Universal connecting structure for prolonging service life of rope of rope-driven robot

Abstract

The utility model provides a universal connecting structure for prolonging the service life of a rope of a rope-driven robot, which comprises a placing box, a plurality of ropes and a movable platform positioned at the top of the placing box, and the plurality of ropes are wound between the placing box and the movable platform. Three cable driving assemblies are arranged at the bottom of the movable platform in a triangular mode. Each cable driving assembly comprises a fixing plate, two universal connecting structures and two steel wire pressing plates, the fixing plates are fixed to the bottom of the movable platform, the two universal connecting structures are oppositely fixed to the bottoms of the fixing plates, and the two steel wire pressing plates are detachably connected with the two universal connecting structures. According to the universal connecting structure capable of prolonging the service life of the ropes of the rope-driven robot, due to the fact that the rope-driven assembly is arranged, abrasion of the ropes is reduced, the problem that the service life of the ropes is short is solved, and the service life of the whole equipment is prolonged.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, in particular to a universal connection structure for improving the rope life of a cable-driven robot. Background Art

[0002] As the main force of production automation and intelligent manufacturing, the research, development, manufacturing and application of industrial robots have become an important symbol to measure scientific and technological innovation and the level of the manufacturing industry. At present, robot technology is used to solve the problems brought by high-cost labor in order to achieve the "return of manufacturing" and maintain its leading edge in the field of high-end manufacturing. The application pace of industrial robots globally is steadily accelerating. Currently, the global manufacturing industry is developing towards automation, integration, intelligence, and greenness, and will witness an explosive growth of industrial robots.

[0003] The existing patent with publication number CN110315511B discloses a cable-driven parallel sorting robot using passive spring tensioning, which includes a static platform, a driving component, a tensioning component, a pulley component, and a moving platform component. Among them, the static platform builds the framework for the whole device and provides positions for component installation; the driving component consists of a driving motor, a reducer, an encoder, and a driving cable, realizing the driving and feedback control of the terminal movement; the pulley component plays a role in guiding the direction of the cable; the tensioning component ensures the cable tension through a passive stretching spring and a rigid rod; the moving platform is a terminal moving component, and an actuator such as a suction cup is installed on the moving platform to perform movement and operation. The present invention realizes the translational movement of three degrees of freedom at the terminal through parallel cable drive, and at the same time uses a passive spring and a rigid rod to realize cable tensioning, realizing the three-degree-of-freedom movement of the end by three groups of drivers. The passive spring ensures cable tension to avoid redundant drive, and at the same time can adjust the system stiffness, realizing large-range and rapid sorting operations at low cost;

[0004] It is found that the above device still has deficiencies. First of all, the above cable parallel robot has the problem that the cable can only be stressed unidirectionally, the driving ability is limited, and the elasticity of the cable increases the flexibility of the system; when using the cable tension to balance the moving platform, since the cable can only be subjected to tension, the traction of the moving platform will have a balance problem when there is a problem with the cable force. Moreover, the existing cable outlet connection point on the moving platform is a cable passing sleeve, and each cable outlet corresponds to a cable passing sleeve. The outer diameter of the cable passing sleeve is sleeved on the moving platform, and the inner diameter of the cable passing sleeve passes through the cable. Since the moving platform is in different motion spaces and the relative position with the static platform is different, that is, the angle between the cable and the moving platform will constantly change, the cable needs to rotate and swing up and down along the cable outlet point, and the cable will rub against the cable passing sleeve in real time, and the cable will bend. After a long time of operation, it is extremely easy to cause cable wear. The long-term wear of the cable will lead to the sudden breakage of the cable, causing robot accidents and inconvenience to actual use.

[0005] Therefore, it is necessary to provide a new universal joint structure for improving the rope life of a cable-driven robot to solve the above technical problems. Summary of the Invention

[0006] To solve the above technical problems, the present utility model provides a universal joint structure for improving the rope life of a cable-driven robot.

[0007] The universal joint structure for improving the rope life of a cable-driven robot provided by the present utility model includes: a placement box, a plurality of ropes, and a moving platform located at the top of the placement box. The plurality of ropes are wound between the placement box and the moving platform, and three cable-driven components are arranged in a triangular shape at the bottom of the moving platform;

[0008] Each of the three cable-driven components includes a fixing plate, two universal joint structures, and two wire pressing plates. The top of the fixing plate is fixed to the bottom of the moving platform, the two universal joint structures are relatively fixed to the bottom of the fixing plate, the two wire pressing plates are detachably connected to the two universal joint structures, and the other ends of the plurality of ropes are respectively clamped between the two wire pressing plates and the two universal joint structures.

[0009] Preferably, each of the two universal joint structures includes a screw, a rotating shaft, and a rotating shaft swing rod arranged in sequence from bottom to top. The rotating shaft is rotatably arranged on the top of the screw, and one end of the rotating shaft penetrates through the surfaces of the fixing plate and the moving platform. A thrust ball bearing, a deep groove ball bearing, and a needle roller bearing are sequentially arranged on the outer sides of the screw and the rotating shaft from bottom to top. The thrust ball bearing is located inside the moving platform and is arranged around the bottom of the rotating shaft. The deep groove ball bearing is located inside the fixing plate and is arranged around the middle of the rotating shaft. One end of the needle roller bearing penetrates through the top of the rotating shaft and rotates on the top of the rotating shaft, and the rotating shaft swing rod rotates on the top of the rotating shaft through the needle roller bearing.

[0010] Preferably, the two wire pressing plates are detachably connected to the two rotating shaft swing rods.

[0011] Preferably, a telescopic component is fixed at the center of the top of the placement box. The telescopic component includes a damping rod and a spring sleeved on the surface of the damping rod. One end of the damping rod is fixed at the center of the top of the placement box, and the other end of the damping rod is fixedly connected to the moving platform.

[0012] Preferably, three connecting components are arranged in a triangular shape on the outer side of the placement box. The three connecting components include a plurality of ropes and connecting rods. One end of each connecting rod is fixed to the outer side of the placement box, and a mounting table is fixed to the other end of each connecting rod. Moreover, a rope assembly is arranged on the surface of each mounting table. The three rope assemblies each include two fixed pulleys, two brackets, two eccentric guide wheels, and four rope retaining rollers. The two fixed pulleys are equidistantly fixed to the bottom of the mounting table, the two brackets are equidistantly fixed to the top of the mounting table, and the two eccentric guide wheels are respectively rotatably arranged on the inner side walls of the two brackets. The four rope retaining rollers are respectively rotatably arranged on the top of the two brackets, and the four rope retaining rollers are relatively located outside the two eccentric guide wheels.

[0013] Preferably, three driver components are fixed in a triangular shape on the bottom wall of the placement box. The driver components include an encoder, a motor, a speed reducer, a mounting plate, and a rope drum that are connected in sequence. One end of each of the plurality of ropes passes through one end of the placement box and is wound around the surface of the rope drum. Moreover, a plurality of relatively distributed rope pressing blocks are also arranged on the surface of the rope drum.

[0014] Preferably, the other ends of the plurality of ropes are sequentially wound around the surfaces of the two fixed pulleys and the two eccentric guide wheels and are clamped between the wire pressing plate at the bottom of the moving platform and the universal connection structure.

[0015] Compared with the related art, the universal connection structure for improving the rope life of a cable-driven robot provided by the present utility model has the following beneficial effects:

[0016] 1. By setting up the cable-driven component, rope wear is reduced, the problem of short rope service life is solved, the weak points of the robot are improved, and it is more conducive to extending the service life of the entire device;

[0017] 2. By adopting the universal connection structure, the rope can be flexibly adjusted in multiple directions and at multiple angles at the connection point, which not only reduces the wear and stress concentration caused by sudden changes in the rope angle during the movement of the robot, but also improves the stability of the overall system during dynamic response;

[0018] 3. The detachable design between the wire pressing plate and the universal connection structure makes the replacement and maintenance of the rope more convenient. When the rope is severely worn due to long-term use, there is no need to disassemble the entire cable-driven component. Just simply disassemble the wire pressing plate, and a new rope can be easily replaced, reducing the maintenance cost and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the overall universal connection structure for improving the rope life of a cable-driven robot provided by the present utility model;

[0020] Figure 2 It is a structural schematic diagram of a cable-driven component;

[0021] Figure 3 It is a sectional structural schematic diagram of a part of the cable-driven component;

[0022] Figure 4 It is a structural schematic diagram of a rope assembly;

[0023] Figure 5 It is a structural schematic diagram of a driver component;

[0024] Figure 6 It is a structural schematic diagram of a part of the driver component.

[0025] Reference numerals in the figure: 1, placement box; 11, rope; 12, connecting rod; 13, mounting table; 131, fixed pulley; 132, bracket; 133, eccentric guide wheel; 134, rope retaining roller; 2, damping rod; 21, spring; 3, moving platform; 4, fixing plate; 41, universal connection structure; 411, screw; 412, thrust ball bearing; 413, rotating shaft; 414, deep groove ball bearing; 415, needle roller bearing; 416, rotating shaft swing rod; 42, steel wire pressing plate; 5, encoder; 51, motor; 52, reducer; 53, mounting plate; 54, rope drum; 541, rope pressing block. Specific implementation mode

[0026] The present utility model will be further described below in conjunction with the accompanying drawings and implementation modes.

[0027] Please refer to Figures 1 to 6 , wherein, Figure 1 It is a structural schematic diagram of the overall universal connection structure for improving the rope life of a cable-driven robot provided by the present utility model; Figure 2 It is a structural schematic diagram of a cable-driven component; Figure 3 It is a sectional structural schematic diagram of a part of the cable-driven component; Figure 4 It is a structural schematic diagram of a rope assembly; Figure 5 It is a structural schematic diagram of a driver component; Figure 6 It is a structural schematic diagram of a part of the driver component.

[0028] In the specific implementation process, as Figures 1 to 6 shown, it includes a placement box 1, a plurality of ropes 11 and a moving platform 3 located at the top of the placement box 1. The plurality of ropes 11 are wound between the placement box 1 and the moving platform 3, and three cable-driven components are arranged in a triangular shape at the bottom of the moving platform 3;

[0029] Each of the three cable drive assemblies includes a fixing plate 4, two universal joint structures 41, and two wire pressing plates 42. The top of the fixing plate 4 is fixed to the bottom of the moving platform 3. The two universal joint structures 41 are relatively fixed to the bottom of the fixing plate 4. The two wire pressing plates 42 are detachably connected to the two universal joint structures 41, and the other ends of several ropes 11 are respectively clamped between the two wire pressing plates 42 and the two universal joint structures 41;

[0030] It should be noted that the rope 11 is clamped between the wire pressing plate 42 and the universal joint structure 41, ensuring a uniform pressure distribution of the rope 11 at the connection point and avoiding local excessive wear that may occur in the traditional fixing method;

[0031] It should be further noted that the surface of the universal joint structure 41 is relatively smooth, reducing the friction of the rope 11 during the sliding process, thereby extending the service life of the rope 11;

[0032] Reference Figure 1 、 Figure 2 、 Figure 3 As shown, the two universal joint structures 41 each include a screw 411, a rotating shaft 413, and a rotating shaft swing rod 416 arranged in sequence from bottom to top. The rotating shaft 413 is rotatably arranged on the top of the screw 411, and one end of the rotating shaft 413 penetrates through the surfaces of the fixing plate 4 and the moving platform 3. Thrust ball bearings 412, deep groove ball bearings 414, and needle roller bearings 415 are arranged in sequence from bottom to top on the outer sides of the screw 411 and the rotating shaft 413. The thrust ball bearing 412 is located inside the moving platform 3 and is arranged around the bottom of the rotating shaft 413. The deep groove ball bearing 414 is located inside the fixing plate 4 and is arranged around the middle of the rotating shaft 413. One end of the needle roller bearing 415 is inserted through the top of the rotating shaft 413 and rotates on the top of the rotating shaft 413, and the rotating shaft swing rod 416 rotates on the top of the rotating shaft 413 through the needle roller bearing 415;

[0033] The two wire pressing plates 42 are detachably connected to the two rotating shaft swing rods 416;

[0034] It should be noted that by arranging multiple universal joint structures 41 between the fixing plate 4 and the moving platform 3, each structure includes multiple layers of bearings such as thrust ball bearings 412, deep groove ball bearings 414, and needle roller bearings 415. These bearings can effectively disperse the stress and friction generated by the rope 11 at the connection point, thereby extending the service life of the rope;

[0035] It should be further noted that the detachable connection between the wire pressing plate 42 and the rotating shaft swing rod 416 makes the fixing and replacement of the rope 11 more convenient, and also facilitates regular maintenance and inspection to ensure the stability and reliability of the connection of the rope 11;

[0036] It should be further noted that by adjusting the positions of the screw 411 and the rotating shaft 413, the tension of the rope 11 can be finely adjusted to adapt to different working loads and precision requirements, thereby improving the overall performance of the system.

[0037] Reference Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 As shown in the figures, the telescopic assembly includes a damping rod 2 and a spring 21 sleeved on the surface of the damping rod 2. One end of the damping rod 2 is fixed at the center of the top of the placement box 1, and the other end of the damping rod 2 is fixedly connected to the moving platform 3.

[0038] It should be noted that a damping rod 2 is fixed at the center of the top of the placement box 1. The damping rod 2 can extend or shorten a certain distance. The telescopic function of the damping rod 2 enables the moving platform 3 to move up and down relative to the placement box 1, thereby dynamically adjusting the tension of the rope 11.

[0039] It should be further noted that when encountering impacts or vibrations, the spring 21 sleeved on the surface of the damping rod 2 can absorb part of the energy, reduce the impact on the rope 11 and the entire system, protect the rope 11 from sudden increases in tensile or compressive forces, and thus extend its service life.

[0040] Three connecting components are arranged in a triangular shape on the outer side of the placement box 1. The three connecting components include a number of ropes 11 and connecting rods 12. One end of the connecting rod 12 is fixed on the outer side of the placement box 1, and mounting platforms 13 are fixed at the other ends of the connecting rods 12. And rope assemblies are arranged on the surfaces of the mounting platforms 13. The three rope assemblies each include two fixed pulleys 131, two brackets 132, two eccentric guide wheels 133, and four rope retaining rollers 134. The two fixed pulleys 131 are equidistantly fixed at the bottom of the mounting platform 13, the two brackets 132 are equidistantly fixed at the top of the mounting platform 13, and the two eccentric guide wheels 133 are respectively rotatably arranged on the inner side walls of the two brackets 132. The four rope retaining rollers 134 are respectively rotatably arranged on the tops of the two brackets 132, and the four rope retaining rollers 134 are relatively located outside the two eccentric guide wheels 133.

[0041] Three drive assemblies are fixed in a triangular shape on the bottom wall of the placement box 1. The drive assemblies include an encoder 5, a motor 51, a speed reducer 52, a mounting plate 53, and a rope drum 54 connected in sequence. One ends of a number of ropes 11 pass through one end of the placement box 1 and are wound around the surface of the rope drum 54, and a number of relatively distributed rope pressing blocks 541 are also provided on the surface of the rope drum 54.

[0042] The other ends of several ropes 11 are successively wound around the surfaces of two fixed pulleys 131 and two eccentric guide pulleys 133 and are clamped between the wire pressing plate 42 at the bottom of the moving platform 3 and the universal connection structure 41;

[0043] It should be noted that the motor 51 is connected to the rope drum 54 through a speed reducer 52. One end of the rope 11 is fixed on the rope drum 54. The rope drum 54 is provided with a spiral groove, and the rope 11 is wound on the spiral groove. By rotating the rope drum 54, the rope 11 is wound on the rope drum 54, and the length of the rope 11 from the rope outlet point of the eccentric guide pulley 133 to the moving platform 3 changes. Thereby pulling the moving platform 3. The encoder 5 real-time feedbacks the rotation angle of the motor 51, realizes the closed-loop control of the rotation of the motor 51, thereby achieving the accuracy of the rotation of the rope drum 54 and realizing the precise control of the winding and unwinding length of the rope 11;

[0044] It should be noted that the connection component: mainly plays a connecting role. One end of the connecting plate 12 is fixed on the outside of the placement box 1;

[0045] The encoder 5: mainly monitors the telescopic length and speed of the rope in real time, cooperates with the motor 51 and the speed reducer 52, ensures the high-precision control and position feedback of the driving action, and improves the accuracy of the robot motion trajectory;

[0046] It should be further noted that the design of the rope pressing block 541 on the rope drum 54 effectively avoids the phenomena of detachment and slipping of the rope during high-speed winding or release, reduces the rope wear, extends the service life, and at the same time ensures the uniform distribution of the tension force;

[0047] It should be further noted that the linear series structure from the motor 51 to the speed reducer 52 and then to the rope drum 54 simplifies the power transmission path, reduces the energy loss, and improves the response speed and efficiency of the entire driver assembly.

[0048] The circuits and controls involved in the present utility model are all prior arts and will not be elaborated here.

[0049] The above are only the embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. All equivalent structural or equivalent process transformations made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied to other related technical fields, are similarly included in the patent protection scope of the present utility model.

Claims

1. A universal connection structure for improving the life of the rope of a cable-driven robot, characterized in that: It comprises a placement box (1), a plurality of ropes (11) and a moving platform (3) located on the top of the placement box (1), wherein the plurality of ropes (11) are looped between the placement box (1) and the moving platform (3), and three rope drive components are arranged in a triangular shape at the bottom of the moving platform (3); The three rope drive assemblies each comprise a fixed plate (4), two universal connection structures (41) and two steel wire pressure plates (42); the top of the fixed plate (4) is fixed to the bottom of the moving platform (3); the two universal connection structures (41) are relatively fixed to the bottom of the fixed plate (4); the two steel wire pressure plates (42) and the two universal connection structures (41) are detachably connected; and the other ends of the plurality of ropes (11) are respectively clamped between the two steel wire pressure plates (42) and the two universal connection structures (41).

2. The universal connection structure for improving the life of the rope of a cable-driven robot according to claim 1, characterized in that: The two universal connection structures (41) each include a screw (411), a rotating shaft (413) and a rotating shaft swing rod (416) which are arranged in sequence from bottom to top. The rotating shaft (413) is rotatably arranged on the top of the screw (411), and one end of the rotating shaft (413) passes through the surface of the fixed plate (4) and the movable platform (3). A thrust ball bearing (412), a deep groove ball bearing (414) and a needle roller bearing (415) are arranged in sequence from bottom to top on the outer sides of the screw (411) and the rotating shaft (413). The thrust ball bearing (412 ) is located inside the moving platform (3), and the thrust ball bearing (412) is arranged around the bottom of the rotating shaft (413), the deep groove ball bearing (414) is located inside the fixed plate (4), and the deep groove ball bearing (414) is arranged around the middle of the rotating shaft (413), one end of the needle bearing (415) is passed through the top of the rotating shaft (413) and rotates at the top of the rotating shaft (413), and the rotating shaft rocker (416) rotates at the top of the rotating shaft (413) through the needle bearing (415).

3. The universal connection structure for improving the life of the rope of a cable-driven robot according to claim 2, characterized in that: The two steel wire pressing plates (42) are detachably connected to the two rotating shaft swing rods (416).

4. The universal connection structure for improving the life of the rope of a cable-driven robot according to claim 3, characterized in that: A telescopic assembly is fixed at the center of the top of the placement box (1), and the telescopic assembly comprises a damping rod (2) and a spring (21) sleeved on the surface of the damping rod (2), one end of the damping rod (2) is fixed at the center of the top of the placement box (1), and the other end of the damping rod (2) is fixedly connected to the moving platform (3).

5. The universal connection structure for improving the life of the rope of a cable-driven robot according to claim 4, characterized in that: The outside of the placement box (1) is provided with three connection assemblies in a triangular shape, and the three connection assemblies include a plurality of ropes (11) and a connection rod (12), one end of the connection rod (12) is fixed to the outside of the placement box (1), and the other end of the connection rod (12) is fixed with a mounting platform (13), and the surface of the mounting platform (13) is provided with a rope assembly, and the three rope assemblies each include two fixed pulleys (131), two brackets (132), two eccentric guide wheels (133) and four The invention relates to a rope-stopping roller (134), wherein the two fixed pulleys (131) are equidistantly fixed on the bottom of the mounting platform (13), the two brackets (132) are equidistantly fixed on the top of the mounting platform (13), and the two eccentric guide wheels (133) are rotatably arranged on the inner side walls of the two brackets (132), and the four rope-stopping rollers (134) are rotatably arranged on the tops of the two brackets (132), and the four rope-stopping rollers (134) are relatively located on the outer sides of the two eccentric guide wheels (133).

6. The universal connection structure for improving the life of the rope of a cable-driven robot according to claim 5, characterized in that: The bottom wall of the placement box (1) is fixed with three drive assemblies in a triangular shape, and the drive assembly comprises an encoder (5), a motor (51), a reducer (52), a mounting plate (53) and a rope drum (54) which are connected in sequence. One end of a plurality of ropes (11) passes through one end of the placement box (1) and is wound around the surface of the rope drum (54), and the surface of the rope drum (54) is also provided with a plurality of rope pressing blocks (541) which are relatively distributed.

7. The universal connection structure for improving the life of the rope of a cable-driven robot according to claim 6, characterized in that: The other ends of the plurality of ropes (11) are sequentially wound around the surfaces of the two fixed pulleys (131) and the two eccentric guide wheels (133) and clamped between the steel wire pressure plate (42) and the universal connection structure (41) at the bottom of the moving platform (3).

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