Rope-driven parallel robot with three-dimensional translation and one-dimensional rotation

Abstract

The invention discloses a rope-driven parallel robot with three-dimensional translation and one-dimensional rotation, which comprises a static platform, a movable platform, a driving assembly, a guide pulley assembly, a rope outlet pulley assembly, a parallel rope and an auxiliary tensioning branch chain, and a rope connector is mounted on the movable platform; the four driving assemblies are distributed around the center of the static platform and installed on the static platform. The four groups of guide pulley assemblies are distributed around the center of the static platform and are mounted on the static platform; the four groups of cable outlet pulley assemblies are distributed around the center of the static platform and are mounted on the static platform; one ends of the parallel ropes are connected to the driving assembly in a one-to-one correspondence mode, the parallel ropes sequentially pass through the guide pulley assembly and the rope outlet pulley assembly in a one-to-one correspondence mode, and the other ends of the parallel ropes are connected to the corresponding rope connectors. The auxiliary tensioning branch chains are used for tensioning the four sets of parallel ropes all the time. The rope-driven parallel robot is stable in operation, has the remarkable light weight characteristic, and can achieve low-cost and high-dynamic movement.

Description

technical field [0001] The invention relates to the technical field of robots and automation, in particular to a cable-driven parallel robot with three-dimensional translation and one-dimensional rotation. Background technique [0002] Food, medicine, 3C electronics and other industrial logistics sorting and packaging production lines have a huge demand for robots that can realize three-dimensional movement and one-dimensional rotational freedom. This type of robot is called a SCARA robot. The three-dimensional movement freedom of the terminal can drive the end effector to drive the load to achieve spatial movement and positioning, and the one-dimensional rotation freedom can be used to adjust the terminal attitude. The end of the SCARA robot is equipped with different types of grasping tools or grasping hands according to the different objects to be grasped, so as to realize the grasping and positioning of items on the production line. [0003] Existing industrial SCARA ro...

AI Technical Summary

Problems solved by technology

The parallel SCARA robot achieves further light weight compared with the serial articulated SCARA robot, but its kinematic branch chain still uses rigid rods, which limits the further reduction of the quality of the moving parts and the further improvement of the motion efficiency; it is widely used in the kinematic branch chain For complex hinges such as spherical hinges, the drive unit needs to use precision transmission components such as precision reducers with large reduction ratios, resulting in high costs

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