Parallel sorting robot driven by ropes tensioned through driven springs

Abstract

The invention discloses a parallel sorting robot driven by ropes tensioned through driven springs. The robot comprises a static platform, driving assemblies, a tensioning assembly, pulley assemblies and a movable platform assembly, wherein the static platform is used for erection of a framework of the whole device and providing part mounting positions; each driving assembly comprises a drive motor, a speed reducer, an encoder and drive ropes and used for driving and feedback control of terminal motion; the pulley assemblies play a role in direction guiding for ropes; the tensioning assembly guarantees tensioning of the ropes through the driven stretched springs and rigid rods; a movable platform is a terminal motion part, and an actuator such as a suction cup is mounted on the movable platform to carry out movement and operation. Three-degrees-of-freedom translational motion of the terminal is achieved under driving of the parallel ropes; meanwhile, the ropes are tensioned through thedriven springs and the rigid rods, three drivers drive the terminal to carry out the three-degrees-of-freedom motion, the driven springs guarantee tensioning of the ropes, redundant drive is avoided,the rigidity of the system can be adjusted, and large-range rapid sorting operation can be achieved at low cost.

Description

technical field [0001] The invention belongs to the technical field of robots and automation, in particular to a cable-driven parallel sorting robot that adopts passive spring tension. Background technique [0002] Industrial robots are the main force in manufacturing, and their R&D, manufacturing, and application are an important indicator of a country's technological innovation level. With the development of intelligent manufacturing, industrial robots ushered in explosive growth. Sorting robots are important members of industrial robots, widely used in food, medicine, new energy and 3C industries. The existing sorting robots are all rigid structures. Compared with serial robots, rigid parallel high-speed sorting robots have greatly improved in speed and efficiency, but there are still bottlenecks that are difficult to break through in terms of efficiency and cost. The main manifestations are: 1) Rigid rods limit the further reduction of motion quality and the improvemen...

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Problems solved by technology

[0003] In order to overcome the shortcomings of existing rigid sorting robots such as high cost, high power consumption, and difficulty in improving efficiency, the purpose of the present invention is to provide a parallel sorting robot based on rope drive. The device uses rope as a branch chain drive medium and has inertia It has the advantages of small size, low cost, and large working space. At the same time, combined with passive springs to achieve rope tensioning, redundant drives are avoided, and the number and arrangement of springs can be quickly adjusted according to requirements, which can realize low-cost and high-level item sorting functions.

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