, the gripper and the moving platform. For example, the camera can be installed at the end of the robotic arm or on the aluminum profile frame.

[0060] The moving 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. After data processing, it forms a control signal to control the motion of the robotic arm gripper of the robot to complete more precise operation tasks. At the same time, the camera feeds back the position and attitude of the robotic arm, the gripper and the moving platform. The moving platform industrial computer 5 is also connected to the main industrial computer to accept the unified dispatch of the system.

[0061] In summary, the moving platform of a suspended cable-driven parallel robot in this example has modularly installed anchoring points with redundant sensors and is equipped with a rigid robotic arm to perform delicate operations. The cable end force sensors can complete high-precision cable force measurement, reducing the impact of interference forces on the dynamics of the cable drive chain of the cable-driven parallel robot; the quickly detachable modular anchoring points enable the cable-driven parallel robot to quickly change its configuration according to various task requirements, and can change the working space and increase the stiffness of the cable-driven parallel robot for the operation task. Installing a robotic arm on the moving platform can effectively combine the large working space of the cable-driven parallel robot and the ability of the robotic arm to complete complex operation tasks, greatly expanding the application scenarios of the cable-driven parallel robot. Compared with the moving platform design scheme of traditional cable-driven parallel robots, the moving platform scheme with variable configuration anchoring points and end cable force measurement and a robotic arm can significantly increase the working space of the robot and provide more task flexibility for the cable-driven robot.

[0062] Embodiment 2

[0063] As Figure 6 shown in Figure 7 Fig. [X], a suspended cable-driven parallel robot includes the moving platform of the suspended cable-driven parallel robot described in Embodiment 1. The robotic arm installed below the moving platform frame 1 of the moving platform of the suspended cable-driven parallel robot is a rigid robotic arm 8. As Figure 7 shown in Fig. [X], the main body of the rigid robotic arm 8 is a lightweight six-axis robotic arm with a standardized interface at its end, which can install various loads such as grippers and spray guns at its end, greatly expanding the working scope of the suspended cable-driven robot and completing various tasks in a large space. Its precision is higher than that of the suspended cable-driven parallel robot, and it can accurately complete industrial tasks such as picking and assembling in cooperation 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 those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. The information disclosed in the background art part 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 any form of suggestion that this information constitutes the 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; The mechanical arm and the moving platform anti-fall device (4) are installed on the 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; the moving platform anti-fall device (4) comprises four supporting legs, the upper ends of the supporting legs are respectively fixed to the four corners of the lower frame of the moving platform frame (1), the lower ends of the supporting legs are expanded outwards, and the inner cavity space range of the four supporting legs is larger than the working space of the mechanical arm; 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 side frames and / or upper frames of the moving platform frame (1) are provided with X-shaped reinforcing tie bars (11).

3. The movable platform of the suspended rope-driven parallel robot according to any one of claims 1 to 2, 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.

4. 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).

5. The movable platform of the suspended rope-driven parallel robot according to claim 4, 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.

6. 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.

7. A suspended rope-driven parallel robot, characterized in that: The movable platform of the suspended rope-traction parallel robot comprises any one of claims 1 to 6, wherein the mechanical arm installed below the movable platform frame (1) of the movable platform of the suspended rope-traction parallel robot is a rigid mechanical arm (8).

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