Three-axis cable-driven robot

Abstract

The utility model provides a three-axis cable-driven robot and relates to the technical field of robots, three driving parts in a rack rotate to drive three rope assemblies to tighten upwards, meanwhile, the three rope assemblies drive a movable platform plate to move, and if all or part of the rope assemblies are broken, the movable platform plate can move up and down. The electronic gyroscope is used for monitoring the levelness of the mobile platform in real time, judging that the mobile platform breaks down, carrying out power-off sudden stop on the robot and preventing the situation that damage is aggravated due to continuous movement of the robot, so that the damage degree of equipment is reduced to a certain extent; and meanwhile, accidents are prevented from being aggravated to a certain extent.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a three-axis cable-driven robot. Background Art

[0002] A robot is a mechanical device or system that can automatically execute tasks, usually achieving autonomous or semi-autonomous operations through pre-programming or artificial intelligence control. Robots can work in various environments, performing repetitive, dangerous or precise tasks.

[0003] The cable parallel robot, also known as a three-axis cable-driven robot, uses ropes instead of rigid linkages for driving, with significant high-speed and high-acceleration characteristics, and has the advantages of simple structure, low manufacturing cost, large working space and low power consumption, showing great application potential in the field of high-speed robots. However, when using the rope tension to balance the moving platform, since the rope can only be in tension, there will be a balance problem when the traction of the moving platform set and driven at the bottom of the robot has a problem with the rope force. For example, when the robot tightens the rope, the rope breaks. If the robot does not stop in time and continues to work, in this case, it will lead to an increase in the degree of damage to the robot, and then lead to more serious accidents.

[0004] Therefore, it is necessary to provide a new three-axis cable-driven robot to solve the above technical problems. Content of the Utility Model

[0005] To solve the above technical problems, the utility model provides a three-axis cable-driven robot.

[0006] The three-axis cable-driven robot provided by the utility model includes a frame. Three mounting plates are fixedly arranged inside the frame. Driver components are respectively fixedly arranged at the tops of the three mounting plates. Rope assemblies are respectively fixedly arranged at the output ends of the three driver components. One sides of the three rope assemblies respectively extend out of the inside of the frame. The outer surfaces of the three rope assemblies are slidably connected with the inner surface of the frame. A moving platform is arranged at the bottom of the frame. The bottoms of the three rope assemblies are respectively fixedly connected with the top of the moving platform.

[0007] The moving platform includes a moving platform plate. An electronic gyroscope for monitoring the real-time levelness of the moving platform plate is installed at the top of the moving platform plate. The moving platform plate is provided with a fixed pressing plate for limiting the electronic gyroscope. The fixed pressing plate is installed on the moving platform plate through fixed screws. Three rope sleeves for fixing the bottoms of the three rope assemblies are fixedly arranged at the top of the moving platform plate.

[0008] Preferably, the drive component includes a motor, the bottom of the motor is fixedly connected to the top end of the mounting plate, a speed reducer is fixedly provided at the extending end of the motor, a speed reducer mounting plate is fixedly provided on the side of the speed reducer away from the motor, the bottom of the speed reducer mounting plate is fixedly connected to the top end of the mounting plate, a drum input end cover is provided on the side of the speed reducer mounting plate away from the speed reducer, a cable winding drum is fixedly provided on one side of the drum input end cover, two cable pressing blocks are fixedly provided on the outer surface of the cable winding drum, a bearing seat is provided on the side of the cable winding drum away from the speed reducer mounting plate, the bottom of the bearing seat is fixedly connected to the top end of the mounting plate, a bearing is provided inside the bearing seat, the outer surface of the bearing is rotatably connected to the inner surface of the bearing seat, a bearing cover for preventing the bearing from detaching from the bearing seat is fixedly provided on the side of the bearing seat away from the cable winding drum, the output end of the speed reducer sequentially passes through the speed reducer mounting plate, the cable winding drum, the drum extending end cover and the bearing, and the output end of the speed reducer extends out of the inside of the bearing cover, the outer surface of the output end of the speed reducer is fixedly connected to the inner surface of the drum input end cover and the inner surface of the cable winding drum, and the outer surface of the output end of the speed reducer is respectively rotatably connected to the inner surfaces of the speed reducer mounting plate, the bearing and the bearing cover.

[0009] Preferably, the rope assembly includes two ropes, the two ropes are respectively wound around the outer surface of the cable winding drum, one ends of the two ropes extend out of the inside of the frame, the outer surfaces of the two ropes are slidably connected to the inner surface of the frame, a connecting block is fixedly provided on one side of the outer surface of the frame, and a connecting plate is fixedly provided on the side of the connecting block away from the frame.

[0010] Preferably, two fixed pulley assemblies are fixedly provided at the top end of the connecting plate, two hollow shafts are fixedly provided inside the connecting plate, the outer surfaces of the two ropes are attached to the outer surfaces of the two fixed pulley assemblies, the outer surfaces of the two ropes are movably connected to the outer surfaces of the two fixed pulley assemblies, the bottom parts of the two ropes respectively extend out of the inside of the two hollow shafts, and the outer surfaces of the two ropes are movably connected to the inner surfaces of the two hollow shafts.

[0011] Preferably, two eccentric guide wheel assemblies are fixedly provided at the bottom of the connecting plate, rotatable eccentric guide wheels are respectively provided inside the two eccentric guide wheel assemblies, the outer surfaces of the two ropes are respectively attached to the outer surfaces of the two eccentric guide wheels, and the outer surfaces of the two ropes are movably connected to the outer surfaces of the two eccentric guide wheels.

[0012] Preferably, a plurality of rotatable rope blocking rods are provided inside the eccentric guide wheel assembly, the bottom parts of the two ropes respectively extend out of the inside of the plurality of rope blocking rods, the outer surfaces of the two ropes are respectively movably connected to the outer surfaces of the plurality of rope blocking rods, the bottom parts of the two ropes extend into the rope sleeve, and the outer surfaces of the two ropes are fixedly connected to the inner surface of the rope sleeve.

[0013] Compared with the related art, the three-axis cable-driven robot provided by the present invention has the following beneficial effects:

[0014] Three driving components inside the frame perform rotational motion, driving three rope assemblies to tighten upward. At the same time, the three rope assemblies drive the moving platform plate to move. If all or part of the rope assemblies break, causing a change in the level of the moving platform, an electronic gyroscope that monitors the level of the moving platform in real time determines that the moving platform has failed, powers off and immediately stops the robot, preventing the robot from continuing to move and exacerbating the damage. To a certain extent, the degree of equipment damage is reduced, and at the same time, the occurrence of accidents is avoided from intensifying to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 FIG. is a schematic diagram of the overall structure of the three-axis cable-driven robot provided by the present utility model;

[0016] Figure 2 is Figure 1 a schematic diagram of the structure of the moving platform shown in;

[0017] Figure 3 is Figure 1 a schematic diagram of the sectional structure shown in;

[0018] Figure 4 is Figure 3 a schematic diagram of the partial structure shown in;

[0019] Figure 5 is Figure 3 a schematic diagram of the structure of the rope assembly shown in;

[0020] Figure 6 is Figure 3 a schematic diagram of the structure of the driving component shown in.

[0021] Reference numerals in the figure: 1, frame; 2, mounting plate; 3, moving platform plate; 4, electronic gyroscope; 5, fixed pressing plate; 6, fixing screw; 7, rope sleeve; 8, motor; 9, reducer; 10, reducer mounting plate; 11, roller input end cover; 12, rope winding roller; 13, rope pressing block; 14, bearing seat; 15, bearing; 16, bearing cover; 17, rope; 18, connecting block; 19, connecting plate; 20, fixed pulley assembly; 21, hollow shaft; 22, eccentric guide wheel assembly; 2201, eccentric guide wheel; 23, rope blocking rod; 24, encoder; 25, roller output end cover. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0023] Please refer to Figures 1 - 6 , wherein, Figure 1 is a schematic diagram of the overall structure of the three-axis cable-driven robot provided by the present utility model; Figure 2 is Figure 1Schematic structural diagram of the moving platform shown Figure 3 is Figure 1 schematic sectional structure diagram shown Figure 4 is Figure 3 schematic partial structure diagram shown Figure 5 is Figure 3 schematic structural diagram of the rope assembly shown Figure 6 is Figure 3 schematic structural diagram of the drive component shown

[0024] In the specific implementation process, as Figures 1 - 6 shown, a three-axis cable-driven robot includes a frame 1. Inside the frame 1, three mounting plates 2 are fixedly arranged. At the top ends of the three mounting plates 2, drive components are respectively fixedly arranged. At the output ends of the three drive components, rope assemblies are respectively fixedly arranged. One side of the three rope assemblies respectively extends out of the inside of the frame 1. The outer surfaces of the three rope assemblies are slidably connected to the inner surface of the frame 1. At the bottom of the frame 1, there is a moving platform. The bottoms of the three rope assemblies are respectively fixedly connected to the top end of the moving platform. The moving platform includes a moving platform plate 3. On the top of the moving platform plate 3, an electronic gyroscope 4 for monitoring the real-time levelness of the moving platform plate 3 is installed. The moving platform plate 3 is provided with a fixed pressing plate 5 for limiting the electronic gyroscope 4. The fixed pressing plate 5 is installed on the moving platform plate 3 through fixing screws 6. At the top of the moving platform plate 3, three rope sleeves 7 for fixing the bottoms of the three rope assemblies are fixedly arranged.

[0025] The drive component includes a motor 8, the bottom of the motor 8 is fixedly connected to the top end of the mounting plate 2, a speed reducer 9 is fixedly provided at the extending end of the motor 8, a speed reducer mounting plate 10 is fixedly provided on the side of the speed reducer 9 away from the motor 8, the bottom of the speed reducer mounting plate 10 is fixedly connected to the top end of the mounting plate 2, a drum input end cover 11 is provided on the side of the speed reducer mounting plate 10 away from the speed reducer 9, a cable winding drum 12 is fixedly provided on one side of the drum input end cover 11, two rope pressing blocks 13 are fixedly provided on the outer surface of the cable winding drum 12, a bearing seat 14 is provided on the side of the cable winding drum 12 away from the speed reducer mounting plate 10, the bottom of the bearing seat 14 is fixedly connected to the top end of the mounting plate 2, a bearing 15 is provided inside the bearing seat 14, the outer surface of the bearing 15 is rotatably connected to the inner surface of the bearing seat 14, a bearing cover 16 for preventing the bearing 15 from disengaging from the bearing seat 14 is fixedly provided on the side of the bearing seat 14 away from the cable winding drum 12, the output end of the speed reducer 9 sequentially passes through the speed reducer mounting plate 10, the cable winding drum 12, the drum extending end cover and the bearing 15, and the output end of the speed reducer 9 extends into the inside of the bearing cover 16, the outer surface of the output end of the speed reducer 9 is fixedly connected to the inner surface of the drum input end cover 11 and the inner surface of the cable winding drum 12, the outer surface of the output end of the speed reducer 9 is respectively rotatably connected to the inner surfaces of the speed reducer mounting plate 10, the bearing 15 and the bearing cover 16, a drum output end cover 25 is fixedly provided on the side of the cable winding drum 12 away from the motor 8, the drum output end cover 25 is located between the cable winding drum 12 and the bearing seat 14, the output end of the speed reducer 9 extends into the inside of the drum output end cover 25, and the outer surface of the output end of the speed reducer 9 is fixedly connected to the inner surface of the drum output end cover 25.

[0026] The rope assembly includes two ropes 17. The two ropes 17 are respectively wound around the outer surface of the rope winding drum 12. One end of the two ropes 17 extends out of the inside of the frame 1. The outer surfaces of the two ropes 17 are slidably connected to the inner surface of the frame 1. On one side of the outer surface of the frame 1, a connection block 18 is fixedly provided. On the side of the connection block 18 away from the frame 1, a connection plate 19 is fixedly provided. At the top of the connection plate 19, two fixed pulley assemblies 20 are fixedly provided. Inside the connection plate 19, two hollow shafts 21 are fixedly provided. The outer surfaces of the two ropes 17 are in contact with the outer surfaces of the two fixed pulley assemblies 20. The outer surfaces of the two ropes 17 are movably connected to the outer surfaces of the two fixed pulley assemblies 20. The bottom parts of the two ropes 17 respectively extend out of the inside of the two hollow shafts 21. The outer surfaces of the two ropes 17 are movably connected to the inner surfaces of the two hollow shafts 21. At the bottom of the connection plate 19, two eccentric guide wheel assemblies 22 are fixedly provided. Inside the two eccentric guide wheel assemblies 22, eccentric guide wheels 2201 that can perform rotational motion are respectively provided. The outer surfaces of the two ropes 17 are respectively in contact with the outer surfaces of the two eccentric guide wheels 2201. The outer surfaces of the two ropes 17 are movably connected to the outer surfaces of the two eccentric guide wheels 2201. Inside the eccentric guide wheel assemblies 22, a plurality of rope blocking rods 23 that can perform rotational motion are provided. The bottom parts of the two ropes 17 respectively extend out of the inside of the plurality of rope blocking rods 23. The outer surfaces of the two ropes 17 are respectively movably connected to the outer surfaces of the plurality of rope blocking rods 23. The bottom parts of the two ropes 17 extend into the rope sleeve 7. The outer surfaces of the two ropes 17 are fixedly connected to the inner surface of the rope sleeve 7.

[0027] The reducer mounting plate 10 is used to fix the reducer 9 and provide stable support for the reducer 9. The drum input end cover 11 is used to ensure the connection stability between the output end of the reducer 9 and the rope winding drum 12. The rope winding drum 12 is a component for winding and releasing the rope 17. Through the rotation of the output end of the reducer 9, the rope 17 is wound or loosened on the drum, thereby controlling the movement of the mobile platform. The bearing seat 14 is used to fix the bearing 15. The bearing 15 is used to support the output end of the reducer 9 and ensure its smooth rotation. The bearing cover 16 is used to fix the bearing 15 and prevent the bearing 15 from disengaging from the bearing seat 14. The drum input end cover 11 is used to close the other end of the rope winding drum 12.

[0028] On the side of the motor 8 away from the reducer 9, an encoder 24 is fixedly provided. The encoder 24 can help coordinate the movements of different motors 8, ensure the synchronous operation of all motors 8, and prevent the situation where the rotational speeds of the three motors 8 are different. After the electronic gyroscope 4 detects a change in the level of the mobile platform and causes the robot to stop, it will send a maintenance signal to the maintenance personnel to notify the maintenance personnel to perform maintenance. This achieves the effect of protecting the robot.

[0029] The working principle provided by the present utility model is as follows: The motor 8 on the mounting plate 2 inside the frame 1 performs a rotational motion. At the same time, the motor 8 drives the speed reducer 9 to perform a rotational motion, so that the output end of the speed reducer 9 drives the cable winding drum 12 to perform a rotational motion, causing the driving cable winding drum 12 to drive two ropes 17 to move, completing the tightening of the two ropes 17 on the outer surface of the cable winding drum 12. The two ropes 17 move upward through the rotational guiding action of the two fixed pulley assemblies 20 and the guiding action of the two hollow shafts 21. At the same time, the two ropes 17 also maintain an upward movement through the guiding action of the eccentric guide wheel 2201 and multiple rope retaining rods 23, preventing the two ropes 17 from deviating in angle during the tightening of the ropes 17. The two ropes 17 drive the moving platform to move upward through the rope sleeve 7, causing the moving platform to complete an upward movement. If the two ropes 17 of all or part of the rope assembly break, resulting in a change in the level of the moving platform, the electronic gyroscope 4 that monitors the level of the moving platform in real time determines that the moving platform has a fault, and powers off and emergently stops the robot to prevent the situation of further damage caused by the continuous movement of the robot.

[0030] The circuits and controls involved in the present utility model are all prior arts and will not be elaborated here.

[0031] The above are only the embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present utility model.

Claims

1. A three-axis cable-driven robot, characterized in that: The machine comprises a frame (1), wherein three mounting plates (2) are fixedly provided inside the frame (1), driver components are fixedly provided at the top ends of the three mounting plates (2), and rope assemblies are fixedly provided at the output ends of the three driver components, one side of the three rope assemblies respectively extends out of the frame (1), the outer surfaces of the three rope assemblies are slidably connected to the inner surface of the frame (1), a moving platform is provided at the bottom of the frame (1), and the bottoms of the three rope assemblies are fixedly connected to the top ends of the moving platform respectively; The moving platform comprises a moving platform plate (3), an electronic gyroscope (4) for monitoring the real-time horizontality of the moving platform plate (3) is installed at the top of the moving platform plate (3), the moving platform plate (3) is provided with a fixed pressure plate (5) for limiting the position of the electronic gyroscope (4), the fixed pressure plate (5) is installed on the moving platform plate (3) by means of fixing screws (6), and three rope sleeves (7) for fixing the bottoms of the three rope assemblies are fixedly provided at the top of the moving platform plate (3).

2. The three-axis cable-driven robot according to claim 1, characterized in that: The drive component comprises a motor (8), the bottom of the motor (8) is fixedly connected to the top of the mounting plate (2), a reducer (9) is fixedly provided at the protruding end of the motor (8), a reducer mounting plate (10) is fixedly provided on the side of the reducer (9) away from the motor (8), the bottom of the reducer mounting plate (10) is fixedly connected to the top of the mounting plate (2), a roller input end cover (11) is provided on the side of the reducer mounting plate (10) away from the reducer (9), a rope winding roller (12) is fixedly provided on one side of the roller input end cover (11), two rope pressing blocks (13) are fixedly provided on the outer surface of the rope winding roller (12), a bearing seat (14) is provided on the side of the rope winding roller (12) away from the reducer mounting plate (10), the bottom of the bearing seat (14) is fixedly connected to the top of the mounting plate (2), A bearing (15) is arranged inside the bearing seat (14), and the outer surface of the bearing (15) is rotatably connected to the inner surface of the bearing seat (14). A bearing cover (16) for preventing the bearing (15) from being separated from the bearing seat (14) is fixedly arranged on the side of the bearing seat (14) away from the cable winding drum (12). The output end of the reducer (9) passes through the reducer mounting plate (10), the cable winding drum (12), the drum extension end cover and the bearing (15) in sequence, and the output end of the reducer (9) extends out of the bearing cover (16). The outer surface of the output end of the reducer (9) is fixedly connected to the inner surface of the drum input end cover (11) and the inner surface of the cable winding drum (12). The outer surface of the output end of the reducer (9) is rotatably connected to the reducer mounting plate (10), the bearing (15) and the inner surface of the bearing cover (16) respectively.

3. The three-axis cable-driven robot according to claim 2, characterized in that: The rope assembly comprises two ropes (17), the two ropes (17) are respectively wound around the outer surface of the rope winding drum (12), one end of the two ropes (17) extends out of the interior of the frame (1), the outer surfaces of the two ropes (17) are slidably connected to the inner surface of the frame (1), a connecting block (18) is fixedly provided on one side of the outer surface of the frame (1), and a connecting plate (19) is fixedly provided on the side of the connecting block (18) away from the frame (1).

4. The three-axis cable-driven robot according to claim 3, characterized in that: Two fixed pulley assemblies (20) are fixedly provided at the top of the connecting plate (19), two hollow shafts (21) are fixedly provided inside the connecting plate (19), the outer surfaces of the two ropes (17) are in contact with the outer surfaces of the two fixed pulley assemblies (20), the outer surfaces of the two ropes (17) are movably connected to the outer surfaces of the two fixed pulley assemblies (20), the bottoms of the two ropes (17) respectively extend out of the interior of the two hollow shafts (21), and the outer surfaces of the two ropes (17) are movably connected to the inner surfaces of the two hollow shafts (21).

5. The three-axis cable-driven robot according to claim 4, characterized in that: Two eccentric guide wheel assemblies (22) are fixedly provided at the bottom of the connecting plate (19), and eccentric guide wheels (2201) capable of rotating are respectively provided inside the two eccentric guide wheel assemblies (22), and the outer surfaces of the two ropes (17) are respectively in contact with the outer surfaces of the two eccentric guide wheels (2201), and the outer surfaces of the two ropes (17) are movably connected with the outer surfaces of the two eccentric guide wheels (2201).

6. The three-axis cable-driven robot according to claim 5, characterized in that: The eccentric guide wheel assembly (22) is internally provided with a plurality of rope-blocking rods (23) capable of rotating movement. The bottoms of the two ropes (17) respectively extend out of the interiors of the plurality of rope-blocking rods (23). The outer surfaces of the two ropes (17) are respectively movably connected to the outer surfaces of the plurality of rope-blocking rods (23). The bottoms of the two ropes (17) extend into the interior of the rope sleeve (7). The outer surfaces of the two ropes (17) are fixedly connected to the inner surface of the rope sleeve (7).

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