Rope traction parallel robot pipeline guiding system and parallel robot

Abstract

The invention discloses a rope traction parallel robot pipeline guiding system and a parallel robot. The rope traction parallel robot pipeline guiding system comprises a top cross beam (1) and side stand columns (7). Two ends of the top cross beam (1) are respectively provided with a wire outlet base (2) and a synchronous pulley (6); a driving pulley (3) is mounted in the wire outlet base (2); a turning pulley (9) is mounted on a moving part of the vertical sliding mechanism (8) on the side upright post (7); a corrugated pipe (10) is led in from the lower part of the wire outlet base (2), bypasses the driving pulley (3) and the synchronous pulley (6), downwards bypasses the turning pulley (9), and upwards reaches a mounting position to be fixed; the synchronous driving device (5) drives the driving pulley (3) and the synchronous pulley (6) to rotate synchronously, and meanwhile the turning pulley (9) moves up and down synchronously in a coordinated mode along the vertical sliding mechanism (8). The cable can be synchronously wound and unwound, interference in the signal transmission process is avoided, the application range of the movable platform can be expanded, and the overall structure of the rope traction parallel robot is more concise.

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 cable traction parallel robot pipeline guiding system and a parallel robot. Background Art

[0002] A cable traction parallel robot is a robot driven by multiple cables to an end effector. The cable traction 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, and logistics warehousing, etc.

[0003] For the application of cable traction robots in various fields, to meet the needs of large-sized spaces, the overall size of cable traction robots is also expanding. At the same time, the number of devices on the moving platform of cable traction parallel robots increases, and the power supply and data transmission of the devices on the moving platform pose higher requirements for the layout and installation method of cables on the moving platform. The existing drum pipeline guiding scheme for the moving platform of cable traction parallel robots requires power and data transmission through a slip ring on the drum shaft. For the cables of some devices, passing through the slip ring will significantly increase the interference during signal transmission and affect the stability of the devices on the moving platform. When new sensors and other devices need to be added to the moving platform according to task requirements, the traditional scheme often requires replacing the drum and the slip ring, basically losing the possibility of flexibly updating the devices on the moving platform for different tasks and being difficult to meet different task types.

[0004] Therefore, how to redesign the cable pipeline guiding system of cable traction parallel robots so that it can synchronously wind and unwind cables, reduce its interference with cable traction parallel robots, and increase the applicability of the moving platform to tasks is an urgent problem to be solved currently.

[0005] In view of this, the present invention is specifically proposed. Summary of the Invention

[0006] The object of the present invention is to provide a cable traction parallel robot pipeline guiding system and a parallel robot, which adopt a synchronous transmission structure, can synchronously wind and unwind cables, avoid interference during signal transmission, can expand the application range of the moving platform, and make the overall configuration of the cable traction parallel robot more concise.

[0007] The object of the present invention is achieved by the following technical solutions:

[0008] A cable traction parallel robot pipeline guiding system includes a top crossbeam 1 and side columns 7;

[0009] Both ends of the top cross beam 1 are respectively installed with an outgoing line base 2 and a synchronous pulley 6; a driving pulley 3 is installed inside the outgoing line base 2; the side column 7 is arranged below one end of the top cross beam 1 where the synchronous pulley 6 is installed, and a vertical sliding mechanism 8 is provided on the side column 7, and a deflecting pulley 9 is installed on the moving part of the vertical sliding mechanism 8;

[0010] The corrugated pipe 10 is introduced through the inlet hole 11 below the outgoing line base 2, bypasses the driving pulley 3 and the synchronous pulley 6, goes down around the deflecting pulley 9 and then goes up to be fixed at the installation position on the moving platform frame;

[0011] The synchronous driving device 5 arranged between the driving pulley 3 and the synchronous pulley 6 drives the driving pulley 3 and the synchronous pulley 6 to rotate synchronously. At the same time, the deflecting pulley 9 moves up and down synchronously along with the vertical sliding mechanism 8.

[0012] Preferably, a plurality of guide pulleys 12 are evenly distributed circumferentially along the inlet hole 11 below the outgoing line base 2; the corrugated pipe 10 bypasses any one of the guide pulleys 12 and is introduced into the outgoing line base 2.

[0013] Preferably, the number of the guide pulleys 12 is 3, 4, 6 or 8.

[0014] Preferably, the outgoing line base 2 includes a base top plate 21 and a base bottom plate 22, and the base top plate 21 and the base bottom plate 22 are connected into a base frame structure through a plurality of base vertical rods 23; the base top plate 21 is connected to the top cross beam 1, an inlet hole 11 is opened on the base bottom plate 22, and a plurality of guide pulleys 12 are installed below; the driving pulley 3 is installed inside the frame structure.

[0015] Preferably, the synchronous driving device 5 includes a driving belt pulley 51, a synchronous belt 52 and a driven belt pulley 53; the driving belt pulley 51 and the driving pulley 3 are coaxially installed and rotate synchronously, and the driven belt pulley 53 and the synchronous pulley 6 are coaxially installed and rotate synchronously; the synchronous belt 52 is installed between the driving belt pulley 51 and the driven belt pulley 53, and the synchronous driving motor 54 of the synchronous driving device 5 drives the driving pulley 3 and the driving belt pulley 51 to rotate and at the same time drives the driven belt pulley 53 and the synchronous pulley 6 to rotate synchronously through the synchronous belt 52.

[0016] Preferably, at least one supporting pulley 4 is arranged between the driving pulley 3 and the synchronous pulley 6 below the top cross beam 1; the corrugated pipe 10 section extending from the driving pulley 3 to the synchronous pulley 6 is supported.

[0017] Preferably, the number of the supporting pulleys 4 is 2 or 3.

[0018] Preferably, the vertical sliding mechanism 8 includes a rotating lead screw - sliding nut mechanism, the sliding nut is arranged on the sliding table as the moving part, and the deflecting pulley 9 is installed on the sliding table.

[0019] Preferably, a plurality of anti-roll members 13 for preventing the bellows 10 from disengaging are further provided on the outer periphery of the deflecting pulley 9.

[0020] A cable-towed parallel robot uses the above-mentioned cable-towed parallel robot pipeline guiding system.

[0021] Compared with the prior art, the cable-towed parallel robot pipeline guiding system and the parallel robot of the present invention adopt a synchronous transmission and collaborative structure, can synchronously wind and unwind the cables, and the pipeline guiding system follows the movement of the cable-towed parallel robot to synchronously wind and unwind the cable length, which can bring as little kinematic and dynamic interference as possible to the moving platform of the cable-towed parallel robot, reduce the disturbance to the cable-towed parallel robot, and improve the actual operation accuracy of the cable-towed parallel robot; the unified cable winding and unwinding ability can also prevent the cables on the moving platform of the cable-towed parallel robot from being entangled, avoid interference with the cables of the cable-towed parallel robot during the movement of the cable-towed parallel robot, resulting in the cables being stretched and broken or entangled on the cables of the cable-towed parallel robot, and can make the overall configuration of the cable-towed parallel robot more concise. Description of the Drawings

[0022] 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 also be obtained based on these drawings.

[0023] Figure 1 Schematic three-dimensional structure of the cable-towed parallel robot pipeline guiding system provided by Embodiment 1 of the present invention Figure 1 ;

[0024] Figure 2 Schematic three-dimensional structure of the cable-towed parallel robot pipeline guiding system provided by Embodiment 1 of the present invention Figure 2 ;

[0025] Figure 3 Schematic three-dimensional structure of the top crossbeam and its mounting components of the cable-towed parallel robot pipeline guiding system provided by Embodiment 1 of the present invention Figure 1 ;

[0026] Figure 4 Schematic three-dimensional structure of the top crossbeam and its mounting components of the cable-towed parallel robot pipeline guiding system provided by Embodiment 1 of the present invention Figure 2 ;

[0027] Figure 5 Schematic three-dimensional structure of the wire outlet base of the cable-towed parallel robot pipeline guiding system provided by Embodiment 1 of the present invention Figure 1;

[0028] Figure 6 Schematic three - dimensional structure of the wire outlet base of the cable - traction parallel robot pipeline guiding system provided in the first embodiment of the present invention Figure 2 ;

[0029] Figure 7 Schematic three - dimensional structure of the side column and its mounting components of the cable - traction parallel robot pipeline guiding system provided in the first embodiment of the present invention Figure 1 ;

[0030] Figure 8 Schematic three - dimensional structure of the side column and its mounting components of the cable - traction parallel robot pipeline guiding system provided in the first embodiment of the present invention Figure 2 ;

[0031] Figure 9 Schematic structure diagram of the cable - traction parallel robot pipeline guiding system applied to the cable - traction parallel robot provided in the second embodiment of the present invention. Detailed implementation manners

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the specific content of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all 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 fall within the protection scope of the present invention.

[0033] First, the following explanations will be made for the terms that may be used in this article:

[0034] The term "and / or" means that either one or both of the two can be realized. For example, X and / or Y means that it includes both the case of "X" or "Y" and the three cases of "X and Y".

[0035] 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.) 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.

[0036] The term "consisting of" means excluding any technical feature elements not expressly listed. If this term is used in a claim, it will make the claim closed, so that it does not include technical feature elements other than those expressly listed, except for the associated conventional impurities. If this term only appears in a sub-clause of a claim, it only limits the elements expressly listed in that sub-clause, and the elements recorded in other sub-clauses are not excluded from the overall claim.

[0037] Unless otherwise expressly stipulated or limited, terms such as "installed", "connected", "joined", "fixed", 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 directly connected or indirectly connected 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.

[0038] The orientation or positional relationship indicated by terms such as "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, and is only for the convenience of description and simplification of the description, rather than expressly or impliedly indicating that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this text.

[0039] The technical solutions 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 in the embodiments of the present invention for the manufacturer, they are all conventional products that can be obtained through commercial purchase.

[0040] Embodiment 1

[0041] As Figure 1 [[ID=1,7]] Figure 2 shown, refer to Figure 9 ​A pipeline guiding system for a rope-pulled parallel robot is installed on the robot frame of the rope-pulled parallel robot to guide the pipeline with cables. In this example, a corrugated tube 10 is used to pass the cables. The specific structure includes a top crossbeam 1 and a side column 7. The top crossbeam 1 is made of industrial aluminum profiles and is fixedly installed on the top of the robot frame 15 of the rope-pulled parallel robot through a top crossbeam connecting assembly 17 and bolts. The side column 7 is made of industrial aluminum profiles and is fixedly installed on the side of the robot frame 15 of the rope-pulled parallel robot through a side column connecting assembly 18 and bolts. The specific side column 7 is connected to the robot frame 15 at the upper and lower ends. These connection assemblies and bolt connection methods are all well-known technologies and will not be repeated here. It should be noted here that the verticality of the top crossbeam 1 and the side column 7 is a conventional solution and does not necessarily need to be vertical. In the case where the top of the robot frame 15 has a slope, the acute angle and obtuse angle between the top crossbeam 1 and the side column 7 are both applicable to this application. The industrial aluminum profile can be matched with aluminum profile accessories, which are light and convenient to install, adjust, and disassemble.

[0042] like Figure 3 and Figure 4 As shown, the two ends of the top crossbeam 1 are respectively installed with the outlet base 2 and the synchronous pulley 6; combined with the specific structure, the synchronous pulley 6 is installed at one end close to the side column 7, and the outlet base 2 is installed at the other end. The driving pulley 3 is installed in the outlet base 2; as shown in FIG. Figure 5 and Figure 6 As shown, the outlet base 2 comprises a base top plate 21 and a base bottom plate 22, which are bolted together via multiple base uprights 23 to form a base frame structure. The base uprights 23 are made of industrial aluminum profiles. The base top plate 21 is connected to the top crossbeam 1 and can be bolted via a connecting plate. The base bottom plate 22 has an inlet hole 11 formed in it, and multiple guide pulleys 12 are mounted below it. In this example, multiple guide pulleys 12 are evenly distributed around the circumference of the inlet hole 11 below the outlet base 2. These guide pulleys 12 enable the corrugated tube 10 to smoothly enter the outlet base 2 from any angle and be introduced into the drive pulley 3, reducing and preventing friction between the corrugated tube 10 and the inlet hole 11. The number of guide pulleys 12 may be 3, 4, 6, or 8. More numbers are possible, but 6 is generally the optimal and most economical solution. Too many increase costs and structural design difficulties, while too few may not meet the requirements of use.

[0043] The drive pulley 3 is mounted within the base frame structure of the outlet base 2. Specifically, it can be mounted using a drive pulley shaft and associated bearings, among other shafting components. The mounting structure and method are well-known and will not be described in detail here. The synchronous pulley 6 is mounted via a synchronous pulley bracket 14 connected to the top crossbeam 1, which can be connected via a connecting plate and bolts. The synchronous pulley 6 can be mounted on the synchronous pulley bracket 14 using a synchronous pulley shaft and associated bearings, among other shafting components. The mounting structure and method are well-known and will not be described here in detail here.

[0044] In this example, the side upright column 7 is disposed below one end of the top cross beam 1 where the synchronous pulley 6 is installed. A vertical sliding mechanism 8 is provided on the side upright column 7, and a deflecting pulley 9 is installed on the moving member of the vertical sliding mechanism 8. Specifically, referring to Figure 7 and Figure 8 as shown, the vertical sliding mechanism 8 includes a rotating lead screw - sliding nut mechanism. The lead screw - sliding nut mechanism is a well - known technology, and its specific structure, installation parameters, and installation methods are all well - known and will not be elaborated here. The sliding nut is disposed on the slide table which serves as the moving member of the vertical sliding mechanism 8, and the deflecting pulley 9 is installed on the slide table. The fixed member of the vertical sliding mechanism 8, that is, the support of the rotating lead screw, is installed on the side upright column 7 through a connecting plate and bolts. The deflecting pulley 9 can be installed on the slide table through a deflecting pulley shaft and related shafting components such as bearings. The deflecting pulley 9 is a driven wheel and has no power of its own. At the same time, a plurality of retaining rollers 13 for preventing the bellows 10 from detaching are provided on the outer periphery of the deflecting pulley 9. The retaining rollers 13 can be installed on the slide table through pin shafts. There can be three retaining rollers 13, which are respectively installed on the left, right, and below the outer periphery of the deflecting pulley 9.

[0045] In this example, the vertical sliding mechanism 8 further includes a sliding drive motor 81. The sliding drive motor 81 drives the rotating lead screw of the vertical sliding mechanism 8 to work, driving the deflecting pulley 9 on the slide table to move up and down. The sliding drive motor 81 is installed above the side upright column 7. Of course, a speed reducer can also be used in conjunction with the sliding drive motor 81 here.

[0046] In this example, a synchronous drive device 5 is provided between the drive pulley 3 and the synchronous pulley 6. Referring to Figure 3 and Figure 4 as shown, the synchronous drive device 5 includes a drive belt pulley 51, a synchronous belt 52, and a driven belt pulley 53. The drive belt pulley 51 is coaxially installed with the drive pulley 3 and rotates synchronously. Specifically, the drive belt pulley 51 can be installed on the drive pulley shaft. The driven belt pulley 53 is coaxially installed with the synchronous pulley 6 and rotates synchronously. Specifically, the driven belt pulley 53 can be installed on the synchronous pulley shaft. The synchronous belt 52 is installed between the drive belt pulley 51 and the driven belt pulley 53. The synchronous drive motor 54 of the synchronous drive device 5 drives the drive pulley 3 and the drive belt pulley 51 to rotate, and at the same time drives the driven belt pulley 53 and the synchronous pulley 6 to rotate synchronously through the synchronous belt 52. Referring to Figure 5 and Figure 6 as shown, the synchronous drive motor 54 can also be equipped with a gear speed change mechanism 55, which is connected to the drive pulley shaft through the gear speed change mechanism 55 and drives it to rotate, driving the drive pulley 3 and the drive belt pulley 51 to rotate. The synchronous drive motor 54 is responsible for providing power for the winding and unwinding of the pulley group composed of the drive pulley 3 and the synchronous pulley 6.

[0047] Of course, the driving pulley 51 and the driving sheave 3 can also be installed non-coaxially here, and the driven pulley 53 and the synchronous pulley 6 can also be installed non-coaxially. A transmission mechanism can be added as long as the transmission ratio between the driving sheave 3 and the synchronous pulley 6 is 1:1.

[0048] The synchronous drive device 5 adopts synchronous belt drive, that is, toothed belt drive. Synchronous belt drive is a meshing drive, which can economically achieve slip-free synchronous drive, obtain an accurate transmission ratio, have high transmission efficiency, and the transmission is stable, with buffering and vibration damping effects. At the same time, the synchronous drive device 5 can also adopt chain drive, bevel gear - long shaft - bevel gear drive structure or flexible shaft drive, etc., all of which can achieve synchronous drive and will not be elaborated here.

[0049] The bellows 10 is introduced through the inlet hole 11 below the wire outlet base 2. Here, the bellows 10 bypasses any one of the guiding pulleys 12 and is introduced into the wire outlet base 2. After the bellows 10 is introduced into the wire outlet base 2, it bypasses the driving sheave 3 and the synchronous pulley 6. Here, at least one supporting pulley 4 is provided between the driving sheave 3 and the synchronous pulley 6 under the top cross beam 1; the supporting pulley 4 includes 2 or 3, or more. Generally, ensure that the distance between them is not too large to prevent the bellows 10 from sagging. While multiple supporting pulleys 4 support the bellows 10 pipe section led out from the driving sheave 3 and extending to the synchronous pulley 6, they also guide the bellows 10 towards the synchronous pulley 6, and can also prevent the bellows 10 from sliding on the driving sheave 3 and the synchronous pulley 6 on both sides due to its own gravity. The supporting pulley 4 is fixedly connected to the lower part of the top cross beam 1 through the supporting pulley bracket 16 by bolts.

[0050] The bellows 10 led out from the synchronous pulley 6 bypasses downward the deflecting pulley 9 and then goes upward to be fixed at the installation position on the moving platform frame. The bellows 10 is finally fixed at the installation point on the moving platform frame, and the cable therein is connected to the external control end.

[0051] During the operation of this example, while the synchronous drive device 5 drives the driving sheave 3 and the synchronous pulley 6 to rotate synchronously, the deflecting pulley 9 moves up and down synchronously along the vertical sliding mechanism 8. The bellows 10 is released and stored by the up and down movement of the deflecting pulley 9, avoiding the bellows 10 from being curled due to force and also avoiding the bellows 10 from detaching from the guiding mechanism.

[0052] The control end of the cable-driven parallel robot needs to control the synchronous drive device 5 and the vertical sliding mechanism 8 according to the motion state and operating space for synchronous cooperative control. For the specific control method, those skilled in the art can achieve it through software and hardware control and will not be elaborated here.

[0053] In summary, for the cable traction parallel robot pipeline guiding system in this example, by adopting synchronous transmission and collaborative structure, it can retract and release the cables synchronously. The pipeline guiding system follows the movement of the cable traction parallel robot and can retract and release the cable length synchronously, which can bring as little kinematic and dynamic interference as possible to the moving platform of the cable traction parallel robot, reduce the disturbance to the cable traction parallel robot, and improve the actual operation accuracy of the cable traction parallel robot; the unified cable retraction and release ability can also avoid the entanglement of the cables on the moving platform of the cable traction parallel robot, and avoid interference with the cables of the cable traction parallel robot during the movement of the cable traction parallel robot, resulting in the cables being stretched and broken or entangled on the cables of the cable traction parallel robot, and can make the overall configuration of the cable traction parallel robot more concise.

[0054] Embodiment 2

[0055] As Figure 9 shown, a cable traction parallel robot uses the cable traction parallel robot pipeline guiding system described in Embodiment 1, and specifically includes a robot frame 15. The top cross beam 1 of the cable traction guiding system is installed on the top of the robot frame 15; the side columns 7 are installed on the side of the robot frame 15.

[0056] 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 implication that this information constitutes the prior art known to those skilled in the art.

Claims

1. A cable-driven parallel robot pipeline guiding system, characterized in that, It includes a top cross beam (1) and side columns (7); Outlet bases (2) and synchronous pulleys (6) are respectively installed at both ends of the top cross beam (1); a driving pulley (3) is installed inside the outlet base (2); the side column (7) is arranged below one end of the top cross beam (1) where the synchronous pulley (6) is installed, a vertical sliding mechanism (8) is provided on the side column (7), and a deflecting pulley (9) is installed on the moving part of the vertical sliding mechanism (8); The corrugated pipe (10) is introduced through an inlet hole (11) below the outlet base (2), bypasses the driving pulley (3) and the synchronous pulley (6), goes down and bypasses the deflecting pulley (9) and then goes up to be fixed at the installation position on the moving platform frame; A synchronous driving device (5) arranged between the driving pulley (3) and the synchronous pulley (6) drives the driving pulley (3) and the synchronous pulley (6) to rotate synchronously. At the same time, the deflecting pulley (9) moves up and down synchronously along with the vertical sliding mechanism (8).

2. The pipeline guiding system of the cable-driven parallel robot according to claim 1, characterized in that, A plurality of guide pulleys (12) are evenly distributed circumferentially along the inlet hole (11) below the outlet base (2); the corrugated pipe (10) bypasses any one of the guide pulleys (12) and is introduced into the outlet base (2).

3. The pipeline guiding system of the cable-driven parallel robot according to claim 2, wherein The number of the guide pulleys (12) is 3, 4, 6 or 8.

4. The pipeline guiding system of the cable-driven parallel robot according to claim 2, wherein The outlet base (2) includes a base top plate (21) and a base bottom plate (22), and the base top plate (21) and the base bottom plate (22) are connected into a base frame structure through a plurality of base vertical rods (23); the base top plate (21) is connected to the top cross beam (1), an inlet hole (11) is opened on the base bottom plate (22), and a plurality of guide pulleys (12) are installed below; the driving pulley (3) is installed inside the frame structure.

5. The cable-driven parallel robot pipeline guiding system according to claim 1 or 2 or 3 or 4, characterized in that The synchronous driving device (5) includes a driving belt pulley (51), a synchronous belt (52) and a driven belt pulley (53); the driving belt pulley (51) and the driving pulley (3) are coaxially installed and rotate synchronously, the driven belt pulley (53) and the synchronous pulley (6) are coaxially installed and rotate synchronously; the synchronous belt (52) is installed between the driving belt pulley (51) and the driven belt pulley (53), and the synchronous driving motor (54) of the synchronous driving device (5) drives the driving pulley (3) and the driving belt pulley (51) to rotate and at the same time drives the driven belt pulley (53) and the synchronous pulley (6) to rotate synchronously through the synchronous belt (52).

6. The cable-driven parallel robot pipeline guiding system according to claim 1 or 2 or 3 or 4, characterized in that At least one supporting pulley (4) is arranged between the driving pulley (3) and the synchronous pulley (6) below the top cross beam (1); the pipe section of the corrugated pipe (10) led out from the driving pulley (3) and extending to the synchronous pulley (6) is supported.

7. The pipeline guiding system of the cable-driven parallel robot according to claim 6, wherein The number of the supporting pulleys (4) is 2 or 3.

8. The cable-driven parallel robot pipeline guiding system according to claim 1 or 2 or 3 or 4, characterized in that The vertical sliding mechanism (8) includes a rotating lead screw - sliding nut mechanism, the sliding nut is arranged on a sliding table as the moving part, and the deflecting pulley (9) is installed on the sliding table.

9. The pipeline guiding system of the cable-driven parallel robot according to claim 8, characterized in that, A plurality of anti - detachment stoppers (13) for preventing the corrugated pipe (10) from detaching are further arranged on the outer periphery of the deflecting pulley (9).

10. A cable-driven parallel robot, characterized in that, Use the cable - traction parallel robot pipeline guiding system according to any one of claims 1 to 9.

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