Large-range vertical face operation cable traction translation motion platform and method
阅读说明:本技术 一种大范围立面作业索牵引平动运动平台及方法 (Large-range vertical face operation cable traction translation motion platform and method ) 是由 杜敬利 廉荫虎 王飞杰 张瑞翔 李博韬 贾双 于 2019-11-19 设计创作,主要内容包括:本发明属于机械领域,涉及一种大范围立面作业索牵引平动运动平台及方法,包括框架、运动平台、驱动电机、调节电机、两条平动驱动支链和两条下拉张紧支链,所述两条平动驱动支链将运动平台连接在驱动电机输出轴上,两条下拉张紧支链将运动平台张紧连接到调节电机的平面涡卷弹簧上,运动平台在平动驱动支链和下拉张紧支链的共同作用下在立面内实现平动运动。本发明利用柔索为力传递媒介,通过两组平行布置的驱动索,有效地抑制了平台的转动自由度,实现立面内的平动运动。下拉张紧支链中采用了平面涡卷弹簧来实现索的张紧,并且创新地加入了调节电机,使得平台的运动范围更大。(The invention belongs to the field of machinery, and relates to a large-range vertical face operation cable traction translational motion platform and a method. The invention uses the flexible cable as a force transmission medium, and effectively inhibits the rotational freedom degree of the platform and realizes the translational motion in the vertical plane through two groups of driving cables which are arranged in parallel. The flat spiral spring is adopted in the pull-down tensioning branched chain to realize the tensioning of the cable, and the adjusting motor is innovatively added, so that the motion range of the platform is larger.)
1. The large-range vertical face operation cable traction translation motion platform is characterized by comprising a frame (4), a motion platform (2), a driving motor (101), an adjusting motor (301), two translation driving branched chains and two pull-down tensioning branched chains, wherein the two translation driving branched chains connect the motion platform (2) to an output shaft of the driving motor (101), the two pull-down tensioning branched chains connect the motion platform (2) to a flat spiral spring (302) of the adjusting motor (301) in a tensioning mode, and the motion platform (2) achieves translation motion in a vertical face under the combined action of the translation driving branched chains and the pull-down tensioning branched chains.
2. The large-range vertical-face operation cable traction translation motion platform is characterized in that the translation driving branched chain comprises two driving cables (103) connected to the motion platform (2), a fixed pulley block (104) connected to the frame (4), and a double-groove rotating wheel (102) connected to a driving motor (101); one end of each of the two driving cables (103) is connected to the upper part of the moving platform (2), and the other end of each of the two driving cables crosses over the fixed pulley block (104) and then is fixed at the two ends of the double-groove rotating wheel (102).
3. The large-range vertical-face operation cable traction translation motion platform as claimed in claim 2, wherein the fixed pulley block (104) comprises two pairs of upper fixed pulleys fixed on the frame (4) in an up-and-down staggered manner, and the two driving cables (103) respectively cross the two pairs of upper fixed pulleys of the fixed pulley block (104) and are fixed at two ends of the double-groove rotating wheel (102) after being wound in the same direction.
4. The large-range vertical working cable traction translation motion platform is characterized in that the two driving cables (103) are fixedly connected to two connection points A, B above the motion platform (2), so that the fixed connection line of the two upper fixed pulleys is parallel to and equidistant from the connection line A, B.
5. The large-range vertical working cable traction translation motion platform is characterized in that the two driving cables (103) penetrate between the two connection points A, B, so that the connection line fixed by the two upper fixed pulleys is parallel to and equidistant from the connection line between the connection points A, B.
6. The large-range vertical face operation cable traction translation motion platform is characterized in that the pull-down tensioning branched chain comprises two tensioning cables (305) which are respectively arranged at two connecting points below the motion platform (2), a lower fixed pulley (304) connected to the frame (4), an adjusting motor (301), a single-groove rotating wheel (303) and a plane scroll spring (302) which are arranged on the frame (4); one end of a tension cable (305) is connected to a corresponding connection point below the moving platform (2), and the other end of the tension cable is wound across a lower fixed pulley (304) and then fixed on the single-groove rotating wheel (303).
7. The large-range vertical face operation cable traction translation motion platform as claimed in claim 6, wherein the stator of the adjusting motor (301) is installed on the frame (4), the adjusting motor (301) is connected with the single-groove rotating wheel (303), the inner end of the flat spiral spring (302) is connected to the rotor of the adjusting motor (301) through a bolt, and the outer end of the flat spiral spring is connected with the inner wall of the single-groove rotating wheel (303).
8. The large-range vertical face operation cable traction translation motion platform as claimed in any one of claims 1 to 7, wherein in the motion process, the two driving cables (103) are always parallel and equal in length, so that a connecting line between the connecting line of the two driving cables (103) and the two fixed pulleys after being fixed and the connecting point A, B forms a parallelogram, and the motion platform (2) only makes translation motion in a vertical face;
the tensioning cables (305) of the two pull-down tensioning branched chains are connected to the left and right angles of the lower end of the moving platform (2) in a crossing manner, so that all the cables in the driving branched chains are in a tensioning state.
9. The large-range vertical face operation cable traction translation motion method of the platform as claimed in claim 8, wherein when the motion platform (2) needs to move upwards, the left and right driving motors (101) work together to drive the double-groove rotating wheel (102) to rotate, the driving cable (103) contracts, the tensioning cable (305) continuously extends, the single-groove rotating wheel (303) rotates to drive the flat spiral spring (302) to compress and store elastic potential energy;
when the flat spiral spring (302) is compressed to the limit, the adjusting motor (301) drives the flat spiral spring (302) to rotate, the flat spiral spring (302) extends, the tension cable (305) continues to extend, and the above circulation is performed, so that the motion platform (2) realizes translational motion in a vertical surface.
Technical Field
The invention relates to the field of machinery, in particular to a large-range vertical face operation cable traction translation motion platform. Can be used for large-scale facade operation such as cleaning of building exterior wall surfaces.
Background
The translation motion with two degrees of freedom in the vertical plane is realized by using an X, Y two-axis mobile platform in the traditional mechanism, the motion distance of the structure is determined by the length of a slide rail, and therefore, the long-distance motion needs longer slide rail length, which leads to the multiplied weight of the platform.
The cable traction parallel mechanism has the advantages of light dead weight, simple operation, convenient transportation, low cost and the like, thereby being widely applied to a plane motion platform. For example, the rope traction parallel mechanism has translational motion and rotational motion when used for a mechanism for shooting above a stadium. However, in some special cases, only translational movement of the end effector is required, such as a platform for cleaning the periphery of a building, and the rotational freedom is limited. The existing mechanism for realizing translation motion uses a plurality of driving motors or uses counter weights to prevent rotation, the former increases the cost and the control difficulty, and the latter causes the working space to be larger, which has problems.
Disclosure of Invention
Based on the problems, the invention aims to provide a large-range vertical face operation cable traction translational motion platform and a method, and provides a feasible scheme for translational motion in a vertical face.
The purpose of the invention is realized by the following technical scheme.
A large-range vertical face operation cable traction translation motion platform comprises a frame, a motion platform, a driving motor, an adjusting motor, two translation driving branched chains and two pull-down tensioning branched chains, wherein the two translation driving branched chains connect the motion platform to an output shaft of the driving motor, the two pull-down tensioning branched chains connect the motion platform to a planar volute spring of the adjusting motor in a tensioning mode, and the motion platform achieves translation motion in a vertical face under the combined action of the translation driving branched chains and the pull-down tensioning branched chains.
Furthermore, the translation driving branched chain comprises two driving cables connected to the motion platform, a fixed pulley block connected to the frame and a double-groove rotating wheel connected to the driving motor; one end of each of the two driving cables is connected to the upper part of the motion platform, and the other end of each of the two driving cables is fixed at two ends of the double-groove rotating wheel after respectively crossing the fixed pulley block.
Furthermore, the fixed pulley block comprises two pairs of upper fixed pulleys which are distributed and fixed on the frame in an up-down staggered manner, and the two driving cables respectively cross over the two pairs of upper fixed pulleys of the fixed pulley block and are fixed at two ends of the double-groove rotating wheel after being wound in the same direction.
Further, the two driving cables are fixedly connected to two connection points A, B above the moving platform, so that the line connecting the two fixed pulleys and the line connecting the connection points A, B are parallel and equidistant.
Further, the two driving cables penetrate between the two connection points A, B, so that the connecting line fixed by the two upper fixed pulleys is parallel to and equidistant from the connecting line between the connection points A, B.
Furthermore, the pull-down tensioning branched chain comprises two tensioning cables which are respectively arranged at two connection points below the moving platform, a lower fixed pulley connected to the frame, an adjusting motor arranged on the frame, a single-groove rotating wheel and a flat spiral spring; one end of the tensioning cable is connected to a corresponding connection point below the motion platform, and the other end of the tensioning cable is wound across the lower fixed pulley and then fixed on the single-groove rotating wheel.
Furthermore, the stator of the adjusting motor is installed on the frame, the adjusting motor is connected with the single-groove rotating wheel, the inner end of the flat spiral spring is connected with the rotor of the adjusting motor through a bolt, and the outer end of the flat spiral spring is connected with the inner wall of the single-groove rotating wheel.
Furthermore, the two driving cables are always parallel and equal in length in the movement process, so that a connecting line between the connecting point A, B and a connecting line formed by the two driving cables and the two fixed pulleys after being fixed forms a parallelogram, and the movement platform only moves in a translation manner in the vertical plane;
the tensioning cables of the two pull-down tensioning branched chains are connected to the left and right angles of the lower end of the motion platform in a cross mode, so that all cables in the driving branched chains are in a tensioning state.
Further, when the motion platform needs to move upwards, the left and right driving motors work together to drive the double-groove rotating wheel to rotate, the driving rope contracts, the tensioning rope continuously extends, the single-groove rotating wheel rotates to drive the plane volute spiral spring to compress and store elastic potential energy;
when the flat spiral spring is compressed to the limit, the adjusting motor drives the flat spiral spring to rotate, the flat spiral spring extends, the tensioning cable continues to extend, and the above circulation is performed, so that the motion platform realizes translational motion in the vertical surface.
The invention uses the flexible cable as a force transmission medium, and effectively inhibits the rotational freedom degree of the platform and realizes the translational motion in the vertical plane through two groups of driving cables which are arranged in parallel. The flat spiral spring is adopted in the pull-down tensioning branched chain to realize the tensioning of the cable, and the adjusting motor is innovatively added, so that the motion range of the platform is larger.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIGS. 2, 3 and 4 are front, left and isometric views, respectively, of a portion of a pull-down tensioning arm of the present invention;
in the figure: 101. a drive motor; 102. a double-groove rotating wheel; 103. a drive cable; 104. a fixed pulley block; 2. a motion platform; 301. adjusting the motor; 302. a flat spiral spring; 303. a single-slot runner; 304. a lower fixed pulley; 305. tensioning the cable; 4. a frame.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, 2, 3 and 4, the large-range vertical operation cable traction translational motion platform comprises a
The translational drive branched chain comprises two
The pull-down tension branch comprises a
As shown in fig. 2, 3 and 4, the stator of the adjusting
As shown in fig. 1, in the pull-down tensioning branched chain, one end of each of two
The two
The working process of the translational motion platform is described as follows:
taking the
The above is an example for convenience of explanation, but the present invention should not be limited to the example and the disclosure of the drawings. Equivalents and modifications may be made without departing from the spirit of the disclosure, which is to be considered as within the scope of the invention.
- 上一篇:一种医用注射器针头装配设备
- 下一篇:一种桥接式剪叉式升降台