Mixing may be wound parallel robot driven cable device and method for monitoring operation

The present invention discloses a wound type mixing apparatus and method for monitoring operation wire driven parallel robot driving means comprises a driven cable wound hybrid parallel robot and operation monitoring device. Mixing may be driven cable wound parallel robot comprises three five hybrid drive link winding structure, a tower frame, three flexible cable, the positioner and weight. Three pulleys respectively provided on the top of the tower bracket sheave bracket and the housing are fixed sheave bracket stress wireless sensor nodes, three wire driven by the positioner and the weight is attached and fixed to the outer surface of the positioner with a weight node, n-tower bracket is provided with three anchor nodes on the ground below. Operation monitoring means includes convergence nodes, IPC, sink node is connected via a USB cable and IPC. The present invention has simple structure, easy maintenance and low cost detection, high sensitivity, no damage to the advantages of the flexible cable.