Three-translation high-speed sorting parallel manipulator

Abstract

The invention relates to a three-translation high-speed sorting parallel manipulator comprising a fixed platform, a movable platform, and three branch chains, wherein the first branch chain comprises a first rotation pair, a first driving arm, a second rotation pair, a connection rod, a third rotation pair, a first connection piece, and a fourth rotation pair; the second branch chain and the first branch chain are same in structure; the third branch chain is arranged between the first branch chain and the second branch chain; the third branch chain comprises a first moving pair, a second driving arm, a fifth rotation pair, a connection arm, a sixth rotation pair, a second connection piece and a second moving pair. The three-translation high-speed sorting parallel manipulator has the beneficial effects of being simple in structure, convenient to install, high in bearing capacity, large in work space, and easy to control. The structure is in symmetrical distribution; the appearance is attractive; the center of gravity of the manipulator is balanced; characteristics of little weak coupling and little input are achieved; the three-translation high-speed sorting parallel manipulator is wide in application range, and can be used for sorting, assembling and manufacturing in an assembly line and production of medical robots, parallel machine tools, smart home and sensors.

Description

technical field [0001] The invention belongs to the technical field of parallel robots, and relates to a three-translation high-speed robot that is widely used in light industries such as food and pharmaceutical processing, such as assembly line sorting, manufacturing and product packaging, etc. Sorting parallel manipulator. Background technique [0002] At present, industrial processing and manufacturing are developing towards scale and intensification, and accelerating the deployment of industrial intelligent robots is the focus of the country's future new industrial development. In light industries such as food processing and pharmaceutical production, there are a large number of repetitive and high-intensity operations such as material sorting, picking, and product packaging. In the past, such operations were usually done manually, which is not only labor-intensive, but also inevitably causes pollution to varying degrees. With the development of market demand, parallel...

AI Technical Summary

Problems solved by technology

The rotary output motion of the H4 parallel mechanism is generated by the relative motion of its double-action platform, which meets the application requirements for sorting on the production line, but the structure of the double-action platform increases the complexity of its structure, which leads to The complex kinematics characteristics have an adverse effect on the high-speed and high-dynamic response kinematic characteristics, which is not conducive to the development of production efficiency. At the same time, the H4 parallel mechanism is mainly driven by four rotating pairs, which not only has a singular position type, but also works limited space

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