CN112091946B

CN112091946B - Overhead multi-degree-of-freedom rope-driven parallel robot

Info

Publication number: CN112091946B
Application number: CN202010973897.1A
Authority: CN
Inventors: 吴立刚; 韩硕; 姚蔚然; 孙光辉; 刘健行
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2022-03-25
Anticipated expiration: 2040-09-16
Also published as: CN112091946A

Abstract

An overhead multi-degree-of-freedom rope-driven parallel robot relates to a rope-driven parallel robot. The invention solves the problems of low operation precision, poor stability and limited working range of the existing rope-driven parallel robot. The rope-driven single structures are arranged at the upper end of the motion platform, and the tail ends of the rope-driven single structures carry the motion platform to realize hovering or motion; every rope drives monomer structure and all includes power drive unit, winding displacement unit, guide unit, power position sensor module and outer structure frame, and power drive unit installs on outer structure frame, and the winding displacement unit is installed in power drive unit's below, and guide unit installs on outer structure frame, and power position sensor module installs on guide unit and power drive unit, and the one end fixed mounting of rope is on power drive unit, and the other end of rope is along winding displacement unit reciprocating motion. The invention is used in the field of rope-driven robots.

Description

Overhead multi-degree-of-freedom rope-driven parallel robot

Technical Field

The invention relates to a rope-driven parallel robot, in particular to an overhead multi-degree-of-freedom rope-driven parallel robot.

Background

In a new technological revolution and industrial change, intelligent manufacturing has become a high-point and main attack direction of the development opportunity seized by countries in the world. The intelligent manufacturing becomes a major trend and core content of future manufacturing development, is an important measure for accelerating development mode transition, promoting the industry to advance to the middle and high end and building and manufacturing strong countries, and is a necessary choice for creating new international competitive advantages in a new normal state.

The rope-driven robot in the current market mainly comprises a rope-driven serial robot, and the prior rope-driven parallel robot device has low operation precision due to the reasons of complex transmission link mechanism, unreasonable design scheme of a lead unit and the like, so that the requirement of advanced manufacturing industry on high precision is difficult to realize. In addition, the traditional rope-driven serial robot has poor stability and limited working range due to the structural defect of error accumulation caused by a serial structure.

In conclusion, the existing rope-driven parallel robot has the problems of low operation precision, poor stability and limited working range.

Disclosure of Invention

The invention aims to solve the problems of low operation precision, poor stability and limited working range of the existing rope-driven parallel robot. Further provides an overhead multi-degree-of-freedom rope-driven parallel robot.

The technical scheme of the invention is that the overhead multi-degree-of-freedom rope-driven parallel robot comprises a frame body and a plurality of rope-driven single structures, wherein the rope-driven single structures are arranged at the upper end of a motion platform, and the tail ends of the rope-driven single structures carry the motion platform to realize hovering or motion; every rope drives monomer structure and all includes power drive unit, winding displacement unit, guide unit, power position sensor module and outer structure frame, and power drive unit installs on outer structure frame, and the winding displacement unit is installed in power drive unit's below, and guide unit installs on outer structure frame, and power position sensor module installs on guide unit and power drive unit, and the one end fixed mounting of rope is on power drive unit, and the other end of rope is along winding displacement unit reciprocating motion.

Further, the power driving unit comprises a winding drum and a winding torque motor, the winding drum is rotatably mounted on the outer structure frame, the winding torque motor is mounted on the outer side wall of the outer structure frame, and an output shaft of the winding torque motor is connected with the winding drum.

Furthermore, the winding displacement unit comprises a winding displacement motor, a winding displacement screw rod, a winding displacement pulley, a front winding displacement guide rod, a rear winding displacement guide rod and a screw rod sliding table, the winding displacement motor is installed on an outer structure frame below the winding torque motor, the winding displacement screw rod is installed in the outer structure frame and connected with an output shaft of the winding displacement motor, the front winding displacement guide rod and the rear winding displacement guide rod are respectively installed in the outer structure frames on the front side and the rear side of the winding displacement screw rod in parallel, the screw rod sliding table is installed on the winding displacement screw rod, the front winding displacement guide rod and the rear winding displacement guide rod, and the winding displacement pulley is installed on the screw rod sliding table.

Further, the guide unit comprises a connecting plate, an outer guide pulley, an outer guide rotary table, an inner guide hole plate, an inner guide rotary shaft, an outer guide hole plate, an inner guide rotary table and an inner guide pulley, wherein the connecting plate is installed on the side wall of the outer structure frame, two ends of the connecting plate respectively extend to the inner side and the outer side of the outer structure frame, the outer guide rotary table and the inner guide rotary table are respectively rotatably installed on the connecting plate on the inner side and the outer side of the outer structure frame through the inner guide rotary shaft and the outer guide rotary shaft, the outer guide pulley is installed on the outer guide rotary table, the inner guide hole plate is installed on the connecting plate, the inner guide pulley is installed on the inner guide rotary table, and the outer guide hole plate is installed on the connecting plate between the inner guide hole plate and the outer guide rotary shaft.

Furthermore, the inner guide pore plate and the outer guide pore plate are both provided with guide holes.

Furthermore, the force position sensor module comprises a tension sensor, a tension measuring pulley and an encoder, wherein the tension measuring pulley is rotatably installed on the inner guide hole plate, the tension sensor is installed at the shaft hole of the tension measuring pulley, and the encoder is installed on the outer side wall of the outer structure frame and connected with the winding drum.

Further, the frame body is a cuboid frame.

Furthermore, a plurality of rope drives between the monomer structure and adopts the mode that the rope is parallelly connected to be connected with motion platform to install respectively on the up end of support body.

Further, the device also comprises a camera system which is arranged below the moving platform.

Compared with the prior art, the invention has the following improvement effects:

1. the multi-degree-of-freedom rope-driven parallel robot is driven by parallel mechanical ropes, the ropes are connected to the robot and are simultaneously connected to external connection points, then the robot moves a motion platform by uniformly increasing or decreasing the lengths of different ropes, meanwhile, any rope is prevented from becoming loose, and the robot performs autonomous intelligent track planning in the moving process to achieve a preset working target. Throughout the market of rope-driven robots at home and abroad, similar products are used in advanced fields of high technology, and can play a role which is difficult to replace in a plurality of fields such as flight simulators, industrial mechanical arms, surgical operations, large radio telescopes and the like.

2. According to the invention, the rope-driven single structure C is arranged at the upper part of the space, so that the precision loss caused by the arrangement of the pulley at the top in the traditional scheme can be directly eliminated, the precision is improved, and the force and position hybrid control is realized by arranging the force and position sensing module, so that the motion precision is further ensured in the algorithm.

3. The rope drives monomer structure C of the invention and puts: can effectively reduce the top in the rope transmission course and turn to the link, this link will bring the risk of terminal loss of precision, brings the promotion in precision and the transmission efficiency.

4. The invention adopts a torque motor to directly drive: the transmission part is directly driven by the torque motor, so that the backlash error caused by the conventional gear transmission can be obviously reduced, the complexity of the design and assembly process is reduced, and the accuracy is improved and the assembly process is simplified.

5. The invention adopts a parallel rope drive: the parallel structure avoids the traditional serial rope driving mode, the effect of high load, high precision, high flexibility and intelligent control can be realized by depending on multidirectional traction force and an intelligent track planning algorithm provided by a parallel rope mechanism, the defects of poor controllability and poor stability of the traditional single-connection rope driving type and multi-rope serial robot are overcome, the flexibility of a working space and the accuracy of positioning action can be considered, and the functional enhancement is realized.

6. The invention adopts force position mixed control: by controlling the rope driving force position hybrid control algorithm, a large number of intelligent control algorithms and sensors are added to collect data, the tension and the length of the rope are optimized by a computer to accurately and robustly control the driver, and the control quality and the control capability are improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention; FIG. 2 is a first isometric view of FIG. 1; FIG. 3 is a second isometric view of FIG. 1; FIG. 4 is a view showing the effect of installation of the present invention; FIG. 5 is a schematic view of the camera system of FIG. 4 mounted thereon; FIG. 6 is a hardware system layout of the present invention; FIG. 7 is a schematic design flow diagram of the present invention.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 7, and the overhead multi-degree-of-freedom rope-driven parallel robot of the embodiment includes a frame body a, and further includes a plurality of rope-driven single structures C, the plurality of rope-driven single structures C are mounted at the upper end of a motion platform B, and the tail ends of the plurality of rope-driven single structures C carry the motion platform B to realize hovering or moving; every rope drives monomer structure C and all includes the power drive unit, the winding displacement unit, the direction unit, power position sensor module and outer structure frame 6, the power drive unit is installed on outer structure frame 6, the winding displacement unit is installed in the below of power drive unit, the direction unit is installed on outer structure frame 6, power position sensor module is installed on direction unit and power drive unit, the one end fixed mounting of rope is on the power drive unit, the other end of rope is along winding displacement unit reciprocating motion.

The ingenious structural design of the overhead multi-degree-of-freedom rope-driven parallel robot of the embodiment can realize the precise and stable rope outlet effect, thereby realizing the effects of high precision and high stability of the central motion platform, and specifically realizing the following principle:

high precision: the wire arranging unit can accurately and uniformly wind the rope on the winding drum 1, and is a foundation for realizing high-precision wire discharging. Winding torque motor 2 is torque motor, and this kind of motor can provide great moment of torsion drive winding drum 1 to great moment of torsion can abandon traditional rope here and drive the increase transmission structure of equipment, is used for the link of speed reduction increase moment of torsion, has further ensured the accurate effect of going out the cable.

High stability: the rope can be stably swung within a large range of angles by the arrangement of the rope outgoing rotary table, the rope can not slip from the pulley groove by the arrangement of the front and rear wire passing holes, the whole structure can be ensured to rotate within a +/-90-degree range, and the rope outgoing rotary table cannot be realized in the traditional rope driving device. The top-mounted type arrangement can reduce the top steering link of the traditional rope-driven parallel robot, so that the stability of the rope-driven parallel robot is further enhanced.

The wire arranging unit is driven by a motor, and the wire arranging unit is mainly driven by mechanical transmission in the prior art. The motor drive has the advantages that the rope can be wound on the roller in multiple layers, the requirement of application scenes with large span on the length of the rope can be met, different diameters of the rope can be changed only by adjusting the rotating speed ratio of the motor to the roller, and the applicability of the rope drive parallel robot can be enhanced.

The overall objective of each technical feature of the present embodiment is to consider optimization from each link for synergy, thereby improving the stability and high precision of the rope-driven parallel robot, and the most important in this process is the design of the close fit relationship between the structures.

The second embodiment is as follows: referring to fig. 1 to 3, the power driving unit of the present embodiment includes a winding drum 1 and a winding torque motor 2, the winding drum 1 is rotatably mounted on an outer frame 6, the winding torque motor 2 is mounted on an outer sidewall of the outer frame 6, and an output shaft of the winding torque motor 2 is connected to the winding drum 1. So set up, power drive unit provides the drive force that the rope was received and released as main drive module. During the operation, one end of the rope is fixed on the winding drum 1 and is uniformly wound on the winding drum of the winding drum 1, and the rope can be driven by the winding torque motor 2 to rotate around the winding drum 1 to be contracted or released. Other components and connections are the same as in the first embodiment.

The third concrete implementation mode: the present embodiment is described with reference to fig. 1 to 3, the traverse unit of the present embodiment includes a traverse motor 3, a traverse screw 15, a traverse pulley 16, a front traverse guide rod 17, a rear traverse guide rod 18, and a screw sliding table 20, the traverse motor 3 is mounted on an outer structure frame 6 below the winding torque motor 2, the traverse screw 15 is mounted in the outer structure frame 6 and connected to an output shaft of the traverse motor 3, the front traverse guide rod 17 and the rear traverse guide rod 18 are respectively mounted in the outer structure frames 6 on the front and rear sides of the traverse screw 15 in parallel, the screw sliding table 20 is mounted on the traverse screw 15, the front traverse guide rod 17, and the rear traverse guide rod 18, and the traverse pulley 16 is mounted on the screw sliding table 20. With the arrangement, the wire arranging unit can accurately and uniformly wind the rope on the winding drum 1, and is the basis for realizing high-precision rope discharging. Other compositions and connections are the same as in the first or second embodiments.

The fourth concrete implementation mode: referring to fig. 1 to 3 to describe the present embodiment, the guide unit of the present embodiment includes a connection plate 50, an outer guide pulley 4, an outer guide turn table 5, an inner guide orifice plate 7, an inner guide rotation shaft 8, an outer guide rotation shaft 10, an outer guide orifice plate 11, an inner guide turn table 13, and an inner guide pulley 14, the connection plate 50 is mounted on a side wall of an outer frame 6, and both ends of the connecting plate 50 extend to the inner side and the outer side of the outer structure frame 6 respectively, the outer guide rotary table 5 and the inner guide rotary table 13 are rotatably installed on the connecting plate 50 on the inner side and the outer side of the outer structure frame 6 through the inner guide rotary shaft 8 and the outer guide rotary shaft 10 respectively, the outer guide pulley 4 is installed on the outer guide rotary table 5, the inner guide pore plate 7 is installed on the connecting plate 50, the inner guide pulley 14 is installed on the inner guide rotary table 13, and the outer guide pore plate 11 is installed on the connecting plate 50 between the inner guide pore plate 7 and the outer guide rotary shaft 10. So set up, be convenient for provide the direction for the rope. Other compositions and connection relationships are the same as in the first, second or third embodiment.

The fifth concrete implementation mode: referring to fig. 1 to 3, the present embodiment will be described, and the inner guide hole plate 7 and the outer guide hole plate 11 of the present embodiment are provided with guide holes. The arrangement of the wire passing hole can ensure that the rope cannot slip from the pulley groove when the rope rotates within a large range of 180 degrees, and the safety of the rope-driven robot is enhanced on the basis of ensuring the motion stability. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.

The sixth specific implementation mode: the present embodiment is described with reference to fig. 1 to 3, the force level sensor module of the present embodiment includes a tension sensor 9, a tension measuring pulley 12 and an encoder 19, the tension measuring pulley 12 is rotatably mounted on the inner guide hole plate 7, the tension sensor 9 is mounted at the shaft hole of the tension measuring pulley 12, and the encoder 19 is mounted on the outer sidewall of the outer frame 6 and connected to the winding drum 1. So set up, the setting of force position hybrid sensing module can realize through the feedback signal design force position hybrid algorithm of force position sensor, provides the design scheme who realizes accurate play cable from control algorithm. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.

The seventh embodiment: the present embodiment will be described with reference to fig. 2, in which the frame body a of the present embodiment is a rectangular parallelepiped frame. So set up, be convenient for install the rope and drive monomer structure C. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.

The specific implementation mode is eight: referring to fig. 4 and 5, the present embodiment is described, wherein a plurality of rope-driven single structures C of the present embodiment are connected to a moving platform B in a multi-rope parallel connection manner, and are respectively mounted on the upper end surface of a frame body a. With such an arrangement, the installation effect of the overhead parallel robot is shown in fig. 4 and 5, four single mechanical structures are selected as the driving units, the number of the single mechanical structures is not a distinguishing feature of the present invention, and the number of the single mechanical structures can be selected according to actual requirements. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.

The specific implementation method nine: the present embodiment will be described with reference to fig. 5, and the present embodiment further includes an imaging system D installed below the moving platform B. Other compositions and connection relations are the same as those of any one of the first to eighth embodiments.

The rope winding process comprises the following steps: when the motor starts to operate, the winding drum can be driven to rotate, and the rope is wound on the drum wall to shrink along with the rotation of the drum. Meanwhile, the motor of the wire arranging unit works, the wire arranging lead screw is driven by the motor shaft to rotate, and the wire arranging pulley on the wire arranging lead screw linearly reciprocates along the axial direction of the lead screw. Thus, the rope is wound on the roller, and the tight winding among the rings is realized, so that the aim of precise winding is fulfilled. More, when the rope is wound to the end part close to the roller, the winding displacement motor rotates reversely, and the tight winding between layers of the rope can be realized, so that the rope with the length being dozens of times of that of the traditional winding mechanism can be wound on the winding structure with a smaller size, and the larger loss of precision can not be brought.

The working principle is as follows:

the rope-driven parallel robot of the embodiment can be applied to the positioning of a camera in space, and can replace a heavy rocker arm camera and unmanned aerial vehicle camera shooting technology with trembling and large noise under the scenes of large-scale meeting places, exhibition and marketing, playgrounds and the like. When a camera is carried on a moving platform in the middle of the rope-driven parallel robot, the robot can move and hover at any position and any angle in space, and abundant operation space is brought to space shooting.

Taking the example of the four-rope multi-degree-of-freedom overhead parallel robot, the installation effect is shown in fig. 4 and 5, when the robot works, a motion platform, a load or other equipment carried at the tail end of the motion can move at any angle in space and realize hovering, and high-speed and stable motion is realized. The motion platform carried by the motion tail end can be used as a motion camera to realize three-dimensional space shooting, and can be used for the feed source of a large antenna to realize the adjustment of the position of the feed source and the like.

The hardware configuration of the whole control system of the four-rope multi-degree-of-freedom overhead parallel robot is shown in fig. 6, a control console of the overhead rope-driven parallel robot is a PC, a motion information instruction is sent to a control board card through an upper computer, the board card receives and analyzes the motion information instruction to further control a motor in a winding mechanism, and meanwhile, the board card collects position information of the motor and a tension value of a tension sensor in real time to control a closed loop. The control system is the core of the overhead rope-driven parallel robot, is the brain for completing motion control, realizes the synchronous control of coordinating the rotation of the four motors, and further retracts and releases the rope to achieve the motion of the working platform between two points in space. The hardware design of the control system is that the DSP is used as a main control chip and is cooperated with a motion chip to be used as a core device, the DSP mainly completes motion calculation, encoder data detection, tension data detection and data processing, and the motion processing chip mainly completes speed planning. In order to build a reasonable hardware platform, factors such as the quality of an end effector need to be considered, a tension sensor and a motor are selected, and meanwhile, a reasonable control circuit is drawn for each part of hardware and a welding board card is printed.

The design flow of the rope-driven parallel robot is shown in fig. 7, and firstly, a mechanical model of the multi-degree-of-freedom rope-driven parallel robot is designed according to task requirements, and a frame structure of the multi-degree-of-freedom rope-driven parallel robot is processed and built. And designing a hardware control circuit according to the motion requirement, and then completing the welding of the circuit board and the wiring work of the whole machine. And then obtaining a solving method of the inverse solution of the rope length according to the pose kinematics relationship between the rope length and the position of the tail end moving platform. And a rope tension solving algorithm is designed through the statics and dynamics stress analysis of the robot. And finally, designing an autonomous intelligent track planning algorithm and a force and position hybrid control scheme of the multi-degree-of-freedom rope-driven parallel robot according to the research of the basic theory and a mechanical model frame.

Fig. 5 shows an overhead multi-degree-of-freedom rope-driven parallel robot system with a camera system, in which four rope-driven mechanical single devices are arranged at four corners of the top of a 3m × 3m frame. The four ropes are led out through four rope-driven single mechanical devices and then connected to a motion platform in the space, and the motion platform is provided with a camera and can perform space motion shooting, capturing and positioning and the like on the inside of the frame. The hardware configuration of the whole control system of the overhead multi-degree-of-freedom rope-driven parallel robot carrying the camera system is shown in fig. 3, the console is a PC, a motion information command is sent to the control board card through an upper computer, the board card receives the command and analyzes the command, then a motor in the rope-driven mechanical mechanism is controlled, the motion of a camera in space is realized, and meanwhile, the board card collects the position information of the motor and the tension value of the tension sensor in real time to realize the closed loop of control.

It should be noted that the frame structure shown in fig. 4 and 5 is not a necessary condition of the overhead multi-degree-of-freedom rope-driven parallel robot system, and when the overhead multi-degree-of-freedom rope-driven parallel robot with the camera system is applied to a large conference hall, the overhead multi-degree-of-freedom rope-driven parallel robot system can be installed at the top corner positions around the conference hall, so that the traditional rocker arm camera can be perfectly replaced, the camera radius of the rope-driven camera scheme is larger, the camera angle in the space is richer, and the operation is simpler and easier.

In addition, when the overhead multi-degree-of-freedom rope-driven parallel robot carrying the camera system is applied to a large playground, the mechanical monomer structure can be fixed at the positions of the periphery and the like of the playground stand, the camera can synchronously follow the target to move, and compared with shooting schemes such as unmanned planes, the camera system has the advantages of safety, no noise, stable and quick motion and the like.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a put formula multi freedom rope and drive parallel robot, it includes support body (A), its characterized in that: the rope-driven single structure suspension device further comprises a plurality of rope-driven single structures (C), the rope-driven single structures (C) are installed at the upper end of the motion platform (B), and the tail ends of the rope-driven single structures (C) carry the motion platform (B) to realize suspension or motion; each rope driving single structure (C) comprises a power driving unit, a wire arranging unit, a guiding unit, a force position sensor module and an outer structure frame (6), wherein the power driving unit is installed on the outer structure frame (6), the wire arranging unit is installed below the power driving unit, the guiding unit is installed on the outer structure frame (6), the force position sensor module is installed on the guiding unit and the power driving unit, one end of a rope is fixedly installed on the power driving unit, and the other end of the rope reciprocates along the wire arranging unit;

the winding displacement unit comprises a winding displacement motor (3), a winding displacement lead screw (15), a winding displacement pulley (16), a front winding displacement guide rod (17), a rear winding displacement guide rod (18) and a lead screw sliding table (20), wherein the winding displacement motor (3) is arranged on an outer structure frame (6) below the winding torque motor (2), the winding displacement lead screw (15) is arranged in the outer structure frame (6) and connected with an output shaft of the winding displacement motor (3), the front winding displacement guide rod (17) and the rear winding displacement guide rod (18) are respectively arranged in the outer structure frames (6) on the front side and the rear side of the winding displacement lead screw (15) in parallel, the lead screw sliding table (20) is arranged on the winding displacement lead screw (15), the front winding displacement guide rod (17) and the rear winding displacement guide rod (18), and the winding displacement pulley (16) is arranged on the lead screw sliding table (20);

the guide unit comprises a connecting plate (50), an outer guide pulley (4), an outer guide rotary table (5), an inner guide pore plate (7), an inner guide rotary shaft (8), an outer guide rotary shaft (10), an outer guide pore plate (11), an inner guide rotary table (13) and an inner guide pulley (14),

the connecting plate (50) is arranged on the side wall of the outer structure frame (6), two ends of the connecting plate (50) respectively extend to the inner side and the outer side of the outer structure frame (6), the outer guide rotary table (5) and the inner guide rotary table (13) are respectively rotatably arranged on the connecting plate (50) on the inner side and the outer side of the outer structure frame (6) through the inner guide rotary shaft (8) and the outer guide rotary shaft (10),

the outer guide pulley (4) is arranged on the outer guide rotary table (5), the inner guide pore plate (7) is arranged on the connecting plate (50), the inner guide pulley (14) is arranged on the inner guide rotary table (13), and the outer guide pore plate (11) is arranged on the connecting plate (50) between the inner guide pore plate (7) and the outer guide rotary shaft (10);

the arrangement of the outer guide rotary table (5) and the inner guide rotary table (13) meets the requirement that the rope can stably swing within a large range of angles, and the arrangement of the front and rear wire passing holes ensures that the rope cannot slip from the pulley groove and also ensures that the whole structure rotates within a range of +/-90 degrees.

2. The overhead multi-degree-of-freedom rope-driven parallel robot as claimed in claim 1, wherein: the power driving unit comprises a winding drum (1) and a winding torque motor (2), the winding drum (1) is rotatably mounted on an outer structure frame (6), the winding torque motor (2) is mounted on the outer side wall of the outer structure frame (6), and the output shaft of the winding torque motor (2) is connected with the winding drum (1).

3. The overhead multi-degree-of-freedom rope-driven parallel robot as claimed in claim 2, wherein: the inner guide pore plate (7) and the outer guide pore plate (11) are both provided with guide pores.

4. The overhead multi-degree-of-freedom rope-driven parallel robot as claimed in claim 3, wherein: the force position sensor module comprises a tension sensor (9), a tension measuring pulley (12) and an encoder (19), the tension measuring pulley (12) is rotatably installed on the inner guide hole plate (7), the tension sensor (9) is installed at the shaft hole of the tension measuring pulley (12), and the encoder (19) is installed on the outer side wall of the outer structure frame (6) and connected with the winding drum (1).

5. The overhead multi-degree-of-freedom rope-driven parallel robot as claimed in claim 4, wherein: the frame body (A) is a cuboid frame.

6. The overhead multi-degree-of-freedom rope-driven parallel robot as claimed in claim 5, wherein: the rope drive single structures (C) are connected with the motion platform (B) in a multi-rope parallel mode and are respectively arranged on the upper end face of the frame body (A).

7. The overhead multi-degree-of-freedom rope-driven parallel robot as claimed in claim 1 or 6, wherein: the device also comprises a camera system (D) which is arranged below the moving platform (B).