CN-121973160-A - Cable-driven parallel robot for high-speed unstacking

Abstract

A cable-driven parallel robot for high-speed unstacking comprises a parallel rope driving mechanism and an end effector, wherein the parallel rope driving mechanism comprises a plurality of groups of windlass, ropes, pulleys, a frame and a control unit and is used for driving the end effector to realize high-acceleration movement in the horizontal feeding and vertical lifting directions, and the end effector is connected with the parallel rope driving mechanism through the ropes to restrict the rotational freedom degree of the end effector and realize stable translational movement. The invention can meet the high-speed unstacking requirement of a large-scale stamping production line, realizes high-speed production beat, and has the advantages of compact structure, strong acceleration performance, good anti-interference capability and the like.

Inventors

• SHAO ZHUFENG
• WANG CHUANYING
• WU ZHIYUAN
• LIU LUWEI
• LIU HANQING
• DUAN JINHAO
• WANG YUE
• WANG DONG
• ZHANG XINGHE

Assignees

• 国重金属成形技术研究(济南)有限公司
• 清华大学

Dates

Publication Date

20260505

Application Date

20260325

Claims (8)

1. 1. A cable-driven parallel robot for high-speed unstacking is characterized by comprising a suspension type parallel rope driving mechanism and an end effector, wherein the suspension type parallel rope driving mechanism is connected with the end effector through a plurality of groups of ropes to restrict the rotational freedom degree of the end effector, and the two-freedom-degree translational motion of the end effector in the horizontal feeding direction and the vertical lifting direction is realized.
2. 2. The parallel robot for high-speed unstacking according to claim 1, wherein the suspension type parallel rope driving mechanism comprises a winch, ropes, pulleys, a frame and a control unit, wherein the winch is connected with the ropes in a one-to-one correspondence manner, the pulleys are used for guiding the corresponding ropes to extend from the winch and change directions and then are connected to the end effector, and the control unit is connected with the winch and used for controlling the winch to retract and release the ropes according to a preset track so as to drive the end effector to move.
3. 3. The rope-driven parallel robot for high-speed unstacking according to claim 2, wherein the winding machine is arranged at a position far away from the pulleys so as to ensure that the rope can be orderly wound on the winding machine during high-speed winding and unwinding.
4. 4. The rope-driven parallel robot for high-speed unstacking according to claim 2 wherein said pulleys are mounted below a predetermined distance from the top of the frame for movement of the end effector.
5. 5. A cable driven parallel robot for high speed unstacking according to claim 1 wherein said cables comprise two sets of three cables, each set connected to a different position of said end effector for commonly constraining multiple rotational degrees of freedom of the end effector.
6. 6. A parallel robot for high speed unstacking according to claim 5 wherein a set of ropes is disposed on each side of the suspended parallel rope drive mechanism, two ropes on each outer side of each set being disposed in parallel and connected to both sides of the bottom surface of the end effector to form a constraint on rotation, and a rope in the middle of each set being connected to a central region of the upper surface of the end effector.
7. 7. A parallel robot for high speed destacking as set forth in claim 1 wherein the end effector comprises an interface structure for mounting an end effector for carrying and handling materials to be destacked.
8. 8. A cable driven parallel robot for high speed unstacking according to claim 1 wherein said suspended parallel cable drive mechanism is mounted in an overhead space of a stamping line and the working space of said end effector covers a predetermined horizontal feed stroke and vertical lift stroke.

Description

Cable-driven parallel robot for high-speed unstacking Technical Field The invention relates to the technical field of robots, in particular to a cable-driven parallel robot configuration for high-speed unstacking. Background The high-speed unstacking unit is a key component of the large-scale stamping forming equipment, and the unstacking feeding speed, precision and working stability of the high-speed unstacking unit directly influence the overall production beat of the stamping equipment. The traditional unstacking unit has the limitation in acceleration, travel and load capacity, has the problems of large inertia, high energy consumption, complex control and the like, and is difficult to meet the unstacking tasks of high speed, heavy load and long travel. The rope-driven parallel robot replaces the traditional rigid connecting rod by the rope, can realize light-weight design and large working space coverage, has good dynamic response capability, has the advantages of simple structure, large movement range, excellent acceleration performance and the like, and becomes a potential solution of a high-speed unstacking scene. However, in the existing rope-driven parallel robot, although the opposite-pull type rope-driven parallel robot has strong acceleration capability, the ropes at the lower part are easy to interfere with production equipment, the cost and the control difficulty of the whole machine are increased by the extra opposite-side ropes, and the suspension type rope-driven parallel robot is easy to arrange in a production scene with surplus space at the upper part, but the acceleration performance is constrained by gravity. Therefore, there is a need for a rope-driven parallel robot that occupies a small space and has high acceleration performance. Disclosure of Invention In order to solve the problems in the prior art, the invention aims to provide the cable-driven parallel robot for high-speed unstacking, which realizes the stable movement of an end effector under the conditions of large stroke and high acceleration through a suspension type parallel rope driving structure and meets the comprehensive requirements of a large-scale stamping production line on unstacking beat, load capacity and control precision. In order to achieve the above purpose, the invention adopts the following technical scheme: A cable-driven parallel robot for high-speed unstacking comprises a suspension type parallel rope driving mechanism and an end effector, wherein the suspension type parallel rope driving mechanism is connected with the end effector through a plurality of groups of ropes to restrict the rotation freedom degree of the end effector, and the two-freedom-degree translational motion of the end effector in the horizontal feeding direction and the vertical lifting direction is realized. The suspension type parallel rope driving mechanism comprises a winch, ropes, pulleys, a frame and a control unit, wherein the winch is in one-to-one correspondence connection with the ropes, the pulleys are used for guiding the corresponding ropes to extend from the winch and change directions and then are connected to the end effector, and the control unit is connected with the winch and used for controlling the winch to retract and release the ropes according to a preset track so as to drive the end effector to move. The cables include two sets of three cables, each set of cables being connected to a different location of the end effector for collectively constraining multiple rotational degrees of freedom of the end effector. The suspension type parallel rope driving mechanism is characterized in that a group of ropes are arranged on each side of the suspension type parallel rope driving mechanism, two ropes on the outer side of each group are arranged in parallel and connected to two sides of the bottom surface of the end effector to form a rotation constraint, and the ropes in the middle of each group are connected to the central area of the upper surface of the end effector. The end effector includes an interface structure for mounting an end effector for carrying and manipulating materials to be unstacked. The suspension type parallel rope driving mechanism is arranged in the upper space of the stamping production line, and the working space of the end effector covers a preset horizontal feeding stroke and a preset vertical lifting stroke. The winch is arranged at a position far away from the pulley, so that the swing angle of the rope relative to the pulley is small enough when the rope is wound and unwound on the winch at a high speed, and the rope can be orderly wound on the winch. The pulleys are mounted below a predetermined distance from the top of the frame for the end effector to be at a height above the pulley height during movement. Compared with the prior art, the technical scheme of the invention has the following advantages: (1) The suspension type parallel rope driving structure is adopted, the top space