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CN-224223939-U - Counterweight driving device for flexible cable parallel robot

CN224223939UCN 224223939 UCN224223939 UCN 224223939UCN-224223939-U

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 flexible cable parallel robot rope, a synchronous wiring mechanism, a screw guide rail, a servo motor, a counterweight mechanism and a counterweight mechanism, wherein the winding mechanism is horizontally arranged at the top of a horizontal mounting plate and is provided with a winding shaft, the synchronous wiring mechanism is used for uniformly winding wires on the winding mechanism and is horizontally arranged at the top of the horizontal mounting plate and is provided with the screw guide rail, the screw guide rail is connected with the winding shaft through a synchronous belt, the servo motor is provided with an absolute encoder and is used for winding and unwinding the rope through the controllable winding mechanism, an output shaft of the servo motor is connected with the winding shaft through a first coupling, the counterweight mechanism is connected with the winding shaft through a second coupling and is used for tensioning the rope when an end effector connected with the rope is driven by external force to move so as to extend the rope, and the rope is driven to rotate when the rope is contracted. The device can avoid the development of complex algorithms, and reduces the use cost and difficulty of the flexible cable parallel robot.

Inventors

  • WANG JIAXIANG
  • LI JINXING
  • Pu Jiahao
  • ZHAO LIANG

Assignees

  • 陕西理工大学

Dates

Publication Date
20260512
Application Date
20250430

Claims (6)

  1. 1. A counterweight drive device for a parallel robot comprising: A horizontal mounting plate (100), a first coupling (600), a second coupling (700) and a timing belt (800); The winding mechanism (200) is used for winding and unwinding the ropes of the flexible rope parallel robot, is horizontally arranged at the top of the horizontal mounting plate (100) and is provided with a winding shaft (210); The synchronous wiring mechanism (300) is used for uniformly winding wires on the winding mechanism (200), is horizontally arranged at the top of the horizontal mounting plate (100), the synchronous wiring mechanism (300) is provided with a lead screw guide rail (310), and the lead screw guide rail (310) is connected with the winding shaft (210) through a synchronous belt (800); A servo motor (400) provided with an absolute encoder and capable of controlling the winding mechanism (200) to retract and release ropes, wherein an output shaft of the servo motor (400) is connected with the winding shaft (210) through a first coupling (600); the counterweight mechanism (500) is connected with the winding shaft (210) through a second coupler (700) and is used for tensioning the rope when the external force drives an end effector connected with the rope to move so as to extend the rope, and the winding shaft (210) is driven to rotate when the rope contracts.
  2. 2. The weight driving device for the parallel robot of claim 1, wherein the winding mechanism (200) is further provided with a first synchronizing wheel (220), a winding drum (230), two first bearing seats (240) and two first bearings (250); The two first bearing seats (240) are respectively arranged at two ends of the winding shaft (210), the first bearing seats (240) are fixedly connected with the horizontal mounting plate (100), the first bearings (250) are assembled in the bearing seats, and the two first bearings (250) are sleeved at two ends of the winding shaft (210); The first synchronous wheel (220) and the winding roller (230) are arranged between the two first bearing seats (240), and the first synchronous wheel (220) and the winding roller (230) are sleeved on the winding shaft (210).
  3. 3. The counterweight driving device for a parallel robot with wires according to claim 2, wherein the synchronous wiring mechanism (300) is further provided with two fixing frames (320), a sliding table (330), a sliding block (340) and a fixed pulley (350), the lead screw guide rail (310) is horizontally aligned with the spool (210), and the lead screw guide rail (310) is parallel to the axis of the spool (210); A second synchronous wheel (360) is arranged at one end of the lead screw guide rail (310) close to the first synchronous wheel (220), and the second synchronous wheel (360) is horizontally aligned with the first synchronous wheel (220); The two fixing frames (320) are vertically and fixedly connected with the horizontal mounting plate (100), and two ends of the lead screw guide rail (310) are vertically and rotatably inserted into the two fixing frames (320) respectively; The sliding table (330) is arranged between the two fixing frames (320) and is fixedly connected with the horizontal mounting plate (100); The sliding block (340) is in sliding connection with the sliding table (330), the sliding block (340) is in threaded connection with the lead screw guide rail (310), and one end, close to the second synchronous wheel (360), of the lead screw guide rail (310) penetrates through the fixing frame (320) and is then coaxially and fixedly connected with the second synchronous wheel (360); The fixed pulley (350) is fixedly assembled at the top of the sliding block (340), and the axis of the fixed pulley (350) is perpendicular to the axis of the lead screw guide rail (310); The second synchronizing wheel (360) is connected with the first synchronizing wheel (220) through a synchronous belt (800).
  4. 4. A counterweight driving device for a parallel robot with a flexible wire 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 (540); The first weight winding assembly (510) is positioned at one end of the winding shaft (210) far away from the first synchronous wheel (220), and the second weight winding assembly (520) is positioned at one end of the lead screw guide rail (310) far away from the second synchronous wheel (360); The first weight winding assembly (510) and the second weight winding assembly (520) are respectively provided with a weight winding wheel (511), a weight shaft (512), two second bearings (513), two second bearings (514) and a ratchet mechanism (515) capable of controlling the weight shaft (512) to rotate; The two second bearings (513) are respectively arranged at two ends of the counterweight shaft (512), the second bearings (513) are fixedly connected with the horizontal mounting plate (100), the second bearings (514) are assembled inside the bearings, and the two second bearings (514) are sleeved at two ends of the counterweight shaft (512); The counterweight reel (511) is arranged between the two second bearings (513), and the counterweight reel (511) is sleeved on the counterweight shaft (512); The weight shafts (512) of the first weight winding assembly (510) and the second weight winding assembly (520) are arranged in parallel alignment, and the axes of the weight shafts are parallel to the axis of the winding shaft (210); The balancing weight (540) is arranged at the bottom of the horizontal mounting plate (100), the horizontal mounting plate (100) is provided with a weight hole (550), and the weight hole (550) is positioned at the bottom of the weight reel (511); The top of the balancing weight (540) is provided with a hanging lug (541), one end of the balancing weight rope (530) is wound on the balancing weight reel (511) of the first balancing weight winding assembly (510), and the other end of the balancing weight rope passes through the balancing weight hole (550) and the hanging lug (541) and then is wound on the balancing weight reel (511) of the second balancing weight winding assembly (520); The ratchet mechanism (515) is fixedly connected with one end of the counterweight shaft (512) far away from the winding mechanism (200).
  5. 5. The weight driving device for a parallel robot of claim 4, wherein the ratchet mechanism (515) is provided with a housing (5151), a ratchet (5152), a click wheel (5153), and a handle (5154) capable of rotating the ratchet (5152); The shell (5151) is fixedly connected with the horizontal mounting plate (100), and the ratchet wheel (5152) is assembled inside the shell (5151); The clamping wheel (5153) is fixedly assembled at the top of the shell (5151) and is used for locking or loosening the ratchet wheel (5152); One end of the handle (5154) is fixedly inserted into the center of the ratchet wheel (5152), and the other end of the handle (5154) is suspended in the air; One end of the handle (5154) inserted into the center of the ratchet wheel (5152) is fixedly connected with the counterweight shaft (512) in the axial direction.
  6. 6. The weight driving device for the parallel robot with flexible wires according to claim 5, wherein the servo motor (400) is disposed at one end of the winding mechanism (200) away from the weight mechanism (500), and the servo motor (400) is fixedly assembled to the horizontal mounting plate (100).

Description

Counterweight driving device for flexible cable parallel robot Technical Field The utility model relates to the technical field of parallel robots of flexible wires, in particular to a counterweight driving device for a parallel robot of flexible wires. Background The flexible cable parallel robot is a parallel mechanism which uses flexible cables to replace rigid connecting rods in the traditional parallel robot as driving elements to realize the spatial movement of the end effector by coordination and retraction, and the position, the posture and the stress of the end effector are adjusted by controlling the length and the tension of ropes. The flexible cable parallel robot combines the advantages of high rigidity of a parallel structure, light weight of a flexible cable, large working space and the like, and has unique application potential in the fields of large-scale space operation, heavy object carrying, aerospace and the like. The parallel robot is generally composed of an end effector, a plurality of driving devices, a control system, and a number of ropes equal to the number of the driving devices. The flexible cable parallel robot has the working process that the control system calculates the length and the tension of the rope according to a control algorithm, and precisely controls the working conditions of a plurality of driving devices to drive the rope to be wound and unwound, adjust the length and the tension, and further realize that the end effector connected with the rope can finish specific operation functions such as grabbing, measuring and the like. All ropes are required to be in a tensioning state all the time in the working process of the whole flexible rope parallel robot, and the end effector is prevented from being out of control due to loosening. The control algorithm adopted by the control system needs to be designed and written according to task requirements before the task is carried out, however, for some flexible parallel robots, the tasks of complex curve motion need to be executed, the complexity of the required control algorithm is high, the design and writing difficulties are high, and the cost is high, so that the use cost and the difficulty of the flexible parallel robots are increased. Disclosure of utility model Based on the above, it is necessary to provide a counterweight driving device for a parallel flexible robot, which can avoid the development of complex algorithms and reduce the use cost and difficulty of the parallel flexible robot. The utility model provides a counterweight driving device for a flexible cable parallel robot, which comprises: the horizontal mounting plate, the first coupling, the second coupling and the synchronous belt; The winding mechanism is used for winding and unwinding the ropes of the flexible rope parallel robot, is horizontally arranged at the top of the horizontal mounting plate and is provided with a winding shaft; The synchronous wiring mechanism is used for uniformly winding wires on the winding mechanism and is horizontally arranged at the top of the horizontal mounting plate, and is provided with a lead screw guide rail which is connected with the winding shaft through a synchronous belt; The servo motor is provided with an absolute encoder and can control a winding mechanism to wind and unwind ropes, and an output shaft of the servo motor is connected with a winding shaft through a first coupler; The counterweight mechanism is connected with the winding shaft through a second coupler and is used for tensioning the rope when the external force drives an end effector connected with the rope to move so as to extend the rope, and the winding shaft is driven to rotate when the rope contracts. In one embodiment, the winding mechanism is further provided with a first synchronous wheel, a winding drum, two first bearing seats and two first bearings; The two first bearing seats are respectively arranged at two ends of the winding shaft, the first bearing seats are fixedly connected with the horizontal mounting plate, the first bearings are assembled in the bearing seats, and the two first bearings are sleeved at two ends of the winding shaft; The first synchronous wheel and the winding roller are arranged between the two first bearing seats, and the first synchronous wheel and the winding roller are sleeved on the winding shaft. In one embodiment, the synchronous wiring mechanism is further provided with two fixing frames, a sliding table, a sliding block and a fixed pulley, the lead screw guide rail is horizontally aligned with the winding shaft, and the lead screw guide rail is parallel to the axis of the winding shaft; a second synchronous wheel is arranged at one end of the lead screw guide rail, which is close to the first synchronous wheel, and the second synchronous wheel is horizontally aligned with the first synchronous wheel; the two fixing frames are vertically and fixedly connected with the horizontal mounting plate, and