Glass bottle sorting parallel robot with flexible structure

Abstract

The invention discloses a glass bottle sorting parallel robot with a flexible structure. The glass bottle sorting parallel robot is crossed over a conveying bench, and comprises a sorting mechanism and a control system. The sorting mechanism comprises a stationary platform, mechanical arms, a moving platform and a linkage mechanism. The mechanical arms comprise two sets which can be relatively arranged in a rhombus shape, the mechanical arms comprise flexible joints, and each mechanical arm can rotate in the plane via a driving motor. The moving platform is vertically arranged and hinged to free ends of the two mechanical arms, and the bottom of a grabbing platform is provided with a pneumatic sucker connected with a driving cylinder. The linkage mechanism is disposed at an outer side of any one mechanical arm and linked to the moving platform for driving the moving platform to maintain a vertical state. The control system is used for controlling the robot to carry out sorting work. The gap, friction and impact problems caused by a traditional kinematic pair are solved, horizontal aclinal movement of the moving platform is always ensured, grabbing and disposing are stationary, therobot is suitable for sorting fragile products, and working efficiency is improved.

Description

technical field [0001] The invention relates to the field of sorting robots, in particular to a glass bottle sorting parallel robot with a compliant structure. Background technique [0002] Parallel robot is an advanced robot with closed-chain structure. It has the advantages of high rigidity, high precision, and strong bearing capacity. It can realize high-speed and high-precision control tasks. It has been widely used in motion simulation, machining, high-speed handling, Picking, fast positioning and other occasions. [0003] In industrial production, with the continuous improvement of people's requirements for production efficiency and operation accuracy, high speed and high precision have become an important trend in the development of industrial robots. Facing the requirements of high speed and high acceleration, parallel robots face the following problems: [0004] (1) The volume and self-weight of robots based on traditional design theory are usually large, requirin...

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Problems solved by technology

[0004] (1) The volume and self-weight of robots based on traditional design theory are usually large, requiring the use of larger types of drive and transmission devices during high-speed operation, which greatly increases the production and operating costs of robots;

[0005] (2) Under high-speed operating conditions, high-speed parallel robots designed based on lightweight design methods usually produce elastic deformation and vibration, which increases the elastic displacement of the execution end of the parallel robot's dynamic platform. The control method cannot meet the performance requirements of parallel robots;

[0006] (3) Parallel robots mostly use rigid motion pairs to transmit motion. Limited by their structure, there are inevitably problems such as gaps, friction, impact, installation and processing errors, which cannot meet the requirements of modern technological development for mechanical equipment.

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