Cable-driven robot
A cable-driven robot exhibits a base structure, a movable operating element, and a plurality of cables each having a first end fixed to the movable operating element. The robot includes a plurality of movement units for the cables, at least one having a frame hinged to the base structure pivotingly about a vertical hinge axis and further having a motor mounted on the frame and comprising a rotation shaft. The one movement unit further includes at least one pulley mounted rotatably on the frame so as to be connected to the motor rotation shaft. The pulley has a fixing point in which a second end of one of the cables is fixed and has a groove conformed and dimensioned so as to accommodate and receive, internally thereof, only a winding portion of the cable comprising a series of winding turns that are concentric and overlapping one another.
1. A cable-driven robot comprising:
a base structure;
a movable operating element;
a plurality of cables, wherein each cable of the plurality of cables comprises a first end fixed to the movable operating element;
a movement system for moving the cables, and thus for moving the movable operating element in space with respect to the base structure, comprising a plurality of movement units of the cables,
wherein least one movement unit of the plurality of movement units comprises:
a frame, which is hinged to the base structure pivotingly about a vertical hinge axis in such a way that the frame can rotate about the vertical hinge axis with respect to the base structure;
a motor, mounted on the frame, and comprising a rotation shaft;
at least one pulley, mounted rotatably on the frame in such a way as to be connected to the rotation shaft of the motor and to be activatable in rotation following the driving in rotation, in one direction or the other, of the rotation shaft by the motor, the pulley having a fixing point in which a second end of a cable of the plurality of cables is fixed, the pulley comprising a groove which is conformed and dimensioned in such a way as to accommodate and receive, internally thereof, only a winding portion of the cable comprising a series of winding turns that are concentric and overlapping one another;
wherein the pulley is connected to the rotation shaft of the motor by means of a drive transmission system comprising a cogwheel, coupled to the rotation shaft of the motor, a cogged hub, borne by the cogwheel and a cogged belt which winds on the cogged hub and on a crown wheel mounted on the pulley.
2. The cable-driven robot of claim 1 , wherein the pulley of the at least one movement unit is mounted on the frame in such a way as to be rotatable according to a horizontal rotation axis, and wherein the at least one movement unit comprises a second pulley, rotatably mounted on the frame according to a second horizontal rotation axis so as to be connected to the rotation shaft of the motor and to be activatable in rotation following the driving in rotation, in one direction or the other, of the rotation shaft by the motor, the second pulley having a fixing point in which a second end of a second cable of the plurality of cables is fixed, the second pulley comprising a respective groove which is conformed and dimensioned in such a way as to accommodate and receive, internally thereof, only a winding portion of the second cable comprising a series of winding turns that are concentric and overlapping one another,
further comprising a second crown wheel mounted on the second pulley and a second cogged belt which winds on the second crown wheel and on the cogged hub of the drive transmission system.
3. The cable-driven robot of claim 1 , wherein the pulley of the at least one movement unit is mounted on the frame and wherein the groove of the pulley is arranged and conformed so that the series of winding turns that are concentric and overlapping one another of the winding portion of the cable in the groove lie on a vertical plane aligned and containing the vertical hinge axis of the frame to the base structure.
4. The cable-driven robot of claim 1 , wherein the pulley is connected to the rotation shaft of the motor by means of a drive transmission system comprising a cogwheel, coupled to the rotation shaft of the motor, a cogged hub, borne by the cogwheel and a cogged belt which winds on the cogged hub and on a crown wheel mounted on the pulley.
5. The cable-driven robot of claim 1 , wherein the pulley of the at least one movement unit is mounted on the frame and wherein the groove of the pulley is arranged and conformed so that the series of winding turns that are concentric and overlapping one another of the winding portion of the cable in the groove lie on a vertical plane aligned and containing the vertical hinge axis of the frame to the base structure.
6. The cable-driven robot of claim 1 , wherein the pulley is connected to the rotation shaft of the motor by means of a drive transmission system comprising a cogwheel, coupled to the rotation shaft of the motor, a cogged hub, borne by the cogwheel and a cogged belt which winds on the cogged hub and on a crown wheel mounted on the pulley.
7. A cable-driven robot comprising:
a base structure;
a movable operating element;
a plurality of cables, wherein each cable of the plurality of cables comprises a first end fixed to the movable operating element;
a movement system for moving the cables, and thus for moving the movable operating element in space with respect to the base structure, comprising a plurality of movement units of the cables,
wherein least one movement unit of the plurality of movement units comprises:
a frame, which is hinged to the base structure pivotingly about a vertical hinge axis in such a way that the frame can rotate about the vertical hinge axis with respect to the base structure;
a motor, mounted on the frame, and comprising a rotation shaft;
at least one pulley, mounted rotatably on the frame in such a way as to be connected to the rotation shaft of the motor and to be activatable in rotation following the driving in rotation, in one direction or the other, of the rotation shaft by the motor, the pulley having a fixing point in which a second end of a cable of the plurality of cables is fixed, the pulley comprising a groove which is conformed and dimensioned in such a way as to accommodate and receive, internally thereof, only a winding portion of the cable comprising a series of winding turns that are concentric and overlapping one another,
wherein the pulley of the at least one movement unit is mounted on the frame in such a way as to be rotatable according to a horizontal rotation axis, and wherein the at least one movement unit comprises a second pulley, rotatably mounted on the frame according to a second horizontal rotation axis so as to be connected to the rotation shaft of the motor and to be activatable in rotation following the driving in rotation, in one direction or the other, of the rotation shaft by the motor, the second pulley having a fixing point in which a second end of a second cable of the plurality of cables is fixed, the second pulley comprising a respective groove which is conformed and dimensioned in such a way as to accommodate and receive, internally thereof, only a winding portion of the second cable comprising a series of winding turns that are concentric and overlapping one another.
8. The cable-driven robot of claim 7 , wherein the second pulley is mounted on the frame and the groove of the second pulley is arranged and conformed so that the series of winding turns that are concentric and overlapping one another of the winding portion of the second cable in the groove lie on a vertical plane aligned and containing the vertical hinge axis of the frame to the base structure.
9. The cable-driven robot of claim 8 , wherein the second pulley is mounted on the frame in such a way as to be rotatable according to the second horizontal rotation axis which lies on a vertical plane parallel to the vertical hinge axis of the frame.
10. The cable-driven robot of claim 8 , wherein the groove of the second pulley is arranged and conformed so that the series of winding turns that are concentric and overlapping one another of the winding portion of the second cable in the groove lie on a plane that is vertical and perpendicular to the rotation axis of the second pulley.