Parallel loading robot comprising parallelogram kinematic chains and operation method of parallel loading robot

Abstract

The invention relates to a loading robot, in particular to a parallel loading robot containing parallelogram kinematic chains and an operation method of the parallel loading robot. The robot comprises a rack, a first linear guide device, a second linear guide device, a third linear guide device, a first movement device, a second movement device, a third movement device, a first movement chain, a second movement chain, a third movement chain and a movable platform, the first moving device, the second moving device and the third moving device are installed on the first linear guiding device, the second linear guiding device and the third linear guiding device respectively and move linearly along the linear guiding devices. The rear ends of the first kinematic chain, the second kinematic chain and the third kinematic chain are respectively connected with the first kinematic device, the second kinematic device and the third kinematic device through rotary hinges, and the front ends are respectively connected with the movable platform through rotary hinges; the position of the movable platform is adjusted by adjusting the positions of the first movement device, the second movement device and the third movement device on the first linear guide device, the second linear guide device and the third linear guide device; the side face of the movable platform is kept parallel to the side face of the rack through a parallelogram mechanism of the first kinematic chain, the second kinematic chain and the third kinematic chain. The parallel loading robot is of a connecting rod structure, so that the overall weight of the robot is reduced; a parallel mechanism is adopted as a core structure, and the rigidity and movement flexibility of the robot are improved.

Description

Technical Field

[0001] The invention relates to a loading robot, in particular to a parallel loading robot with a parallelogram kinematic chain and an operation method thereof. Background Art

[0002] Loading robots are widely used in heavy-duty handling, sorting, palletizing and other fields due to their high flexibility, large working space and strong environmental adaptability, and have become an indispensable automated intelligent equipment in modern manufacturing. With the increasing requirements for the load-bearing capacity and work efficiency of loading robots in the construction, petrochemical, food and other industries, the demand for high-performance loading robots is increasing. However, with the increase in load capacity and movement speed, higher requirements are placed on the robot's deadweight, load capacity, dynamic characteristics, etc.

[0003] The handling robots disclosed in patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1, and EP3272470B1 all adopt a serial structure. The robots have heavy weight, low rigidity and dynamic characteristics, and are difficult to be used in heavy-load and high-speed loading applications.

[0004] The handling robots disclosed in patents CN212608257U, CN110815183A, CN110815184A, CN106826765A, and CN106584426A adopt a parallel structure, but the driving part adopts a rotary driving joint, which cannot be used in heavy-load applications. In addition, due to the limitation of the angle of the rotary driving joint and the length of the connecting rod, the robot has a small action space and cannot be used in a wide range of heavy-load applications. In view of the above problems, the present invention provides a parallel loading robot with a parallelogram kinematic chain and an operation method thereof, so as to solve the problems of large carrying capacity and large motion space of the parallel loading robot.

[0005] The technical solution adopted by the present invention is: The parallel loading robot with a parallelogram kinematic chain of the present invention comprises a frame, a first linear guide device, a second linear guide device and a third linear guide device installed on the frame, as well as a first motion device, a second motion device, a third motion device, a first motion chain, a second motion chain, a third motion chain and a moving platform, the middle of the frame is a loading space, and is characterized in that the first motion device, the second motion device and the third motion device are installed on the first linear guide device, the second linear guide device and the third linear guide device respectively; The built-in driving mechanisms of the first motion device, the second motion device and the third motion device can respectively perform linear motion along the first linear guide device, the second linear guide device and the third linear guide device; the first linear guide device, the second linear guide device and the third linear guide device are arranged in parallel on the frame, the first motion chain, the second motion chain and the third motion chain are parallelogram structures in a plane, the adjacent sides are hingedly connected, and the front end connecting rods of each are respectively connected to the moving platform through the rotary hinge a, the rotary hinge b and the rotary hinge c installed on the moving platform; The rear end connecting rods of the first motion chain, the second motion chain and the third motion chain are connected to the first motion device, the second motion device and the third motion device through the rotary hinge d, the rotary hinge e and the rotary hinge f respectively installed on the first motion device, the second motion device and the third motion device.

[0006] According to the parallel loading robot containing a parallelogram motion chain, the first motion chain, the second motion chain, and the third motion chain are connected in parallel with the moving platform, and the moving platform is located in the rack space. The position of the moving platform in space is adjusted by adjusting the positions of the first motion device, the second motion device, and the third motion device on the first linear guide device, the second linear guide device, and the third linear guide device.

[0007] According to the parallel loading robot with a parallelogram kinematic chain, the bottom surface of the moving platform is kept parallel to the upper side surface of the frame by the parallelogram mechanism of the first kinematic chain, and the left and right sides of the moving platform are kept parallel to the left and right sides of the frame by the parallelogram mechanisms of the second and third kinematic chains.

[0008] According to the parallel loading robot containing a parallelogram motion chain, the frame has a gantry-shaped cross-section, the first linear guide device is installed on the upper side of the frame, the second linear guide device and the third linear guide device are respectively installed on the left and right sides of the frame, and the guide axes of the first linear guide device, the second linear guide device and the third linear guide device are parallel to each other.

[0009] According to the parallel loading robot with parallelogram kinematic chains, the first kinematic chain, the second kinematic chain and the third kinematic chain have the same structure, including: a rear end connecting rod, a front end connecting rod, a long connecting rod a, a long connecting rod b, a rotary hinge g, a rotary hinge h, a rotary hinge i and a rotary hinge j, the rear end connecting rod and the front end connecting rod are parallel to each other, and the long connecting rod a and the long connecting rod b are parallel to each other; The upper end of the rear end connecting rod is connected to the rear end of the long connecting rod a through a rotary hinge g, the lower end of the rear end connecting rod is connected to the rear end of the long connecting rod b through a rotary hinge j, the upper end of the front end connecting rod is connected to the front end of the long connecting rod a through a rotary hinge h, and the lower end of the front end connecting rod is connected to the front end of the long connecting rod b through a rotary hinge i.

[0010] According to the parallel loading robot containing a parallelogram motion chain, the rear end connecting rods of the first motion chain, the second motion chain and the third motion chain are respectively arranged parallel to the center lines of the rotary hinge d, the rotary hinge e and the rotary hinge f, and the front end connecting rods of the first motion chain, the second motion chain and the third motion chain are respectively arranged parallel to the center lines of the rotary hinge a, the rotary hinge b and the rotary hinge c, the center line of the rotary hinge d is perpendicular to the first linear guide device, the center line of the rotary hinge e is parallel to the second linear guide device, and the center line of the rotary hinge f is parallel to the third linear guide device.

[0011] According to the parallel loading robot containing a parallelogram motion chain, the first motion device, the second motion device and the third motion device have the same structure, including: a fixed seat, a servo motor, a rotary hinge, a guide a, a guide block b, a guide block c, a guide block d, and a driving gear. The servo motor is installed on the fixed seat, the driving gear is fixedly connected to the output shaft of the servo motor, the rotary hinge is installed on the upper side of the fixed seat, the guide block a, the guide block b, the guide block c, and the guide block d are installed on the lower side of the fixed seat, the guide block a, the guide block b, the guide block c, the guide block d, and the driving gear are connected to the linear guide device, and the servo motor drives the fixed seat to move linearly along the guide device.

[0012] According to the parallel loading robot with a parallelogram kinematic chain, the servo motors of the first motion device, the second motion device and the third motion device are replaced by hydraulic or pneumatic drive structures.

[0013] The present invention provides an operation method of a parallel loading robot including a parallelogram kinematic chain. The moving platform moves linearly along the first linear guide device, the second linear guide device and the third linear guide device, and the first motion device, the second motion device and the third motion device are synchronously driven to move, driving the first motion chain, the second motion chain, the third motion chain and the moving platform to achieve linear motion, that is, forward and backward motion in the length direction of the loading space in the frame; The movable platform moves left and right along a plane in the frame that is perpendicular to the first linear guide device, the second linear guide device and the third linear guide device, with the plane as the opposite surface. The first moving device is stationary relative to the plane, the second moving device moves forward along the second linear guide device, the third moving device moves backward along the third linear guide device, or the movement speed of the third moving device along the third linear guide device is less than the movement speed of the second moving device along the second linear guide device, at this time the moving platform moves to the right side of the plane, the third moving device moves forward along the third linear guide device, the second moving device moves backward along the second linear guide device, or the movement speed of the second moving device along the second linear guide device is less than the movement speed of the third moving device along the third linear guide device, at this time the moving platform moves to the left side of the plane; The movable platform moves up and down along a plane in the frame that is perpendicular to the first linear guide device, the second linear guide device and the third linear guide device, with the plane as the opposite surface. The first moving device moves forward along the first linear guide device, the second moving device and the third moving device are stationary relative to the plane or move at a speed lower than the speed of the first moving device along the first linear guide device, and the moving platform moves downward in the plane and moves backward relative to the plane at the same time. The first moving device moves backward along the first linear guide device or the moving speed is lower than the moving speed of the second moving device and the third moving device along the second linear guide device and the third linear guide device respectively, and the moving platform moves upward in the plane and moves forward relative to the plane at the same time; The above steps, and synchronous or asynchronous motion, drive the dynamic platform to move in the frame.

[0014] According to the operation method, the first motion device, the second motion device, and the third motion device respectively perform linear motion along the first linear guide device, the second linear guide device, and the third linear guide device; due to the position change of the first motion device, the second motion device, and the third motion device, the first motion chain, the second motion chain, and the third motion chain respectively swing around the rotary hinge d, the rotary hinge e, and the rotary hinge f in a radius, and at the same time, the long connecting rod a and the long connecting rod b of the first motion chain, the second motion chain, and the third motion chain respectively swing around the rotary hinge g and the rotary hinge j in a radius; As the positions of the first motion device, the second motion device, and the third motion device change, and the angles of the first motion chain, the second motion chain, and the third motion chain change, the moving platform rotates around the front end connecting rods of the first motion chain, the second motion chain, and the third motion chain, so that the moving platform can move up and down, left and right, and forward and backward.

[0015] The parallel loading robot based on the parallelogram kinematic chain of the present invention has the following advantages and positive effects: 1. The first kinematic chain, the second kinematic chain, and the third kinematic chain are connected in parallel with the moving platform, which improves the load-bearing capacity and the rigidity of the whole machine of the loading robot compared with the patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1, and EP3272470B1; 2. By adjusting the positions of the first motion device, the second motion device and the third motion device on the first linear guide device, the second linear guide device and the third linear guide device, the position of the moving platform is adjusted, and the working space of the loading robot is greatly increased compared with patents CN212608257U, CN110815183A, CN110815184A, CN106826765A, and CN106584426A.

[0016] 3. The first kinematic chain, the second kinematic chain, and the third kinematic chain all adopt parallelogram mechanisms, which is beneficial to reducing the weight of the robot and can keep the side of the moving platform parallel to the side of the frame at all times. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic diagram of the overall structure of the present invention; FIG2 is a rear view of FIG1; FIG3 is a schematic diagram of the installation of a parallel loading robot based on a parallelogram kinematic chain according to the present invention; FIG4 is a schematic diagram of the installation of the parallel loading robot based on the parallelogram kinematic chain in FIG3; FIG5 is a schematic structural diagram of the first kinematic chain, the second kinematic chain, and the third kinematic chain parallelogram mechanism of the present invention; Figure 6 This is a structural diagram of the fixing seat of the present invention. Figure 7 is a structural diagram of the motion device of the present invention, In the figure: 1: frame, 2: first linear guide device, 3: second linear guide device, 4: third linear guide device, 5: first motion device, 6: second motion device, 7: third motion device, 8: first motion chain, 9: second motion chain, 10: third motion chain, 11: moving platform, 12: rotary hinge d, 13: rotary hinge e, 14: rotary hinge f, 15: rotary hinge a, 16: rotary hinge b, 17: rotary hinge c, 18: fixed seat, 19: servo motor, 20: rear end connecting rod, 21: rotary Rotating hinge g, 22: long connecting rod a, 23: rotating hinge h, 24: front end connecting rod, 25: rotating hinge i, 26: long connecting rod b, 27: rotating hinge j, 28: rotating hinge, 29: guide block a, 30: guide block b, 31: guide block c, 32: guide block d, 33: driving gear. DETAILED DESCRIPTION

[0018] The following is a detailed description of a parallel loading robot with a parallelogram kinematic chain and an operation method thereof according to the present invention in conjunction with the embodiments and the accompanying drawings.

[0019] like Figure 1 , Figure 2 , Figure 3 As shown, a parallel loading robot with a parallelogram kinematic chain of the present invention comprises a frame 1, a first linear guide 2, a second linear guide 3 and a third linear guide 4 mounted on the frame 1, a first motion device 5, a second motion device 6, a third motion device 7, a first motion chain 8, a second motion chain 9, a third motion chain 10 and a moving platform 11. The frame is a door-type frame structure, and the middle space has no support, which serves as a passage for transferring goods.

[0020] The first linear guide 2 is installed on the upper side of the frame 1, and the second linear guide 3 and the third linear guide 4 are installed on the left and right sides of the frame 1, respectively, and the heights are set to be the same. The guide axes of the first linear guide 2, the second linear guide 3, and the third linear guide 4 are parallel to each other. The track surfaces of the first linear guide 2, the second linear guide 3, and the third linear guide 4 face inward.

[0021] In the device, the first motion device 5, the second motion device 6 and the third motion device 7 are respectively installed on the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4.

[0022] The first motion device 5, the second motion device 6 and the third motion device 7 are respectively arranged on the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4, and can perform linear motion along the guide devices.

[0023] The first motion chain 8, the second motion chain 9, and the third motion chain 10 are connected in parallel with the moving platform 11. By adjusting the positions of the first motion device 5, the second motion device 6, and the third motion device 7 on the first linear guide device 2, the second linear guide device 3, and the third linear guide device 4, the position of the moving platform 11 in the space inside the frame is adjusted.

[0024] The bottom surface of the moving platform 11 is kept parallel to the upper side surface of the frame 1 by the parallelogram mechanism of the first motion chain 8, and the left and right sides of the moving platform 11 are kept parallel to the left and right sides of the frame 1 by the parallelogram mechanism of the second motion chain 9 and the third motion chain 10.

[0025] Specifically, the front end connecting rods of the first kinematic chain 8, the second kinematic chain 9 and the third kinematic chain 10 are respectively connected to the moving platform 11 through the rotary hinge a15, the rotary hinge b16 and the rotary hinge c17 installed on the moving platform 11; The rear end connecting rods of the first motion chain 8, the second motion chain 9 and the third motion chain 10 are connected to the first motion device 5, the second motion device 6 and the third motion device 7 through the rotary hinge d12, the rotary hinge e13 and the rotary hinge f14 respectively installed on the first motion device 5, the second motion device 6 and the third motion device 7.

[0026] The first motion chain 8, the second motion chain 9 and the third motion chain 10 have the same structure, including: a rear end link 20, a front end link 24, a long link a22, a long link b26, a rotary hinge g21, a rotary hinge h23, a rotary hinge i25 and a rotary hinge j27. The upper end of the rear end link 20 is connected to the rear end of the long link a22 through a rotary hinge g21, the lower end of the rear end link 20 is connected to the rear end of the long link b26 through a rotary hinge j27, the upper end of the front end link 24 is connected to the front end of the long link a22 through a rotary hinge h23, and the lower end of the front end link 24 is connected to the front end of the long link b26 through a rotary hinge i25.

[0027] The rear connecting rod 20, the long connecting rod a22, the long connecting rod b26 and the front connecting rod 24 form a parallelogram mechanism, and the rear connecting rod 20 and the front connecting rod 24 are always parallel to each other, and the long connecting rod a22 and the long connecting rod b26 are always parallel to each other. The center line of the rotary hinge d12 is perpendicular to the first linear guide device 2, the center line of the rotary hinge e13 is parallel to the second linear guide device 3, and the center line of the rotary hinge f14 is parallel to the third linear guide device 4.

[0028] In this device, the rear end connecting rods of the first motion chain 8, the second motion chain 9 and the third motion chain 10 are respectively arranged parallel to the center lines of the rotary hinge d12, the rotary hinge e13 and the rotary hinge f14. Specifically, in this device, the rear end connecting rods directly serve as the corresponding rotary hinges d12, the rotary hinge e13 and the rotary hinge f14.

[0029] The front end connecting rods of the first motion chain 8, the second motion chain 9 and the third motion chain 10 are respectively arranged parallel to the center lines of the rotary hinge a15, the rotary hinge b16 and the rotary hinge c17. Specifically, in this device, the front end connecting rods directly serve as the corresponding rotary hinges a15, the rotary hinge b16 and the rotary hinge c17.

[0030] The first motion device 5, the second motion device 6 and the third motion device 7 have the same structure, including: a fixed seat 18, a servo motor 19, a rotary hinge 28, a guide block a29, a guide block b30, a guide block c31, a guide block d32, and a driving gear 33. The servo motor 19 is installed on the fixed seat 18, and the driving gear 33 is fixedly connected to the output shaft of the servo motor 19. The rotary hinge 28 is installed on the upper side of the fixed seat 18, and the guide blocks a29, b30, c31, and d32 are installed on the lower side of the fixed seat 18. The guide blocks a29, b30, c31, d32, and the driving gear 33 are connected to the linear guide device. The servo motor 19 drives the fixed seat 18 to move linearly along the guide device.

[0031] The servo motors 19 of the first motion device 5 , the second motion device 6 and the third motion device 7 are replaced with hydraulic or pneumatic drive structures.

[0032] The working process of this device is described as follows: The first motion device 5, the second motion device 6 and the third motion device 7 make linear motions along the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 respectively; due to the position changes of the first motion device 5, the second motion device 6 and the third motion device 7, the first motion chain 8, the second motion chain 9 and the third motion chain 10 swing around the rotary hinge d12, the rotary hinge e13 and the rotary hinge f14 respectively, and at the same time, the long link a22 and the long link b26 of the first motion chain 8, the second motion chain 9 and the third motion chain 10 swing around the rotary hinge g21 and the rotary hinge j27 respectively.

[0033] The moving platform 11 moves linearly along the first linear guide device 2, the second linear guide device 3 and the third linear guide device, and the first motion device 5, the second motion device 6 and the third motion device 7 are synchronously driven to move, driving the first motion chain 8, the second motion chain 9, the third motion chain 10 and the moving platform 11 to achieve linear motion, that is, forward and backward motion in the length direction of the loading space in the frame 1; The movable platform 11 moves left and right along a plane in the frame 1 that is perpendicular to the first linear guide device 2, the second linear guide device 3 and the third linear guide device, with the plane as the opposite surface. The first motion device 5 is stationary relative to the plane, the second motion device 6 moves forward along the second linear guide device 3, the third motion device 7 moves backward along the third linear guide device 4, or the movement speed of the third motion device 7 along the third linear guide device 4 is less than the movement speed of the second motion device 6 along the second linear guide device 3, at this time the moving platform 11 moves to the right side of the plane, the third motion device 7 moves forward along the third linear guide device 4, the second motion device 6 moves backward along the second linear guide device 2, or the movement speed of the second motion device 6 along the second linear guide device 2 is less than the movement speed of the third motion device 7 along the third linear guide device 4, at this time the moving platform 11 moves to the left side of the plane; The movable platform 11 moves up and down along a plane in the frame 1 which is perpendicular to the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4, with the plane as the opposite surface. The first moving device 5 moves forward along the first linear guide device 2, the second moving device 6 and the third moving device 7 are stationary relative to the plane or the moving speed is lower than the moving speed of the first moving device 5 along the first linear guide device 2, and the moving platform 11 moves downward in the plane and moves backward relative to the plane at the same time. The first moving device 5 moves backward along the first linear guide device 2 or moves at a speed lower than the speeds of the second moving device 6 and the third moving device 7 along the second linear guide device 3 and the third linear guide device 4, respectively. At this time, the moving platform 11 moves upward in the plane and moves forward relative to the plane. The above steps are performed synchronously or asynchronously, driving the platform 11 to move in the frame 1 .

[0034] According to the present invention, as the positions of the first motion device 5, the second motion device 6, and the third motion device 7 change, and the angles of the first motion chain 8, the second motion chain 9, and the third motion chain 10 change, the moving platform 11 rotates around the front end connecting rod 24 of the first motion chain 8, the second motion chain 9, and the third motion chain 10, so that the moving platform 11 can move up and down, left and right, and forward and backward.

[0035] The first kinematic chain 8, the second kinematic chain 9 and the third kinematic chain 10 are all connecting rod structures, which is beneficial to reducing the automation of the robot, improving the overall dynamic characteristics and reducing the manufacturing cost.

[0036] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which fall within the scope of protection of the present invention.

Claims

1. A parallel loading robot with a parallelogram kinematic chain, comprising a frame (1), a first linear guide device (2), a second linear guide device (3) and a third linear guide device (4) mounted on the frame (1), a first motion device (5), a second motion device (6), a third motion device (7), a first kinematic chain (8), a second kinematic chain (9), a third kinematic chain (10) and a moving platform (11), wherein the middle of the frame (1) is a loading space, and characterized in that: The first motion device (5), the second motion device (6) and the third motion device (7) are respectively mounted on the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4); The first motion device (5), the second motion device (6) and the third motion device (7) have built-in drive mechanisms capable of performing linear motion along the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4), respectively; the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4) are arranged in parallel on the frame (1); The first kinematic chain (8), the second kinematic chain (9) and the third kinematic chain (10) are parallelogram structures in a plane, the adjacent sides are hingedly connected, and the front end connecting rods of the respective ones are connected to the moving platform (11) through a rotary hinge a (15), a rotary hinge b (16) and a rotary hinge c (17) respectively installed on the moving platform (11); The rear end connecting rods of the first motion chain (8), the second motion chain (9) and the third motion chain (10) are connected to the first motion device (5), the second motion device (6) and the third motion device (7) via a rotary hinge d (12), a rotary hinge e (13) and a rotary hinge f (14) respectively mounted on the first motion device (5), the second motion device (6) and the third motion device (7).

2. A parallel loading robot with a parallelogram kinematic chain according to claim 1, characterized in that: The first kinematic chain (8), the second kinematic chain (9), and the third kinematic chain (10) are connected in parallel with the moving platform (11); the moving platform (11) is located in the frame space; and the position of the moving platform (11) in space is adjusted by adjusting the positions of the first kinematic device (5), the second kinematic device (6), and the third kinematic device (7) on the first linear guide device (2), the second linear guide device (3), and the third linear guide device (4).

3. A parallel loading robot with a parallelogram kinematic chain according to claim 1, characterized in that: The bottom surface of the moving platform (11) is maintained parallel to the upper side surface of the frame (1) by means of the parallelogram mechanism of the first kinematic chain (8), and the left and right side surfaces of the moving platform (11) are maintained parallel to the left and right side surfaces of the frame (1) by means of the parallelogram mechanism of the second kinematic chain (9) and the third kinematic chain (10).

4. A parallel loading robot with a parallelogram kinematic chain according to claim 1, characterized in that: The frame (1) has a gantry-shaped cross section, the first linear guide device (2) is mounted on the upper side of the frame (1), the second linear guide device (3) and the third linear guide device (4) are mounted on the left and right side surfaces of the frame (1), respectively, and the guide axes of the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4) are parallel to each other.

5. A parallel loading robot with a parallelogram kinematic chain according to claim 14, characterized in that: The first kinematic chain (8), the second kinematic chain (9) and the third kinematic chain (10) have the same structure, comprising: a rear end connecting rod (20), a front end connecting rod (24), a long connecting rod a (22), a long connecting rod b (26), a rotary hinge g (21), a rotary hinge h (23), a rotary hinge i (25) and a rotary hinge j (27); the rear end connecting rod (20) and the front end connecting rod (24) are parallel to each other, and the long connecting rod a (22) and the long connecting rod b (26) are parallel to each other; The upper end of the rear end connecting rod (20) is connected to the rear end of the long connecting rod a (22) via a rotating hinge g (21), the lower end of the rear end connecting rod (20) is connected to the rear end of the long connecting rod b (26) via a rotating hinge j (27), the upper end of the front end connecting rod (24) is connected to the front end of the long connecting rod a (22) via a rotating hinge h (23), and the lower end of the front end connecting rod (24) is connected to the front end of the long connecting rod b (26) via a rotating hinge i (25).

6. The parallel loading robot based on a parallelogram kinematic chain according to claim 1, characterized in that: The rear end connecting rods of the first kinematic chain (8), the second kinematic chain (9) and the third kinematic chain (10) are respectively arranged parallel to the center lines of the rotary hinge d (12), the rotary hinge e (13) and the rotary hinge f (14); the front end connecting rods of the first kinematic chain (8), the second kinematic chain (9) and the third kinematic chain (10) are respectively arranged parallel to the center lines of the rotary hinge a (15), the rotary hinge b (16) and the rotary hinge c (17); the center line of the rotary hinge d (12) is perpendicular to the center line of the rotary hinge d (12); The rear connecting rod (20), the long connecting rod a (22), the long connecting rod b (26) and the front connecting rod (24) form a parallelogram mechanism, and the rear connecting rod (20) and the front connecting rod (24) are always parallel to each other, and the long connecting rod a (22) and the long connecting rod b (26) are always parallel to each other.

7. A parallel loading robot with a parallelogram kinematic chain according to claim 1, characterized in that: The first motion device (5), the second motion device (6) and the third motion device (7) have the same structure, and include: a fixed seat (18), a servo motor (19), a rotary hinge (28), a guide block a (29), a guide block b (30), a guide block c (31), a guide block d (32), and a driving gear (33), wherein the servo motor (19) is mounted on the fixed seat (18), the driving gear (33) is fixedly connected to the output shaft of the servo motor (19), the rotary hinge (28) is mounted on the upper side of the fixed seat (18), the guide block a (29), the guide block b (30), the guide block c (31), and the guide block d (32) are mounted on the lower side of the fixed seat (18), the guide block a (29), the guide block b (30), the guide block c (31), the guide block d (32), and the driving gear (33) are connected to the linear guide device, and the servo motor (19) drives the fixed seat (18) to move linearly along the guide device.

8. The parallel loading robot with a parallelogram kinematic chain according to claim 1, characterized in that: The servo motors (19) of the first motion device (5), the second motion device (6) and the third motion device (7) are replaced with hydraulic or pneumatic drive structures.

9. A method for operating a parallel loading robot having a parallelogram kinematic chain according to claim 6, characterized in that: 1) The moving platform (11) moves linearly along the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4), and the first motion device (5), the second motion device (6) and the third motion device (7) are driven to move synchronously, thereby driving the first motion chain (8), the second motion chain (9), the third motion chain (10) and the moving platform (11) to achieve linear motion, that is, forward and backward motion in the length direction of the loading space in the frame (1); 2) The moving platform (11) moves left and right along a plane in the frame that is perpendicular to the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4), with the plane being the opposite surface. The first moving device (5) is stationary relative to the plane, the second moving device (6) moves forward along the second linear guide device (3), the third moving device (7) moves backward along the third linear guide device (4), or the movement speed of the third moving device (7) along the third linear guide device (4) is less than the movement speed of the second moving device (6) along the second linear guide device (3), at this time the moving platform (11) moves to the right side of the plane, the third moving device (7) moves forward along the third linear guide device (4), the second moving device (6) moves backward along the second linear guide device (2), or the movement speed of the second moving device (6) along the second linear guide device (2) is less than the movement speed of the third moving device (7) along the third linear guide device (4), at this time the moving platform (11) moves to the left side of the plane; 3) The moving platform moves up and down along a plane in the frame that is perpendicular to the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4), with the plane being the opposite surface. The first moving device (5) moves forward along the first linear guide device (2), the second moving device (6) and the third moving device (7) remain stationary relative to the plane or move at a speed lower than the speed of the first moving device (5) along the first linear guide device (2), and the moving platform moves downward within the plane and moves backward relative to the plane. The first moving device (5) moves backward along the first linear guide device (2) or moves at a speed lower than the speeds of the second moving device (6) and the third moving device (7) moving along the second linear guide device (3) and the third linear guide device (4) respectively, and the moving platform moves upward in the plane and moves forward relative to the plane at the same time; 4) The above steps 1), 2) and 3) are performed synchronously or asynchronously, driving the moving platform (11) to move within the frame (1).

10. The method for operating a parallel loading robot with a parallelogram kinematic chain according to claim 9, characterized in that: The first motion device (5), the second motion device (6), and the third motion device (7) respectively perform linear motion along the first linear guide device (2), the second linear guide device (3), and the third linear guide device (4); due to the position changes of the first motion device (5), the second motion device (6), and the third motion device (7), the first motion chain (8), the second motion chain (9), and the third motion chain (10) respectively perform radial swings around the rotary hinge d (12), the rotary hinge e (13), and the rotary hinge f (14); at the same time, the long link a (22) and the long link b (26) of the first motion chain (8), the second motion chain (9), and the third motion chain (10) respectively perform radial swings around the rotary hinge g (21) and the rotary hinge j (27); As the positions of the first motion device (5), the second motion device (6) and the third motion device (7) change, and as the angles of the first motion chain (8), the second motion chain (9) and the third motion chain (10) change, the moving platform (11) rotates around the front end connecting rod (24) of the first motion chain (8), the second motion chain (9) and the third motion chain (10), so that the moving platform (11) moves up and down, left and right, and forward and backward.

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