Counterweight driving device for flexible cable parallel robot

Abstract

The utility model discloses a counterweight driving device for a flexible cable parallel robot, which comprises a winding mechanism for winding and unwinding a rope of the flexible cable parallel robot, and the counterweight driving device is horizontally mounted at the top of a horizontal mounting plate and is provided with a winding shaft; the synchronous wiring mechanism is used for uniformly winding on the winding mechanism, is horizontally mounted at the top of the horizontal mounting plate and is provided with a lead screw guide rail, and the lead screw guide rail is connected with the winding shaft through a synchronous belt; the servo motor is provided with an absolute encoder and can control the winding mechanism to wind and unwind the rope, and an output shaft of the servo motor is connected with the winding shaft through a first coupler; the balance weight mechanism is connected with the winding shaft through a second coupler and used for driving an end effector connected with the rope to move through external force so that the rope can be tensioned when the rope stretches, and the winding shaft can be driven to rotate when the rope contracts. The device can avoid the development of a complex algorithm, and reduces the use cost and difficulty of the flexible cable parallel robot.

Description

Technical Field

[0001] This utility model relates to the field of flexible cable parallel robot technology, and in particular to a counterweight drive device for a flexible cable parallel robot. Background Technology

[0002] Cable-guided parallel robots are parallel mechanisms that use flexible cables instead of rigid links in traditional parallel robots as driving elements to coordinate the retraction and extension of end effectors to achieve spatial movement. The position, orientation, and forces on the end effector are adjusted by controlling the length and tension of the cables. Cable-guided parallel robots combine the high rigidity of parallel structures with the lightweight and large workspace advantages of flexible cables, making them uniquely promising for applications in large-scale spatial operations, heavy-duty handling, and aerospace.

[0003] A typical cable-operated parallel robot consists of an end effector, multiple drive units, a control system, and a number of cables equal to the number of drive units. The robot's operation involves the control system calculating cable length and tension using a control algorithm, and precisely controlling the operation of multiple drive units to extend and retract the cables, adjusting their length and tension. This allows the end effector, connected to the cables, to perform specific operations such as grasping and measuring. Throughout the robot's operation, all cables must remain taut to prevent slack from causing the end effector to malfunction.

[0004] The control algorithm used by the control system needs to be designed and written according to the task requirements before the task is carried out. However, for some flexible cable parallel robots that need to perform complex curved motion tasks, the required control algorithm is highly complex, difficult to design and write, and costly, which increases the cost and difficulty of using flexible cable parallel robots. Utility Model Content

[0005] Therefore, it is necessary to provide a counterweight drive device for flexible cable parallel robots to address the above-mentioned technical problems. This device can avoid the development of complex algorithms and reduce the cost and difficulty of using flexible cable parallel robots.

[0006] This utility model provides a counterweight drive device for a flexible cable parallel robot, comprising:

[0007] Horizontal mounting plate, first coupling, second coupling, and timing belt;

[0008] The winding mechanism for winding and unwinding the rope of the parallel robot is horizontally mounted on the top of a horizontal mounting plate and is equipped with a winding shaft.

[0009] A synchronous wiring mechanism for uniformly winding on a winding mechanism is horizontally mounted on the top of a horizontal mounting plate. The synchronous wiring mechanism is equipped with a lead screw guide rail, which is connected to the winding shaft via a synchronous belt.

[0010] A servo motor with an absolute encoder controls the winding mechanism to wind and unwind the rope. The output shaft of the servo motor is connected to the winding shaft via a first coupling.

[0011] The counterweight mechanism, connected to the winding shaft via a second coupling, is used to move the end effector connected to the rope when an external force drives it to move, thereby tightening the rope when it extends and driving the winding shaft to rotate when the rope contracts.

[0012] In one embodiment, the winding mechanism is further provided with a first synchronous pulley, a winding drum, two first bearing seats and two first bearings;

[0013] Two first bearing housings are respectively disposed at both ends of the winding shaft. The first bearing housings are fixedly connected to the horizontal mounting plate. The first bearings are assembled inside the bearing housings. The two first bearings are sleeved at both ends of the winding shaft.

[0014] Both the first synchronous pulley and the winding drum are located between the two first bearing seats, and both the first synchronous pulley and the winding drum are sleeved on the winding shaft.

[0015] In one embodiment, the synchronous wiring mechanism is further provided with two fixed frames, a slide table, a slider and a fixed pulley, and the lead screw guide is horizontally aligned with the winding shaft, and the lead screw guide is parallel to the axis of the winding shaft.

[0016] A second synchronous pulley is provided at one end of the lead screw guide rail near the first synchronous pulley, and the second synchronous pulley is horizontally aligned with the first synchronous pulley.

[0017] Two fixed brackets are vertically fixedly connected to the horizontal mounting plate, and the two ends of the lead screw guide rail are vertically rotatably inserted into the two fixed brackets respectively;

[0018] The slide is positioned between two fixed frames and is fixedly connected to the horizontal mounting plate.

[0019] The slider is slidably connected to the slide table, and the slider is threadedly connected to the lead screw guide rail. The end of the lead screw guide rail near the second synchronous pulley passes through the fixed frame and is coaxially and fixedly connected to the second synchronous pulley.

[0020] The fixed pulley is fixedly mounted on the top of the slider, and the axis of the fixed pulley is perpendicular to the axis of the lead screw guide rail;

[0021] The second synchronous pulley is connected to the first synchronous pulley via a synchronous belt.

[0022] In one embodiment, the counterweight mechanism is provided with a first counterweight winding assembly, a second counterweight winding assembly, a counterweight rope, and a counterweight block;

[0023] The first counterweight winding assembly is located at the end of the winding shaft away from the first synchronous pulley, and the second counterweight winding assembly is located at the end of the lead screw guide rail away from the second synchronous pulley;

[0024] Both the first and second counterweight winding assemblies are equipped with a counterweight winding wheel, a counterweight shaft, two second bearing seats, two second bearings, and a ratchet mechanism that can control the rotation of the counterweight shaft.

[0025] Two second bearing housings are respectively set at both ends of the counterweight shaft. The second bearing housings are fixedly connected to the horizontal mounting plate. The second bearings are assembled inside the bearing housings. The two second bearings are sleeved at both ends of the counterweight shaft.

[0026] The counterweight winding wheel is located between the two second bearing seats, and the counterweight winding wheel is sleeved on the counterweight shaft;

[0027] The counterweight shafts of the first and second counterweight winding assemblies are arranged in parallel and aligned, and their axes are both parallel to the axis of the winding shaft.

[0028] The counterweight is located at the bottom of the horizontal mounting plate, which has a counterweight hole at the bottom of the counterweight winding wheel.

[0029] The top of the counterweight is provided with a hanging ear. One end of the counterweight rope is wound around the counterweight winding wheel of the first counterweight winding assembly, and the other end passes through the counterweight hole and the hanging ear and is wound around the counterweight winding wheel of the second counterweight winding assembly.

[0030] The ratchet mechanism is fixedly connected to the end of the counterweight shaft furthest from the winding mechanism.

[0031] In one embodiment, the ratchet mechanism includes a housing, a ratchet, a retaining wheel, and a handle capable of rotating the ratchet;

[0032] The outer casing is fixedly connected to the horizontal mounting plate, and the ratchet is assembled inside the outer casing;

[0033] The chuck is fixedly mounted on the top of the housing and is used to lock or release the ratchet;

[0034] One end of the handle is fixedly inserted into the center of the ratchet, while the other end of the handle is suspended in the air.

[0035] The handle is inserted into one end of the ratchet and is axially fixed to the counterweight shaft.

[0036] In one embodiment, the servo motor is located at the end of the winding mechanism away from the counterweight mechanism, and the servo motor is fixedly mounted on a horizontal mounting plate.

[0037] The beneficial effects of this utility model are as follows: When the end effector connected to the rope is moved by external force, the counterweight drive device of this utility model for the flexible rope parallel robot can tighten the rope when the rope is extended, avoiding the rope from becoming slack due to the rotational inertia of the winding shaft, which would cause other drive devices to continue to rotate and the absolute encoder on the servo motor to collect the rotor operating information of the servo motor to produce errors. When the rope contracts, it drives the winding shaft to rotate, which in turn drives the servo motor connected to the winding mechanism to rotate, realizing the teaching of the real operating condition of the servo motor. At the same time, the absolute encoder on the servo motor collects the rotor operating information of the servo motor.

[0038] The counterweight drive device of this invention can acquire the servo motor rotor operating information when the end effector performs basic curvilinear motion or complex curvilinear motion. Using this operating information, the servo motor can be controlled to rotate in reverse, realizing the control of the end effector's basic or complex curvilinear motion. This avoids the development of complex algorithms and reduces the cost and difficulty of using the flexible cable parallel robot. Attached Figure Description

[0039] Figure 1 A schematic diagram of the counterweight drive device for a flexible cable parallel robot provided in an embodiment of this utility model;

[0040] Figure 2 A schematic diagram of the winding mechanism provided for an embodiment of the utility model;

[0041] Figure 3 A schematic diagram of the synchronous wiring mechanism provided for an embodiment of the utility model;

[0042] Figure 4 This is a schematic diagram of the structure of the first counterweight winding assembly or the second counterweight winding assembly provided in the embodiments of this utility model;

[0043] Figure 5 A schematic diagram of the ratchet mechanism provided in an embodiment of this utility model.

[0044] Explanation of reference numerals in the attached drawings: 100, horizontal mounting plate; 200, winding mechanism; 210, winding shaft; 220, first synchronous pulley; 230, winding roller; 240, first bearing seat; 250, first bearing; 300, synchronous wiring mechanism; 310, lead screw guide rail; 320, fixed frame; 330, slide table; 340, slider; 350, fixed pulley; 360, second synchronous pulley; 400, servo motor; 500, counterweight mechanism; 510, first... 511. Counterweight winding assembly; 512. Counterweight shaft; 513. Second bearing housing; 514. Second bearing; 515. Ratchet mechanism; 5151. Housing; 5152. Ratchet; 5153. Picker wheel; 5154. Handle; 520. Second counterweight winding assembly; 530. Counterweight rope; 540. Counterweight block; 541. Lug; 550. Counterweight hole; 600. First coupling; 700. Second coupling; 800. Synchronous belt. Detailed Implementation

[0045] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0046] It should be noted that in the description of this utility model, "upper," "lower," "top," "bottom," and orientation or positional relationship are based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0047] Flexible cable parallel robots are typically controlled by six or more drive units, each positioned in a different location and operating under different conditions to control different motion curves of the end effector.

[0048] In one embodiment, such as Figure 1 As shown, this embodiment provides a counterweight drive device for a flexible cable parallel robot, comprising:

[0049] Horizontal mounting plate 100, first coupling 600, second coupling 700 and timing belt 800.

[0050] The winding mechanism 200 for winding and unwinding the rope of the parallel robot is horizontally mounted on the top of the horizontal mounting plate 100 and is equipped with a winding shaft 210.

[0051] The winding mechanism 200 is horizontally mounted on the top of the horizontal mounting plate 100, so the axis of the winding shaft 210 is parallel to the horizontal mounting plate 100.

[0052] The synchronous wiring mechanism 300, used for uniformly winding wire on the winding mechanism 200, is horizontally installed on the top of the horizontal mounting plate 100. The synchronous wiring mechanism 300 is provided with a lead screw guide rail 310. The lead screw guide rail 310 and the winding shaft 210 are connected by a synchronous belt 800, so that the lead screw guide rail 310 and the winding shaft 210 can rotate synchronously.

[0053] A servo motor 400 with an absolute encoder controls the winding mechanism 200 to wind and unwind the rope. The output shaft of the servo motor 400 is connected to the winding shaft 210 via a first coupling 600. The servo motor 400 can rotate in either the forward or reverse direction, and under the action of the first coupling 600, it can drive the winding shaft 210 to rotate in either the forward or reverse direction, thereby achieving the extension and retraction of the rope.

[0054] Specifically, the servo motor 400 has an absolute encoder that can record the rotor operating condition information of the servo motor 400. The absolute encoder is electrically connected to the amplifier of the servo motor 400 and to the control system used to control the servo motor 400. The control system can receive and control the servo motor 400 to work in reverse based on the rotor operating condition information of the servo motor 400 sent by the absolute encoder.

[0055] The counterweight mechanism 500 is connected to the winding shaft 210 via a second coupling 700. It is used to move the end effector connected to the rope when the external force drives it to stretch the rope and drive the winding shaft 210 to rotate when the rope contracts.

[0056] When the end effector connected to the rope is moved by an external force to tighten the rope, the winding shaft 210 is pulled by the rope to rotate. When the end effector stops moving, the winding shaft 210 may continue to rotate after the end effector reaches the target position due to rotational inertia. This may cause errors in the absolute encoder of its own servo motor in collecting the rotor operating information of the servo motor 400, and may also cause the rope to slack, resulting in the rotation of other drive devices. This may also cause errors in the absolute encoder of other drive devices in collecting the rotor operating information of the servo motor 400.

[0057] The counterweight mechanism 500 in this embodiment can tighten the rope when it extends to avoid errors in the acquisition of servo motor 400 rotor condition information by the absolute encoder of itself and other drive devices.

[0058] Furthermore, when an external force drives the end effector connected to the rope to move, causing the rope connected to the end effector to loosen, it is necessary to tighten the rope. At this time, the counterweight mechanism 500 can drive the winding shaft 210 to rotate and tighten the rope, while the winding shaft 210 can drive the servo motor 400 to rotate.

[0059] It should be noted that in this embodiment, the torque of the servo motor 400 driving the winding shaft 210 is equal to the torque of the counterweight mechanism 500 driving the winding shaft 210.

[0060] The counterweight drive device of this invention can acquire the rotor condition information of the servo motor 400 when the end effector moves. Using this condition information, the servo motor 400 can be controlled to rotate in reverse, so as to realize the control of the end effector to perform complex curve motion. This can avoid the development of complex algorithms and reduce the cost and difficulty of using the flexible cable parallel robot.

[0061] In one embodiment, such as Figure 2 As shown, the winding mechanism 200 is also provided with a first synchronous pulley 220, a winding drum 230, two first bearing seats 240 and two first bearings 250.

[0062] Two first bearing seats 240 are respectively disposed at both ends of the winding shaft 210. The first bearing seats 240 are fixedly connected to the horizontal mounting plate 100. The first bearing 250 is assembled inside the bearing seat, and the two first bearings 250 are sleeved on both ends of the winding shaft 210. The first synchronous pulley 220 and the winding roller 230 are both disposed between the two first bearing seats 240, and both the first synchronous pulley 220 and the winding roller 230 are sleeved on the winding shaft 210.

[0063] Specifically, the winding roller 230 is used to wind and unwind the rope, the first bearing seat 240 is used to fix the first bearing 250, and the first bearing 250 is used to support the rotation of the winding shaft 210.

[0064] In one embodiment, such as Figure 3 As shown, the synchronous wiring mechanism 300 is also provided with two fixed frames 320, a slide table 330, a slider 340 and a fixed pulley 350. The lead screw guide rail 310 is horizontally aligned with the winding shaft 210 and the axis of the lead screw guide rail 310 is parallel to the axis of the winding shaft 210.

[0065] The lead screw guide rail 310 has a second synchronous pulley 360 located at one end near the first synchronous pulley 220. The second synchronous pulley 360 is horizontally aligned with the first synchronous pulley 220. The second synchronous pulley 360 and the first synchronous pulley 220 are connected by a synchronous belt 800.

[0066] Under the action of the synchronous belt 800, the lead screw guide rail 310 can rotate synchronously with the winding shaft 210.

[0067] In this embodiment, two fixed brackets 320 are vertically fixedly connected to the horizontal mounting plate 100, and the two ends of the lead screw guide rail 310 are vertically rotatably inserted into the two fixed brackets 320 respectively; the slide table 330 is disposed between the two fixed brackets 320 and is fixedly connected to the horizontal mounting plate 100; the slider 340 is slidably connected to the slide table 330, and the slider 340 is threadedly connected to the lead screw guide rail 310; one end of the lead screw guide rail 310 near the second synchronous pulley 360 passes through the fixed bracket 320 and is coaxially fixedly connected to the second synchronous pulley 360.

[0068] The fixed pulley 350 is fixedly mounted on the top of the slider 340, and the axis of the fixed pulley 350 is perpendicular to the axis of the lead screw guide 310. The function of the fixed pulley 350 is to change the direction of the rope so that the winding direction of the rope on the winding drum 230 is perpendicular to the axis of the winding drum 230.

[0069] Specifically, when the winding shaft 210 rotates, the first synchronous wheel 220 drives the second synchronous wheel 360 to rotate, which in turn drives the lead screw guide rail 310 to rotate. When the lead screw guide rail 310 rotates, it drives the slider 340 to slide on the slide table 330, so that the rope can be evenly wound on the winding drum 230 when the rope is contracted.

[0070] In one embodiment, the counterweight mechanism 500 is provided with a first counterweight winding assembly 510, a second counterweight winding assembly 520, a counterweight rope 530, and a counterweight block 540.

[0071] The first counterweight winding assembly 510 is located at the end of the winding shaft 210 away from the first synchronous pulley 220, and the second counterweight winding assembly 520 is located at the end of the lead screw guide rail 310 away from the second synchronous pulley 360. The counterweight shafts 512 of the first counterweight winding assembly 510 and the second counterweight winding assembly 520 are arranged parallel and aligned, and their axes are both parallel to the axis of the winding shaft 210.

[0072] like Figure 4 As shown, both the first counterweight winding assembly 510 and the second counterweight winding assembly 520 are provided with a counterweight winding wheel 511, a counterweight shaft 512, two second bearing seats 513, two second bearings 514, and a ratchet mechanism 515 that can control the rotation of the counterweight shaft 512.

[0073] Two second bearing seats 513 are respectively disposed at both ends of the counterweight shaft 512. The second bearing seats 513 are fixedly connected to the horizontal mounting plate 100. The second bearings 514 are assembled inside the bearing seats. The two second bearings 514 are sleeved at both ends of the counterweight shaft 512. The counterweight winding wheel 511 is disposed between the two second bearing seats 513. The counterweight winding wheel 511 is sleeved at the counterweight shaft 512.

[0074] The counterweight shaft 512 can rotate around the shaft under the action of two bearings, driving the counterweight winding wheel 511 to rotate, thereby realizing the winding and unwinding of the counterweight rope 530.

[0075] In this embodiment, the counterweight block 540 is disposed at the bottom of the horizontal mounting plate 100, and the horizontal mounting plate 100 is provided with a counterweight hole 550, which is located at the bottom of the counterweight winding wheel 511; the top of the counterweight block 540 is provided with a hanging ear 541, one end of the counterweight rope 530 is wound around the counterweight winding wheel 511 of the first counterweight winding assembly 510, and the other end passes through the counterweight hole 550 and the hanging ear 541 and is wound around the counterweight winding wheel 511 of the second counterweight winding assembly 520.

[0076] The ratchet mechanism 515 is fixedly connected to the end of the counterweight shaft 512 away from the winding mechanism 200. The ratchet mechanism 515 can control the rotation of the counterweight shaft 512 to realize the winding and unwinding of the counterweight rope 530.

[0077] The counterweight rope 530 passes through the lug 541, and its two ends are respectively wound around the two counterweight winding wheels 511. The height of the counterweight block 540 can be controlled by the two counterweight winding assemblies to rise or fall.

[0078] Specifically, when collecting rotor operating information of the servo motor 400, the ratchet mechanism 515 of the first counterweight winding assembly 510 in this embodiment is in the open state, and the counterweight shaft 512 can be driven to rotate by the winding shaft 210; the ratchet mechanism 515 of the second counterweight winding assembly 520 is in the locked state when the rising or falling height of the counterweight block 540 meets the movement of the end effector. When the rising or falling height of the counterweight block 540 does not meet the movement position of the end effector, the ratchet mechanism 515 of the first counterweight winding assembly 510 needs to be locked, and the ratchet mechanism 515 of the second counterweight winding assembly 520 needs to be opened at the same time, so that the counterweight wire on the second counterweight winding assembly 520 is released, the counterweight block 540 rises or falls to the middle of the maximum rising height and falling height, and then the ratchet mechanism 515 of the first counterweight winding assembly 510 is opened, and the ratchet mechanism 515 of the second counterweight winding assembly 520 is locked at the same time. This step is repeated until the movement position of the end effector is met.

[0079] It should also be noted that the maximum rising and falling height of the counterweight 540 is determined by the height of the horizontal mounting plate 100.

[0080] In one embodiment, such as Figure 4 As shown, the ratchet mechanism 515 is provided with a housing 5151, a ratchet 5152, a retaining wheel 5153, and a handle 5154 that can rotate the ratchet 5152;

[0081] The housing 5151 is fixedly connected to the horizontal mounting plate 100, and the ratchet 5152 is assembled inside the housing 5151; the chuck 5153 is fixedly assembled on the top of the housing 5151 and is used to lock or release the ratchet 5152.

[0082] One end of the handle 5154 is fixedly inserted into the center of the ratchet 5152, and the other end of the handle 5154 is suspended in the air; the end of the handle 5154 inserted into the center of the ratchet 5152 is axially fixedly connected to the counterweight shaft 512.

[0083] Specifically, the handle 5154 drives the counterweight shaft 512 to rotate, so that the counterweight line rotates in tandem to achieve the winding and unwinding of the counterweight line. The ratchet 5152 and the retaining wheel 5153 work together to lock or release the counterweight shaft 512.

[0084] The servo motor 400 is located at the end of the winding mechanism 200 away from the counterweight mechanism 500, and the servo motor 400 is fixedly mounted on the horizontal mounting plate 100.

[0085] The counterweight drive device for a flexible cable parallel robot of this invention can be used for teaching the drive device, that is, driving the end effector connected to the cable to perform the same movement as the target task by external force, and collecting the rotor condition information of the servo motor 400 to perform actual drive control, instead of designing a control algorithm to control the drive device to achieve the target task. In this embodiment, the specific process of the teaching work is as follows:

[0086] Lock the first coupling 600 and the second coupling 700, open the retaining wheel 5153 of the ratchet mechanism 515 of the first counterweight winding assembly 510, lock the retaining wheel 5153 of the ratchet mechanism 515 of the second counterweight winding assembly 520, and release the brake on the servo motor 400. At this time, the rope is subjected to the reverse torque indirectly connected by the counterweight block 540 and is in a tensioned state. Manually drag the end effector to move according to the target task. At this time, the rope of the counterweight drive device may need to extend or retract.

[0087] When the rope extends, it changes direction through the fixed pulley 350, which pulls the winding drum 230 to rotate, causing the winding shaft 210 to rotate, which in turn drives the servo motor 400 rotor to rotate forward. When the servo motor 400 rotor rotates, the absolute encoder collects the rotor operating condition information of the servo motor 400 and transmits it to the control system. The operating condition information includes information such as the rotor rotation direction, rotation speed, rotation acceleration, and rotation position.

[0088] When the rope retracts, under the action of the counterweight 540, the counterweight shaft 512 will apply a reverse torque to the winding shaft 210 to retract the rope, which will drive the winding drum 230 to rotate, and then drive the servo motor 400 rotor to reverse. When the servo motor 400 rotor rotates, the absolute encoder collects the servo motor 400 rotor operating condition information and transmits it to the control system.

[0089] The counterweight drive device for the flexible cable parallel robot of this utility model can also control the servo motor 400 according to the rotor condition information of the servo motor 400 obtained from the teaching work, so as to realize the movement of the end effector according to the target task. The specific process is as follows:

[0090] Lock the ratchet mechanism 5153 of the two counterweight winding assemblies, disconnect the second coupling 700, and the control system sends a control signal to the servo motor 400 according to the rotor condition information of the servo motor 400 collected by the absolute encoder, so as to realize the movement of the end effector.

[0091] It should be noted that, whether in the teaching process or when the end effector moves according to the target task, there are at least six counterweight drive devices working together. The absolute encoder of the servo motor 400 of each counterweight drive device collects the rotor condition information of the servo motor 400 of each counterweight drive device. The control system controls each servo motor 400 according to the received rotor condition information of each servo motor 400 of each counterweight drive device.

[0092] The counterweight drive device for the flexible cable parallel robot of this invention can obtain the control information of the servo motor 400 through teaching work when the target task is a complex curvilinear motion, without the need to develop complex algorithms, thus reducing the cost and difficulty of using the flexible cable parallel robot.

[0093] The above-described embodiments are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A counterweight drive device for a flexible cable parallel robot, characterized in that, include: Horizontal mounting plate (100), first coupling (600), second coupling (700) and timing belt (800); The winding mechanism (200) for winding and unwinding the rope of the parallel robot is horizontally mounted on the top of the horizontal mounting plate (100) and is provided with a winding shaft (210). A synchronous wiring mechanism (300) for uniformly winding wire on a winding mechanism (200) is horizontally mounted on the top of the horizontal mounting plate (100). The synchronous wiring mechanism (300) is provided with a lead screw guide (310), and the lead screw guide (310) is connected to the winding shaft (210) via a synchronous belt (800). A servo motor (400) with an absolute encoder is used to control the winding mechanism (200) to wind and unwind the rope. The output shaft of the servo motor (400) is connected to the winding shaft (210) via a first coupling (600). The counterweight mechanism (500) is connected to the winding shaft (210) via a second coupling (700) and is used to tighten the rope when the end actuator connected to the rope is moved by external force to extend the rope, and to drive the winding shaft (210) to rotate when the rope contracts.

2. The counterweight drive device for a flexible cable parallel robot according to claim 1, characterized in that, The winding mechanism (200) is also provided with a first synchronous pulley (220), a winding drum (230), two first bearing seats (240) and two first bearings (250); Two first bearing seats (240) are respectively disposed at both ends of the winding shaft (210). The first bearing seats (240) are fixedly connected to the horizontal mounting plate (100). The first bearing (250) is assembled inside the bearing seat. The two first bearings (250) are sleeved at both ends of the winding shaft (210). The first synchronous pulley (220) and the winding roller (230) are both disposed between two first bearing seats (240), and the first synchronous pulley (220) and the winding roller (230) are both sleeved on the winding shaft (210).

3. The counterweight drive device for a flexible cable parallel robot according to claim 2, characterized in that, The synchronous wiring mechanism (300) is also provided with two fixed frames (320), a slide table (330), a slider (340) and a fixed pulley (350). The lead screw guide rail (310) is horizontally aligned with the winding shaft (210), and the lead screw guide rail (310) is parallel to the axis of the winding shaft (210). The lead screw guide (310) is provided with a second synchronous pulley (360) at one end near the first synchronous pulley (220), and the second synchronous pulley (360) is horizontally aligned with the first synchronous pulley (220); Two fixed brackets (320) are vertically fixedly connected to the horizontal mounting plate (100), and the two ends of the lead screw guide rail (310) are vertically rotatably inserted into the two fixed brackets (320); The slide (330) is located between two fixed frames (320) and is fixedly connected to the horizontal mounting plate (100); The slider (340) is slidably connected to the slide table (330), the slider (340) is threadedly connected to the lead screw guide rail (310), and the end of the lead screw guide rail (310) near the second synchronous pulley (360) passes through the fixing frame (320) and is coaxially fixedly connected to the second synchronous pulley (360); The fixed pulley (350) is fixedly mounted on the top of the slider (340), and the axis of the fixed pulley (350) is perpendicular to the axis of the lead screw guide (310). The second synchronous pulley (360) is connected to the first synchronous pulley (220) via a synchronous belt (800).

4. The counterweight drive device for a flexible cable parallel robot according to claim 3, characterized in that, The counterweight mechanism (500) is provided with a first counterweight winding assembly (510), a second counterweight winding assembly (520), a counterweight rope (530), and a counterweight block (540); The first counterweight winding assembly (510) is located at the end of the winding shaft (210) away from the first synchronous pulley (220), and the second counterweight winding assembly (520) is located at the end of the lead screw guide (310) away from the second synchronous pulley (360); The first counterweight winding assembly (510) and the second counterweight winding assembly (520) are each provided with a counterweight winding wheel (511), a counterweight shaft (512), two second bearing seats (513), two second bearings (514), and a ratchet mechanism (515) that can control the rotation of the counterweight shaft (512). Two second bearing seats (513) are respectively disposed at both ends of the counterweight shaft (512). The second bearing seats (513) are fixedly connected to the horizontal mounting plate (100). The second bearing (514) is assembled inside the bearing seat. The two second bearings (514) are sleeved at both ends of the counterweight shaft (512). The counterweight winding wheel (511) is disposed between two second bearing seats (513), and the counterweight winding wheel (511) is sleeved on the counterweight shaft (512); The counterweight shafts (512) of the first counterweight winding assembly (510) and the second counterweight winding assembly (520) are arranged in parallel and aligned, and their axes are both parallel to the axis of the winding shaft (210). The counterweight (540) is disposed at the bottom of the horizontal mounting plate (100), and the horizontal mounting plate (100) is provided with a counterweight hole (550), which is located at the bottom of the counterweight winding wheel (511). The counterweight block (540) is provided with a hanging ear (541) at the top. One end of the counterweight rope (530) is wound around the counterweight winding wheel (511) of the first counterweight winding assembly (510), and the other end passes through the counterweight hole (550) and the hanging ear (541) and is wound around the counterweight winding wheel (511) of the second counterweight winding assembly (520). The ratchet mechanism (515) is fixedly connected to the end of the counterweight shaft (512) away from the winding mechanism (200).

5. The counterweight drive device for a flexible cable parallel robot according to claim 4, characterized in that, The ratchet mechanism (515) is provided with a housing (5151), a ratchet (5152), a retaining wheel (5153), and a handle (5154) capable of rotating the ratchet (5152); The outer casing (5151) is fixedly connected to the horizontal mounting plate (100), and the ratchet (5152) is assembled inside the outer casing (5151); The chuck (5153) is fixedly mounted on the top of the housing (5151) and is used to lock or release the ratchet (5152); One end of the handle (5154) is fixedly inserted into the center of the ratchet (5152), and the other end of the handle (5154) is suspended in the air; The handle (5154) is inserted into the center of the ratchet (5152) and is axially fixedly connected to the counterweight shaft (512).

6. The counterweight drive device for a flexible cable parallel robot according to claim 5, characterized in that, The servo motor (400) is located at the end of the winding mechanism (200) away from the counterweight mechanism (500), and the servo motor (400) is fixedly mounted on the horizontal mounting plate (100).

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