Glass bottle sorting parallel robot with flexible structure

Abstract

The invention discloses a glass bottle sorting parallel robot with a compliant structure, which is arranged across the top of a conveying platform and includes a sorting mechanism and a control system. The sorting mechanism includes a static platform, a robot arm, a moving platform and a linkage mechanism; the robot arm includes two groups that can be arranged in a diamond shape, and the robot arm includes compliant joints, and each robot arm can rotate in a plane through a drive motor; the moving platform , set vertically, hinged with the free ends of the two mechanical arms, and the bottom of the grasping platform is provided with a pneumatic suction cup connected to the driving cylinder; the linkage mechanism is located outside any mechanical arm, and is set in linkage with the moving platform for driving The moving platform remains vertical; the control system is used to control the robot to perform sorting work. It solves the problems of clearance, friction and impact caused by traditional kinematic pairs, and always ensures that the moving platform moves horizontally without inclination, and the grabbing and placing are more stable. It is suitable for sorting fragile products and improves work efficiency.

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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