The invention relates to a rigid-flexible coupling hoisting robot based on a flexible cable parallel mechanism, which comprises a suspension arm fixed on a base through a triangular rigid support mechanism, the triangular rigid support mechanism is connected with the suspension arm through a first rotary joint, and the triangular rigid support mechanism is connected with the base through a second rotary joint. The base is rotatably fixed on the moving trolley, the overhanging end of the suspension arm is connected with the lifting hook through the lifting rope, and the lifting rope is connected with the lifting rope winding and unwinding mechanism; the flexible cable is connected with the lifting arm, the variable-amplitude telescopic cylinder is connected with the triangular rigid supporting mechanism, and the lifting arm rotates around the first rotating joint through the retraction and release cooperation of the flexible cable, so that the lifting arm moves in the vertical direction; the variable-amplitude telescopic cylinder drives the triangular rigid supporting mechanism to rotate around the second rotating joint so that the suspension arm can move in the front-back direction. According to the technical scheme, three rotational degrees of freedom can be achieved, meanwhile, the robot has good hoisting load capacity and response speed, and the moving function of the robot is increased through cooperation of the moving trolley.

    本发明涉及一种基于柔索并联机构的刚柔耦合吊装机器人,包括通过三角刚性支撑机构固定在基座上的吊臂,三角刚性支撑机构与吊臂通过第一旋转关节相连,三角刚性支撑机构与基座通过第二旋转关节相连,基座可旋转的固定在移动小车上,吊臂的悬伸端通过吊绳连接吊钩,吊绳与吊绳收放机构相连;还包括与吊臂相连的柔索以及与三角刚性支撑机构相连的变幅伸缩缸,柔索的收放配合使吊臂绕第一旋转关节转动以实现吊臂上下方向的移动;变幅伸缩缸驱动三角刚性支撑机构绕第二旋转关节转动以实现吊臂前后方向的移动。由上述技术方案可知,本发明可实现三个转动自由度,同时本发明具有较好的吊装负载能力和响应速度,移动小车配合增加了机器人的移动功能。


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    Title :

    Rigid-flexible coupling hoisting robot based on flexible cable parallel mechanism


    Additional title:

    一种基于柔索并联机构的刚柔耦合吊装机器人


    Contributors:
    ZHOU BIN (author) / GAO JUN (author) / BIN BIN (author) / WANG ZHIYUAN (author) / WANG TAO (author)

    Publication date :

    2022-12-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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