Array parallel robot based on suspension cable

Abstract

The invention discloses an array parallel robot based on a suspension cable, and the robot comprises a single-motor driving system which is used for transmitting power to an array type three-coordinate suspension cable mechanism in parallel through cooperation of a motor and a synchronous different-direction dual-output speed reducer; the array type three-coordinate suspension cable mechanism is used for realizing large-range movement of the array type manipulator unit in a three-dimensional space; the array type manipulator unit is suspended on the array type three-coordinate suspension cable mechanism and is used for executing precise operation in a three-dimensional space; the control system is used for switching the synchronous cooperative or independent motion mode of the manipulator unit by controlling the motion coupling state of the single-motor driving system and the array type three-coordinate suspension cable mechanism; uniform driving of the array type mechanical arm unit is achieved through cooperation of the single-motor driving system and the synchronous different-direction double-output speed reducer, the motion coupling state is regulated and controlled, and large-range precise operation of the mechanical arm unit in a three-dimensional space and flexible switching of a synchronous cooperation mode or an independent motion mode are achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a cable-stayed array parallel robot. Background Technology

[0002] In recent years, with the intelligent upgrading of industrial production lines and the rapid development of smart agriculture, especially the rise of large-scale three-dimensional agricultural factories and the widespread use of agricultural greenhouses, the market demand for automated operation robots has become increasingly urgent.

[0003] Traditional industrial and agricultural robots mostly take the form of ground-based mobile or fixed-base robots; however, their operating range is often limited by the location of the track or base. This leads to a series of problems, such as occupying a large amount of valuable farmland or production area, limited working space, and inability to effectively cover three-dimensional space.

[0004] To expand the scope of work, existing technologies have proposed a solution of using multiple robots to work collaboratively. However, this solution usually requires each robot to be equipped with an independent drive and control system, which makes the overall system costly, structurally complex, and difficult to control collaboratively. Moreover, interference is prone to occur when multiple robots are running simultaneously.

[0005] Furthermore, in the prior art, such as the Chinese invention with patent publication number CN111425733B, the suspension-driven parallel mechanism used can achieve large-space movement, but the drive unit of the mechanism is often redundant and bulky, with poor force balance, and the stability and accuracy of movement are difficult to guarantee. It also cannot meet the flexibility requirements of group collaborative operation and individual independent operation.

[0006] Therefore, there is an urgent need in this field for a new type of robot that can achieve large-scale, lightweight, and array-based precision operations, while significantly reducing system cost and complexity, and improving motion stability and control flexibility. Summary of the Invention

[0007] The purpose of this invention is to provide a cable-stayed array parallel robot that uses a single motor drive system in conjunction with a synchronous and opposite dual-output reducer to achieve unified drive of array-type manipulator units. By using a control system to regulate the motion coupling state, the manipulator units can perform large-scale precise operations in three-dimensional space and flexibly switch between synchronous and cooperative or independent motion modes.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A cable-stayed array parallel robot includes: a single motor drive system, an array-type three-coordinate cable-stayed mechanism, an array-type manipulator unit, and a control system; The single-motor drive system is used to transmit power in parallel to the array-type three-coordinate suspension mechanism through the cooperation of the motor and the synchronous opposite dual-output reducer, so as to realize the unified drive of the array-type manipulator unit. The array-type three-coordinate suspension mechanism is used to realize the movement of the array-type manipulator unit in three-dimensional space and optimize the force transmission path; The array-type robotic arm unit is suspended on the array-type three-coordinate suspension mechanism and is used for precise operation in three-dimensional space; The control system is used to switch the synchronous or independent motion mode of the array-type manipulator unit by controlling the motion coupling state of the single motor drive system and the array-type three-coordinate suspension mechanism.

[0009] Furthermore, the single-motor drive system includes: a motor, a synchronous opposite-direction dual-output reducer, multiple drive shafts, multiple couplings, and multiple commutators; The input end of the synchronous opposite-direction dual-output reducer is connected to the output shaft of the motor, and is used to output synchronous opposite-direction bidirectional rotational motion. The output end of the synchronous opposite-direction dual-output reducer is connected to the commutator in sequence through a drive shaft and a coupling. The commutator is used to transmit the power output by the motor in parallel to the array-type three-coordinate suspension mechanism.

[0010] Furthermore, the motor, synchronous opposite-direction dual-output reducer, and commutator are located in the middle of the array of parallel robots or on one side of the array.

[0011] Furthermore, the control system enables the robotic arm to move synchronously or independently by controlling the energizing sequence of the electric clutch.

[0012] Furthermore, the synchronous opposite-direction dual-output reducer includes: a reducer pinion, a reducer gear, a first reducer bevel gear, a second reducer bevel gear, and a third reducer bevel gear; The output shaft of the motor is connected to the pinion gear of the reducer. The small gear of the reducer meshes with the large gear of the reducer; The first reducer bevel gear is coaxially arranged with the reducer large gear; the second reducer bevel gear and the third reducer bevel gear respectively mesh with the first reducer bevel gear.

[0013] Furthermore, the array-type three-coordinate suspension mechanism includes: a first coordinate motion suspension mechanism, a second coordinate lifter, and a third coordinate motion suspension cable; The first coordinate motion suspension mechanism includes: a gear-pulley clutch coupler and a first coordinate motion suspension cable; The first coordinate motion suspension cable is connected to the pulley of the gear-pulley clutch coupler; the gear of the gear-pulley clutch coupler is connected to the transmission gear of the transmission shaft to realize horizontal X-axis movement; The second coordinate lift is mounted on the first coordinate motion suspension cable to achieve vertical Z-axis movement; The third coordinate motion suspension cable is connected to the pulley drive of the second coordinate lift to achieve horizontal Y-axis motion.

[0014] Furthermore, the two gear-pulley clutch couplers are symmetrically arranged on both sides of the drive shaft, and the two gear-pulley clutch couplers are connected by a double gear-pulley clutch coupler connecting shaft to form a torque balance structure; The tension directions of the first coordinate motion suspension cables connected by each pair of gear-pulley clutch couplers are opposite, forming a force balance.

[0015] Furthermore, the gear-pulley clutch coupler includes: an electric clutch; When the electric clutch is energized, the first coordinate motion suspension cable is connected to the pulley drive of the gear-pulley clutch coupler; the gear of the gear-pulley clutch coupler is connected to the drive gear of the drive shaft to drive the first coordinate motion suspension cable. When the electric clutch is de-energized, the gear of the gear-pulley clutch coupler disconnects from the transmission gear of the transmission shaft, and the first coordinate motion suspension cable stops moving.

[0016] Furthermore, the array-type robotic arm unit is suspended on the third coordinate motion suspension cable to achieve precise operations in a large area and three-dimensional space; The control system is used to control the coupling state between the gear of the gear-pulley clutch coupler and the transmission gear of the transmission shaft, so as to switch the synchronous motion or independent motion mode of the array-type manipulator unit.

[0017] Furthermore, each pair of adjacent gear-pulley clutch couplers is connected by a double gear-pulley clutch coupler connecting shaft; The dual-gear pulley clutch coupler is supported by a fixed bracket for the transmission gear and the gear-pulley clutch coupler. The fixed bracket includes a first gear fixing bracket, a second gear fixing bracket, and a bearing; the first gear fixing bracket is used to fix and support the rotation axis of the transmission gear, ensuring its stable position and maintaining a precise meshing relationship with the transmission shaft; The second gear fixing bracket is used to fix and support the rotating shaft of the gear-pulley clutch coupler, so that the pulley and gear assembly remain coaxially rotating during the clutch action; A bearing is also provided between the fixed bracket and the gear-pulley clutch coupler to reduce friction loss.

[0018] According to specific embodiments provided by the present invention, the present invention has the following technical effects compared to the prior art: This invention utilizes a single-motor drive system in conjunction with a synchronous and opposite-direction dual-output reducer to efficiently transmit power in parallel to an array-type three-coordinate suspension mechanism, achieving unified drive for the array-type manipulator units. This significantly simplifies the drive structure and reduces energy consumption and cost. The array-type three-coordinate suspension mechanism not only supports the manipulator units to achieve a wide range of flexible movements in three-dimensional space but also improves the system's rigidity and motion stability by optimizing the mechanical transmission path. The control system, through intelligent regulation of the motion coupling state between the single-motor drive system and the suspension mechanism, can flexibly switch between synchronous collaborative or independent motion modes for the manipulator units. This satisfies both the high efficiency requirements of multi-unit collaborative operations and the refined operation requirements of independent operations, greatly improving the system's intelligence level, operational efficiency, and scene adaptability. It is suitable for large-scale, high-precision, multi-mode collaborative operations in complex industrial or agricultural scenarios. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] The following description, in conjunction with the accompanying drawings, further illustrates the present invention of a cable-stayed array parallel robot. Figure 1 This is a schematic diagram of the three-dimensional structure of the 2×2 array of manipulator units for the three-coordinate motion of the cable-stayed parallel robot of the present invention. Figure 2 This is a simplified structural diagram and a schematic diagram of the motion direction of the synchronous opposite-direction dual-output reducer structure of the cable-stayed array parallel robot of this invention; Figure 3 is a top view of the array parallel robot based on suspension cable according to the present invention; wherein (a) is a layout diagram of the motor, reducer and commutator located in the middle of the array; (b) is a layout diagram of the motor, reducer and commutator located on one side of the array and the direction of movement of the transmission mechanism. Figure 4 This is the present invention. Figure 1 A partially enlarged schematic diagram of the commutator and gear-pulley clutch coupler connection in a cable-stayed array parallel robot. Figure 5 This is the present invention. Figure 1A partially enlarged schematic diagram of a gear-pulley clutch coupler with a symmetrical layout for a cable-stayed array parallel robot. Figure 6 This is a schematic diagram of the force connection of multiple symmetrically arranged gear-pulley clutch couplers in the cable-stayed array parallel robot of the present invention. Figure 7 This is a schematic diagram of the lifting drive mechanism for the array parallel robot based on suspension cables according to the present invention; Figure 8 This is a schematic diagram of the structure of the cable-stayed array parallel robot manipulator platform of the present invention.

[0021] Figure Descriptions: 1. Motor; 2. Synchronous opposite-direction dual-output reducer; 21. Reducer pinion; 22. Reducer gear; 23. First reducer bevel gear; 24. Second reducer bevel gear; 25. Third reducer bevel gear; 3. Drive shaft; 4. Coupling; 5. Reversing device; 6. Transmission gear; 7. Gear-pulley clutch coupler; 8. Double gear-pulley clutch coupler connecting shaft; 9. First coordinate motion suspension cable; 10. Second coordinate lifter; 11. Third coordinate motion suspension cable; 12. Robotic arm; 13. Fixed bracket; 131. First gear fixing bracket; 132. Second gear fixing bracket; 133. Bearing; 14. Counterweight. Detailed Implementation

[0022] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0023] To better understand the purpose, structure, and function of this invention, the invention will be described in further detail below with reference to the accompanying drawings.

[0024] Example 1 like Figure 1 As shown, the present invention provides a suspension-based array parallel robot, comprising: a single motor drive system, an array-type three-coordinate suspension mechanism, an array-type manipulator unit, and a control system; The single-motor drive system is used to transmit power in parallel to the array-type three-coordinate suspension mechanism through the cooperation of motor 1 and synchronous opposite-direction dual-output reducer 2, so as to realize the unified drive of the array-type manipulator unit. The array-type three-coordinate suspension mechanism is used to realize the large-range movement of the array-type manipulator unit in three-dimensional space and optimize the force transmission path; The array-type robotic arm unit is suspended on the array-type three-coordinate suspension mechanism and is used to perform precise operations in a large-scale three-dimensional space.

[0025] Furthermore, the single-motor drive system includes: a motor 1, a synchronous opposite-direction dual-output reducer 2, multiple drive shafts 3, multiple couplings 4, and multiple commutators 5; The input end of the synchronous opposite-direction dual-output reducer 2 is connected to the output shaft of the motor 1, and is used to output synchronous opposite-direction bidirectional rotational motion. The output end of the synchronous opposite-direction dual-output reducer 2 is connected to the commutator 5 via the drive shaft 3 and the coupling 4. The commutator 5 is used to transmit the power output by the motor 1 in parallel to the array-type three-coordinate suspension mechanism.

[0026] The motor 1, synchronous opposite-direction dual-output reducer 2, and commutator 5 are located in the middle of the array or on one side of the array.

[0027] The control system controls the energizing timing of the electric clutch to switch between a group collaborative operation mode and an individual independent operation mode for the robotic arm 12.

[0028] The synchronous opposite-direction dual-output reducer 2 includes: a reducer pinion 21, a reducer gear 22, a first reducer bevel gear 23, a second reducer bevel gear 24, and a third reducer bevel gear 25. The output shaft of the motor 1 is connected to the pinion 21 of the reducer. The small gear 21 of the reducer meshes with the large gear 22 of the reducer; The first reducer bevel gear 23 is coaxially arranged with the reducer large gear 22; the second reducer bevel gear 24 and the third reducer bevel gear 25 respectively mesh with the first reducer bevel gear 23.

[0029] In this embodiment, as Figures 2-5 As shown, a parallel array of three-coordinate motion manipulator units based on a suspension mechanism is formed. A motor 1 is connected to a synchronous, opposite-direction dual-output reducer 2, and power is transmitted to multiple parallel array manipulator platforms based on the suspension mechanism via multiple couplings 4, commutators 5, and transmission gears 6, achieving arrayed robot motion and positioning. Motor 1 is connected to the pinion gear 21 of the synchronous, opposite-direction dual-output reducer 2. The pinion gear 21 meshes with the large gear 22 for deceleration. The first bevel gear 23 is coaxial with the large gear 22 and synchronously meshes with two identical bevel gears, namely the second bevel gear 24 and the third bevel gear 25, for synchronous, opposite-direction transmission.

[0030] The array-type three-coordinate suspension mechanism includes: a first coordinate motion suspension mechanism, a second coordinate lifter 10, and a third coordinate motion suspension cable 11; The first coordinate motion suspension mechanism includes: a gear-pulley clutch coupler 7 and a first coordinate motion suspension cable 9; The first coordinate motion suspension cable 9 is connected to the pulley of the gear-pulley clutch coupler 7; the gear of the gear-pulley clutch coupler 7 is connected to the transmission gear 6 of the transmission shaft 3 to realize horizontal X-axis movement; The second coordinate lifter 10 is mounted on the first coordinate motion suspension cable 9 to achieve vertical Z-axis movement; The third coordinate motion suspension cable 11 is connected to the second coordinate lift 10 to achieve horizontal Y-axis motion.

[0031] The gear-pulley clutch coupler 7 is symmetrically arranged on both sides of the transmission shaft 3 and connected by the double gear-pulley clutch coupler connecting shaft 8 to form a torque balance structure; The tension directions of the first coordinate motion suspension cable 9 connected to each pair of gear-pulley clutch couplers 7 are opposite, forming a force balance; The gear-pulley clutch couplers 7 on the left and right sides of the drive shaft 3 are connected by the double gear pulley clutch coupler connecting shaft 8 to form torque balance.

[0032] The gear-pulley clutch coupler 7 includes: an electric clutch; When the electric clutch is energized, the first coordinate motion suspension cable is connected to the pulley drive of the gear-pulley clutch coupler 7; the gear of the gear-pulley clutch coupler 7 is connected to the drive gear 6 of the drive shaft 3 to drive the first coordinate motion suspension cable 9. When the electric clutch is de-energized, the gear of the gear-pulley clutch coupler 7 disconnects from the transmission gear 6 of the transmission shaft 3, and the first coordinate motion suspension cable 9 stops moving.

[0033] The array-type robotic arm unit is suspended on the third coordinate motion suspension mechanism 11 to achieve precise operations in a large area and three-dimensional space. The control system is used to control the coupling state between the gear of the gear-pulley clutch coupler 7 and the transmission gear 6 of the transmission shaft 3, so as to switch the synchronous motion or independent motion mode of the robot unit.

[0034] Each pair of adjacent gear-pulley clutch couplers 7 is connected by a double gear-pulley clutch coupler connecting shaft 8; The dual-gear pulley clutch coupler supports the transmission gear 6 and the gear-pulley clutch coupler 7 via a fixed bracket 13. The fixed bracket 13 includes a first gear fixing bracket 131, a second gear fixing bracket 132, and a bearing 133; The first gear fixing bracket is used to fix and support the rotation axis of the transmission gear 6, ensuring that its position is stable and that it maintains a precise meshing relationship with the transmission shaft 3; The second gear fixing bracket is used to fix and support the rotating shaft of the gear-pulley clutch coupler 7, so that the pulley and gear assembly remain coaxially rotating during the clutch action; A bearing 133 is also provided between the fixed bracket 13 and the gear-pulley clutch coupler 7 to reduce friction loss.

[0035] In this embodiment, as Figure 6 As shown, the drive shaft 3 is connected to the synchronous opposite-direction dual-output reducer 2. Through the coupling 4, commutator 5, and drive gear 6, motion and power are transmitted in parallel to the gear-pulley integrated coupling clutch control device on the suspension-based three-coordinate motion manipulator unit. The gear-pulley integrated coupling clutch control device, i.e., the gear-pulley clutch coupler 7, consists of gears, an electric clutch, and a pulley. One side of the electric clutch is connected to the gear, and the other side is connected to the pulley. The drive gear on the drive shaft 3 meshes with the gear on the gear-pulley clutch coupler. When the electric clutch is energized, it engages the pulley, causing it to move together with the gear, thereby driving the first coordinate motion suspension mechanism to move as well. When the electric clutch is de-energized, it disconnects the pulley from the gear transmission, and the first coordinate motion suspension mechanism stops moving. By controlling the energization and de-energization of the electric clutch, the motion state of the first coordinate motion suspension mechanism is controlled, enabling simultaneous or independent movement of the array-type manipulator platform. To reduce footprint and improve motion stability, a multi-symmetrical gear-pulley clutch coupler structure was designed to balance the forces and torques on the robotic platform, fundamentally optimizing the mechanical transmission path of the system and significantly improving the balance performance of the mechanism.

[0036] In this embodiment, there are two ways to arrange the array of the cable-stayed parallel robot: 1. The motor 1, the synchronous opposite-direction dual-output reducer 2 and the commutator 5 are located in the middle of the array of the parallel robot, as shown in Figure 3(a); 2. The motor 1, the synchronous opposite-direction dual-output reducer 2 and the commutator 5 are located on one side of the array, as shown in Figure 3(b). Figure 3(b) illustrates the mechanism by which a single motor drives multiple robotic arm platforms in a grid array. When motor 1 rotates clockwise, it generates two synchronous, opposite-rotational output motions through the synchronous, opposite-rotational dual-output reducer 2 connected to it. The transmission shaft 3 on the left side of motor 1 rotates counterclockwise, and the transmission gear fixed to the transmission shaft 3 after passing through the commutator 5 also rotates counterclockwise. When the electric clutch is energized, the transmission gear 6 drives the gear in the gear-pulley clutch coupler 7 that meshes with it to move together. Since the rotation directions of the pair of meshing gears are opposite, the rotation directions of the gears in the gear-pulley clutch coupler 7 are all clockwise. The transmission shaft on the right side of motor 1 rotates clockwise, and the transmission gear 6 fixed to the transmission shaft 3 after passing through the commutator 5 also rotates counterclockwise. When the electric clutch is energized, the transmission gear 6 drives the gear in the gear-pulley clutch coupler 7 that meshes with it to move together. Similarly, the rotation directions of the gears in the gear-pulley clutch coupler 7 are all clockwise. In summary, when motor 1 rotates clockwise, all the first-axis motion suspension mechanisms in each array unit of the cable-stayed parallel robot move clockwise, thereby driving the three-axis motion manipulator units based on the suspension mechanisms to move synchronously. By controlling the opening and closing time of the electric clutch in each unit, the meshing transmission time between each unit and the transmission gear 6 on the transmission shaft 3 can be controlled, thus controlling whether each unit moves synchronously or independently. One motor 1 links multiple three-axis motion manipulator units, breaking through the traditional multi-motor independent drive mode; if the grid array has N manipulator units, this invention can save 2N-1 motors and control units, greatly reducing system cost and complexity. Figure 2 As shown, this is one type of synchronous opposite-direction dual-output reducer, where the reduction section is a pair of externally meshing gears; the reduction section can also be a worm gear meshing gear, or an internally meshing (compound) gear (such as RV reducers, FA reducers). The synchronous opposite-direction dual-output section consists of a bevel gear that rotates synchronously with the reduction output on the same axis, and two identical bevel gears meshing with it. When motor 1 rotates clockwise, the output of the reduction section rotates counterclockwise, and the bevel gear that rotates synchronously with the reduction output also rotates counterclockwise. Of the two bevel gears meshing with it, the left bevel gear rotates counterclockwise, and the right bevel gear rotates clockwise, with synchronized movement but opposite-direction output rotation.

[0037] Figure 6This is a schematic diagram showing the force connection of multiple symmetrically arranged gear-pulley clutch couplers 7 in the cable-stayed array parallel robot of this invention. A pair of fixed transmission gears on the transmission shaft 3 mesh with gears on a pair of gear-pulley clutch couplers 7, as shown below. Figure 6 The two dashed boxes in the diagram represent two pulleys connected to each pair of gear-pulley clutch couplers 7, driving the movement of two first coordinate motion suspension mechanisms. The tension forces of these mechanisms are equal in magnitude and opposite in direction, balancing each other. A pair of gear-pulley clutch couplers 7 on the left and right sides of the transmission shaft 3 are connected by a double-gear pulley clutch coupler connecting shaft, with their torques being equal in magnitude and opposite in direction, balancing each other. This balance of forces and torques effectively enhances the robot's motion stability. A pair of fixed transmission gears and four gear-pulley clutch couplers 7 are jointly fixed to the fixed bracket 13, significantly reducing the footprint.

[0038] In summary, this invention has several innovations: It is the first to propose a cable-stayed array parallel robot, which divides its working area into a grid array of manipulator units based on three-coordinate motion. By synchronously driving the first coordinate mechanism of the manipulator units in the grid array with a single motor, it breaks through the traditional multi-motor independent drive mode, greatly reducing system cost and complexity. If the grid array has N manipulator units, such as... Figure 8 As shown, this invention can save 2N-1 motors and control units; in Figure 3(b), it can save 23 motors and corresponding control units. This invention innovatively designs a coupling clutch control structure integrating gears and pulleys, and achieves simultaneous or independent movement of the robotic platform via electric means, realizing flexible switching of working modes. This invention designs locally shared static and dynamic mechanical components between different robotic units, such as shared support components for the dual-unit gear-pulley clutch coupler, single-gear dual-unit transmission, and coaxial symmetrical layout of dual units, such as... Figure 4 and Figure 5 As shown, this invention not only reduces the footprint and equipment costs, but also balances local forces and torques through a symmetrical layout, fundamentally optimizing the system's mechanical transmission path and significantly improving the mechanism's balance performance. The invention employs a suspension-based array-type three-coordinate motion layout, placing the actuators in the air above the ground, freeing up ground space and enabling lightweight, large-scale, precise operations in three-dimensional space. This provides a new paradigm for the intelligent upgrading of industrial production lines and large-scale planting and harvesting operations in smart agriculture and vertical agricultural factories.

[0039] Compared with the prior art, the present invention also has the following technical effects: 1. Replacing a multi-motor drive system with a single motor significantly reduces hardware costs and the complexity of the entire motion control system, thereby significantly reducing the cost of the robot system.

[0040] 2. The coaxially symmetrical transmission mechanism effectively improves the balance of force and torque on the robot platform, reduces vibration and off-center load during movement, thereby improving the robot's motion stability and positioning accuracy.

[0041] 3. The electric clutch function enables the system to switch freely between "group collaborative operation" and "individual independent operation" modes, enhancing system flexibility, expanding application scenarios, and meeting diverse operational needs.

[0042] 4. The aerial suspension layout greatly reduces the robot's occupation of farmland or production areas and breaks through the spatial limitations caused by the size of the mechanical arm of traditional ground robots. The three-coordinate suspension mechanism realizes large-scale coverage operations in three-dimensional space, and the entire system is significantly lightweight.

[0043] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cable-stayed array parallel robot, characterized in that, include: Single-motor drive system, array-type three-coordinate suspension mechanism, array-type manipulator unit and control system; The single motor drive system is used to transmit power in parallel to the array-type three-coordinate suspension mechanism through the cooperation of the motor (1) and the synchronous opposite dual output reducer (2), so as to realize the unified drive of the array-type manipulator unit; The array-type three-coordinate suspension mechanism is used to realize the movement of the array-type manipulator unit in three-dimensional space and optimize the force transmission path; The array-type robotic arm unit is suspended on the array-type three-coordinate suspension mechanism and is used for precise operation in three-dimensional space; The control system is used to switch the synchronous or independent motion mode of the array-type manipulator unit by controlling the motion coupling state of the single motor drive system and the array-type three-coordinate suspension mechanism.

2. The cable-based parallel array robot according to claim 1, characterized in that, The single-motor drive system includes: a motor (1), a synchronous opposite-direction dual-output reducer (2), multiple drive shafts (3), multiple couplings (4), and multiple commutators (5). The input end of the synchronous opposite dual-output reducer (2) is connected to the output shaft of the motor (1) and is used to output synchronous opposite bidirectional rotational motion; The output end of the synchronous opposite-direction dual-output reducer (2) is connected to the commutator (5) in sequence through the transmission shaft (3) and the coupling (4). The commutator (5) is used to transmit the power output by the motor (1) in parallel to the array-type three-coordinate suspension mechanism.

3. The cable-based parallel array robot according to claim 2, characterized in that, The motor (1), synchronous opposite-direction dual-output reducer (2) and commutator (5) are located in the middle of the array of parallel robots or on one side of the array.

4. The cable-based parallel array robot according to claim 1, characterized in that, The control system enables the robotic arm (12) to move synchronously or independently by controlling the energizing timing of the electric clutch.

5. The cable-stayed array parallel robot according to claim 1, characterized in that, The synchronous opposite dual-output reducer (2) includes: a reducer pinion (21), a reducer gear (22), a first reducer bevel gear (23), a second reducer bevel gear (24), and a third reducer bevel gear (25). The output shaft of the motor (1) is connected to the pinion (21) of the reducer for transmission. The small gear (21) of the reducer meshes with the large gear (22) of the reducer; The first reducer bevel gear (23) is coaxially arranged with the reducer large gear (22); the second reducer bevel gear (24) and the third reducer bevel gear (25) respectively mesh with the first reducer bevel gear (23).

6. The cable-stayed array parallel robot according to claim 2, characterized in that, The array-type three-coordinate suspension mechanism includes: a first coordinate motion suspension mechanism, a second coordinate lifter (10), and a third coordinate motion suspension cable (11). The first coordinate motion suspension mechanism includes: a gear-pulley clutch coupler (7) and a first coordinate motion suspension cable (9); The first coordinate motion suspension cable (9) is connected to the pulley of the gear-pulley clutch coupler (7) for transmission; the gear of the gear-pulley clutch coupler (7) is connected to the transmission gear (6) of the transmission shaft (3) for transmission, so as to realize horizontal X-axis movement; The second coordinate lifter (10) is mounted on the first coordinate motion suspension cable (9) to achieve vertical Z-axis movement; The third coordinate motion suspension cable (11) is connected to the pulley drive of the second coordinate lifter (10) to achieve horizontal Y-axis motion.

7. The cable-based parallel array robot according to claim 6, characterized in that, Two gear-pulley clutch couplers (7) are symmetrically arranged on both sides of the transmission shaft (3). The two gear-pulley clutch couplers (7) are connected by a double gear-pulley clutch coupler connecting shaft (8) to form a torque balance structure. The tension directions of the first coordinate motion suspension cable (9) connected to each pair of gear-pulley clutch couplers (7) are opposite, forming a force balance.

8. The cable-based parallel array robot according to claim 6, characterized in that, The gear-pulley clutch coupler (7) includes: an electric clutch; When the electric clutch is energized, the first coordinate motion suspension cable is connected to the pulley drive of the gear-pulley clutch coupler (7); the gear of the gear-pulley clutch coupler (7) is connected to the drive gear (6) of the drive shaft (3) to drive the first coordinate motion suspension cable (9). When the electric clutch is de-energized, the gear of the gear-pulley clutch coupling (7) is disconnected from the transmission gear (6) of the transmission shaft (3), and the first coordinate motion suspension cable (9) stops moving.

9. The cable-based parallel array robot according to claim 6, characterized in that, The array-type robotic arm unit is suspended on the third coordinate motion suspension cable (11) to achieve precise operation in a large range and three-dimensional space; The control system is used to control the coupling state between the gear of the gear-pulley clutch coupler (7) and the transmission gear (6) of the transmission shaft (3) to switch the synchronous motion or independent motion mode of the array-type manipulator unit.

10. The cable-stayed array parallel robot according to claim 6, characterized in that, Each pair of adjacent gear-pulley clutch couplers (7) are connected by a double gear-pulley clutch coupler connecting shaft (8); The dual-gear pulley clutch coupler supports the transmission gear (6) and the gear-pulley clutch coupler (7) through a fixed bracket (13); The fixed bracket (13) includes a first gear fixing bracket (131), a second gear fixing bracket (132), and a bearing (133); the first gear fixing bracket is used to fix and support the rotation axis of the transmission gear (6) to ensure that its position is stable and that it maintains a precise meshing relationship with the transmission shaft (3); The second gear fixing bracket is used to fix and support the rotating shaft of the gear-pulley clutch coupler (7), so that the pulley and gear assembly remain coaxially rotating during the clutch action; A bearing (133) is also provided between the fixed bracket (13) and the gear-pulley clutch coupler (7) to reduce friction loss.

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