Heavy-duty lifting robot based on parallel wire driven mechanism

Abstract

The invention belongs to the field of advanced manufacturing and automation, and particularly discloses a heavy-duty lifting robot based on a parallel wire driven mechanism. The heavy-duty lifting robot comprises an upper platform, a lower platform and six wires. The upper platform is a fixed platform, the lower platform is a movable platform, and the upper platform is connected with the lower platform through the six wires to form a Stewart type parallel mechanism. Each branch wire is connected with the upper platform through a fixed pulley and a motor roller and connected with the lower platform through a crossed hinge. An encoder is installed on a pulley shaft of each branch and can measure the length change of the corresponding wire. When the center of the upper platform and the centerof the lower platform are located on the same plumb line and the movable platform of the robot naturally droops in balance, the gravity surface conditions are met between the circumferential radius of the center points of the pulleys on the upper platform and the circumferential radius of the joints of the lower platform, and the pulley central plane, perpendicular to the rotating axis, of each branch pulley and the corresponding gravity surface are coplanar. The practical application conditions of the heavy-duty automatic operation are sufficiently considered, and the heavy-duty lifting robot has the advantages of being high in loading capacity, high in operation precision, reasonable in structural optimization and capable of realizing six-dimensional motions.

Description

technical field [0001] The invention belongs to the field of advanced manufacturing and automation, in particular to a heavy-duty hoisting robot based on a parallel flexible cable mechanism. Background technique [0002] The parallel flexible cable mechanism is a kind of parallel mechanism, and the connecting rod of the traditional parallel mechanism is replaced by the flexible cable, so as to produce a new form of robot mechanism. Different from the parallel link mechanism, the parallel flexible cable mechanism has a simple structure because the branches use flexible cables, and cannot derive as many topological configurations as the former. But it is also because of the introduction of flexible cable branches that it is possible to achieve greater load capacity or higher movement speed. At the same time, because of its simple structure, it is easier to implement and has higher reliability, which is more conducive to industrial applications. At present, some people have t...

AI Technical Summary

Problems solved by technology

Traditional gantry cranes must be operated manually and cannot be automated; at the same time, it is difficult to position and adjust the posture of the assembly, and the efficiency is low, which has become a bottleneck restricting the automation of assembly production

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