Parallel manipulator and wet tissue production apparatus and production line

Abstract

This invention provides a parallel robotic arm and a wet wipe production equipment and production line, belonging to the field of robotic arms. It includes a mobile platform, a universal joint assembly, a gripping assembly, and a mounting frame. A pin is provided on the inner wall of the drive sleeve at the bottom of the universal joint assembly, and a spiral groove is formed on the side wall of the telescopic rod to slide and adapt to the pin. By controlling the universal joint assembly to drive the drive sleeve to rotate, the rotational motion is efficiently converted into the axial reciprocating motion of the telescopic rod using the sliding trajectory of the pin in the spiral groove, thereby driving the gripper to open or close. This application achieves power conversion through a simple spiral pair structure, which not only effectively reduces the weight and volume of the gripping assembly and avoids interference with the movement of the parallel mechanism, but also significantly improves the opening and closing response speed and action efficiency of the gripper. This design is compact, has a fast transmission response, and is low in cost, making it particularly suitable for efficient and continuous gripping and feeding operations of soft packaging materials for wet wipes.

Description

Technical Field

[0001] This invention belongs to the field of robotic arms, and more specifically, relates to a parallel robotic arm. This invention also relates to a wet wipes production equipment and production line. Background Technology

[0002] Parallel robotic arms, especially those with high-speed gripping and spatial posture adjustment capabilities, are widely used in the automated packaging and logistics industries. In fields such as wet wipe production lines, parallel robotic arms are typically used for material picking, handling, and feeding operations. The power drive method of their gripping mechanism (i.e., the gripper) directly determines the overall cycle efficiency and operational stability.

[0003] Currently, the grippers of existing multi-axis parallel robotic arms are mainly driven by the following two methods: The first method uses pneumatic drive, which involves installing a telescopic cylinder at the end effector of the robot arm. The reciprocating extension and retraction of the cylinder's piston rod directly drives the gripper to open and close. While this structure is simple and intuitive, it has significant limitations when applied to parallel robots. Since the end effector of parallel robots typically requires minimal weight to ensure high-speed performance, the additional installation of the telescopic cylinder not only increases the end effector load and significantly reduces the robot arm's dynamic response speed, but also results in complex piping layouts and extremely inconvenient installation and maintenance. Furthermore, the size and shape of the cylinder often cause mechanical interference with the movement of the parallel robot arm, making it difficult to meet the requirements of high-speed, high-precision operation.

[0004] The second method uses a worm gear drive, where the worm rotates to drive a worm wheel, which connects to the grippers. The rotational motion is converted into the opening and closing motion of the grippers through a transmission mechanism. While this structure can achieve self-locking and a certain degree of precision positioning, it also has significant drawbacks: limited by the large transmission ratio of the worm gear, the opening and closing motion of the grippers is extremely slow, making it difficult to match the operating rhythm of a high-speed wet wipe packaging production line, resulting in low production efficiency. Furthermore, high-precision worm gear components are expensive; for operations like gripping soft packaging wet wipes, the redundant precision leads to unnecessary increases in equipment costs, resulting in poor economic efficiency.

[0005] Therefore, in response to the demand for high-speed, low-cost, and compact drive mechanisms in the wet wipes production industry, there is an urgent need to develop a new type of parallel robotic gripper drive mechanism. Summary of the Invention

[0006] The purpose of this invention is to provide a parallel manipulator to solve the problems of structural interference caused by pneumatic drive and low efficiency and high cost caused by worm gear transmission in the prior art.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a parallel robotic arm, comprising: Mobile platform; The universal joint assembly has a drive sleeve at its bottom for outputting rotational torque, and the drive sleeve is axially locked to the mobile platform and rotatably adapted to it. The clamping assembly includes a gripper and a telescopic rod for controlling the opening or closing of the gripper. The gripper is closable and is located on the moving platform. The telescopic rod is telescopically located on the moving platform along its own axis. The telescopic rod is coaxially located inside the drive sleeve. The side wall of the telescopic rod has a helical groove that is slidably adapted to the pin. When the universal joint drives the drive sleeve to rotate, the pin slides in the spiral groove, converting the rotation of the drive sleeve into the axial reciprocating movement of the telescopic rod, thereby driving the gripper to perform opening or closing actions.

[0008] Furthermore, it also includes: The mounting frame includes a frame body and a power output motor and a swing arm control motor disposed on the frame body; The universal joint assembly also includes a top connecting rod and a middle telescopic rod. The top end of the top connecting rod is coaxially connected to the power output end of the power output motor. The top connecting rod, the middle telescopic rod, and the drive sleeve are arranged sequentially in the vertical direction and all transmit power through a universal joint. A swing arm mechanism is provided, which is driven by a swing arm control motor. The top of the swing arm mechanism is connected to the swing arm control motor, and the bottom of the swing arm mechanism is connected to the moving platform.

[0009] In one possible implementation, the swing arm mechanism includes an active arm and a driven arm. The active arm is connected to the output end of the swing arm control motor. The active arm and the driven arm are connected via a first hinge axis. The driven arm is connected to the moving platform via a second hinge axis, and the first hinge axis and the second hinge axis are parallel.

[0010] In one possible implementation, the number of spiral grooves is two or more, and they are evenly arranged along the circumference of the telescopic rod; the number of pins is two or more, and they correspond one-to-one with the spiral grooves.

[0011] In one possible implementation, a positioning camera is provided on the bottom surface of the mounting bracket.

[0012] In one possible implementation, a radial thrust bearing is fitted around the outer periphery of the drive sleeve, and the radial thrust bearing is fixedly installed on the moving platform for axial positioning and support of the drive sleeve.

[0013] In one possible implementation, there are three or more swing arm mechanisms and swing arm control motors in a one-to-one correspondence, and each swing arm mechanism and each swing arm control motor is evenly arranged around the axis of the power output motor.

[0014] In one possible implementation, the clamping assembly further includes a linkage mechanism, through which the gripper is connected to the telescopic rod, and the axial displacement of the telescopic rod is converted into the opening and closing stroke of the gripper through the linkage mechanism.

[0015] Compared with existing technologies, the advantages of the parallel robotic arm provided by this invention are as follows: Firstly, this application drives the drive sleeve to rotate via a universal joint assembly. Utilizing the sliding fit between a pin on the inner wall of the drive sleeve and a helical groove on the side wall of the telescopic rod, the rotational torque of the drive sleeve is converted into the axial reciprocating motion of the telescopic rod, thereby driving the gripper to perform opening or closing actions. This structural design simplifies the power path of the gripping assembly, eliminating the need for an additional telescopic cylinder. Furthermore, the engagement mechanism between the helical groove and the pin exhibits excellent motion response speed and transmission efficiency, providing a compact and effective technical solution for gripping actions. This addresses the problems of existing telescopic cylinders being inconvenient to load and unload on parallel robotic arms, interfering with the actions of the parallel robotic arm, and having an overly redundant overall structure; as well as the slow movement of the gripper due to worm gear drives, which negatively impacts the gripper's operating efficiency; and the high precision and high cost of worm gears, which are unsuitable for gripping wet tissue packaging.

[0016] Secondly, this invention integrates the mounting frame, power output motor, and swing arm control motor into a system, and transmits power through a universal joint assembly including a top connecting rod, a middle telescopic rod, and a drive sleeve. This configuration enables independent power control of the gripper's opening and closing actions and the moving platform's posture adjustment. This design not only improves the system integration of the parallel robot but also allows the power output to act more directly on the drive sleeve, enhancing the smoothness of the transmission process and the flexibility of control. It prevents the problem of power coupling between the gripping action and the moving platform's posture adjustment, which can lead to control coordination difficulties when the parallel robot performs complex spatial operations.

[0017] In addition, a positioning camera is added to the bottom of the mounting frame, which can acquire precise material position information in real time, assisting the power output motor and the swing arm control motor in dynamic alignment. By integrating the vision function into the main body, the accuracy of the robot arm in recognizing and grasping materials is effectively improved. This solves the problem of mechanical alignment deviation and decreased grasping success rate caused by the random distribution of material positions during high-speed automated grasping.

[0018] Another object of the present invention is to provide a wet wipe production equipment, including the parallel robot arm mentioned above, which is mounted above the material conveying line for picking up wet wipe soft packaging materials from the line.

[0019] This application presents a wet wipes production line by integrating a parallel robotic arm with a material conveying system. This equipment utilizes the high responsiveness (compared to worm gear grippers) and high precision (compared to telescopic grippers) of the parallel robotic arm to automate the gripping and transfer of soft-packaged materials. While ensuring gripping accuracy, it improves the continuity and automation level of material supply, thus addressing the technical problem of inconvenient overall equipment operation in existing wet wipes production lines.

[0020] On the other hand, the present invention also proposes a wet wipe production line, which includes the wet wipe production equipment described above. The equipment is distributed in multiple processing stations to realize the automatic gripping, handling and feeding of wet wipe soft packaging between the stations.

[0021] Compared to existing technologies, the wet wipe production line of this invention possesses all the advantages of the aforementioned parallel robotic arms and wet wipe production equipment, which will not be elaborated upon here. Furthermore, this application distributes the wet wipe production equipment across multiple processing stations, forming a complete wet wipe production line. Through automated gripping, handling, and feeding operations between various devices, connection barriers between stations are eliminated, maintaining full-process coordination and synchronization, and significantly improving the overall operating efficiency of the production line. This solves the problem of limited overall production capacity caused by low material connection efficiency and logistical stagnation between stations during multi-station processing. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 A schematic diagram of the overall structure of the parallel manipulator provided by the present invention; Figure 2 A schematic diagram of the overall structure of the parallel manipulator provided by the present invention from another perspective; Figure 3 for Figure 1 An enlarged view of the area shown at point A in the middle; Figure 4 This is a schematic diagram showing the positional relationship between the clamping component and the mobile platform provided by the present invention.

[0023] In the picture: 1. Mobile platform; 2. Universal joint assembly; 21. Drive sleeve; 211. Pin; 212. Radial thrust bearing; 22. Top connecting rod; 23. Middle telescopic rod; 3. Clamping assembly; 31. Gripper; 32. Telescopic rod; 320. Spiral groove; 33. Linkage mechanism; 4. Mounting frame; 41. Frame body; 42. Power output motor; 43. Swing arm control motor; 44. Positioning camera; 5. Swing arm mechanism; 51. Driving arm; 52. Driven arm. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0025] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "back" appear, indicating orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0026] Furthermore, in the description of this invention, unless otherwise explicitly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention in light of the specific circumstances.

[0027] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0028] The grippers 31 of existing multi-axis parallel manipulators are mainly driven in two ways. One is by using a cylinder to drive the telescopic rod 32, which in turn drives the grippers 31 to pick up materials. The other is by using a transmission method of meshing worm and worm wheel, where the rotation of the worm drives the rotation of the worm wheel, which is fixedly connected to the grippers 31, thus converting the rotation of the worm itself into the power for each gripper 31 to pick up materials.

[0029] The two structures described above have some problems. In the former, when applied to parallel manipulators, the telescopic cylinder is inconvenient to install and remove, interfering with the manipulator's movements and negatively impacting its range of motion. Furthermore, it makes the overall structure of the manipulator overly complex. The latter, due to its worm gear drive, results in a slow stroke for the gripper 31, negatively affecting its operating efficiency. Moreover, since this application primarily uses the parallel manipulator for gripping soft packaging of wet wipes, the precision requirements for the gripper 31 are relatively low, while the efficiency requirements are high; therefore, a high-precision and expensive gripper like the worm gear is not suitable.

[0030] Please refer to the following for the above questions. Figures 1 to 4 The parallel manipulator provided by the present invention will now be described. The parallel manipulator includes a mobile platform 1, a universal joint assembly 2, and a clamping assembly 3. The universal joint assembly 2 has a drive sleeve 21 at its bottom for outputting rotational torque, and the drive sleeve 21 is axially locked to the mobile platform 1 and rotatably adapted to it. The clamping assembly 3 includes grippers 31 and a telescopic rod 32 for controlling the opening or closing of the grippers 31. The grippers 31 are closable and mounted on the mobile platform 1. The telescopic rod 32 is axially extendable and retractable on the mobile platform 1, and is coaxially mounted within the drive sleeve 21. The side wall of the telescopic rod 32 has a helical groove 320 that slides and adapts to a pin 211. When the universal joint assembly 2 drives the drive sleeve 21 to rotate, the pin 211 slides within the helical groove 320, converting the rotation of the drive sleeve 21 into axial reciprocating movement of the telescopic rod 32, thereby driving the grippers 31 to perform opening or closing actions.

[0031] In the specific implementation process of the above embodiment, the universal connection component 2 drives the drive sleeve 21 to rotate, and the pin 211 set on the inner side wall of the drive sleeve 21 slides and adapts to the spiral groove 320 on the side wall of the telescopic rod 32, so as to convert the rotational torque of the drive sleeve 21 into the axial reciprocating displacement of the telescopic rod 32, thereby driving the gripper 31 to perform opening or closing actions.

[0032] In this way, the above-mentioned design optimization of the transmission structure simplifies the power path of the clamping component 3, eliminating the need for additional telescopic cylinders. Furthermore, the cooperation mechanism between the spiral groove 320 and the pin 211 performs well in terms of motion response speed and transmission efficiency, providing a compact and effective technical solution for the realization of clamping actions. This solves the problems of inconvenience in loading and unloading telescopic cylinders on parallel manipulators, interference with the actions of parallel manipulators during loading and unloading, and excessive redundancy in the overall structure; as well as the slow movement of the gripper 31 caused by the worm gear drive method, which adversely affects the working efficiency of the gripper 31; and the technical problem that the high precision and high cost of worm gears are not suitable for gripping wet tissue packaging.

[0033] To address the technical problem of power coupling and control coordination difficulties in the clamping action and posture adjustment of the mobile platform 1 when parallel manipulators perform complex spatial operations, this application proposes a feasible implementation method. Specifically, the parallel manipulator in this invention also includes a mounting frame 4 and a swing arm mechanism 5. The mounting frame 4 includes a frame body 41 and a power output motor 42 and a swing arm control motor 43 disposed on the frame body 41. The universal joint assembly 2 also includes a top connecting rod 22 and a middle telescopic rod 23. The top end of the top connecting rod 22 is coaxially connected to the power output end of the power output motor 42. The top connecting rod 22, the middle telescopic rod 23, and the drive sleeve 21 are arranged sequentially in the vertical direction and all transmit power through universal joints. The swing arm mechanism 5 is driven by the swing arm control motor 43. The top of the swing arm mechanism 5 is connected to the swing arm control motor 43, and the bottom of the swing arm mechanism 5 is connected to the mobile platform 1.

[0034] In the specific implementation of the above embodiment, the mounting frame 4, the power output motor 42, and the swing arm control motor 43 are integrated into a system. Power is transmitted through the universal joint assembly 2, which includes the top connecting rod 22, the middle telescopic rod 23, and the drive sleeve 21, thus achieving power decoupling between the opening and closing of the gripper 31 and the pose of the moving platform 1. This configuration not only improves the system integration but also makes the power transmission more stable and enhances the control flexibility of the manipulator's actuator. In this way, this application can solve the problem of difficulty in control coordination caused by power coupling between the gripping action and the pose adjustment of the moving platform 1 when existing parallel manipulators perform complex spatial operations.

[0035] In one embodiment, the swing arm mechanism 5 includes an active arm 51 and a driven arm 52. The active arm 51 is connected to the output end of the swing arm control motor 43. The active arm 51 and the driven arm 52 are connected through a first hinge shaft. The driven arm 52 is connected to the moving platform 1 through a second hinge shaft, and the first hinge shaft and the second hinge shaft are parallel.

[0036] Compared with the prior art, in the above embodiment, the active arm 51 and the driven arm 52 of the swing arm mechanism 5 are connected by a first hinge axis, and the driven arm 52 is connected to the moving platform 1 by a second hinge axis, with the two axes parallel. This constraint structure can effectively maintain the posture stability of the moving platform 1 during parallel chain drive, reducing the impact of mechanical vibration on the working accuracy. In this way, this application can solve the problem that the posture of the moving platform 1 is difficult to maintain during high-speed movement of the parallel robot due to the complex force at the hinge point of the swing arm mechanism 5.

[0037] Preferred, such as Figure 1 As shown, the driven arm 52 is a rectangular frame structure to ensure that the driven arm 52 has sufficient structural strength.

[0038] In one embodiment, there are two or more spiral grooves 320, evenly arranged along the circumference of the telescopic rod 32, and two or more pins 211, each corresponding to a spiral groove 320. This arrangement, through a multi-point transmission design, achieves balanced force distribution during power transmission, reducing the risk of uneven load on the telescopic rod 32 during reciprocating motion, thereby improving the smoothness of the transmission mechanism's operation. Furthermore, it prevents the problem of uneven load and stress concentration in reciprocating motion caused by a single transmission path, which leads to accelerated wear of the transmission mechanism.

[0039] In one embodiment, a positioning camera 44 is provided on the bottom surface of the mounting frame 4. This camera acquires the precise position information of the material in real time, assisting the power output motor 42 and the swing arm control motor 43 in dynamic alignment, thereby improving the robot arm's accuracy in identifying and grasping materials. This addresses the problem of mechanical alignment deviation and decreased grasping success rate caused by the random distribution of material positions during high-speed automated grasping.

[0040] In one embodiment, a radial thrust bearing 212 is fitted around the outer periphery of the drive sleeve 21. The radial thrust bearing 212 is fixedly installed on the moving platform 1 and is used for axial positioning and support of the drive sleeve 21. This axial positioning and support effectively alleviates the load pressure during rotational motion and reduces frictional interference between moving parts. This ensures that the drive sleeve 21 and the telescopic rod 32 maintain a stable operating state during reciprocating motion. Furthermore, it solves the problem that the drive sleeve 21 is susceptible to decreased rotational accuracy due to alternating radial and axial loads during high-speed rotational operations of the robotic arm.

[0041] In addition to the feasible embodiments described above, in a more specific embodiment, for the swing arm mechanism 5 and the control motor 43, there are three or more swing arm mechanisms 5 and control motors 43 in a one-to-one correspondence, and each swing arm mechanism 5 and each swing arm control motor 43 is evenly arranged around the axis of the power output motor 42. This multi-branch symmetrical structure enhances the overall rigidity and load-bearing capacity of the mechanism, enabling it to have a wider operating range when performing spatial pose changes, and effectively ensuring motion coordination through the coordinated cooperation of multiple motors. This solves the problem of reduced operating capacity of parallel manipulators when performing large-stroke or complex spatial movements due to insufficient branch rigidity or limited coverage.

[0042] In one embodiment, the clamping assembly 3 further includes a linkage mechanism 33, through which the gripper 31 is connected to the telescopic rod 32. The axial displacement of the telescopic rod 32 is converted into the opening and closing stroke of the gripper 31 through the linkage mechanism 33. As configured above, this embodiment, through the trajectory transmission characteristics of the linkage mechanism 33, can convert the extension and retraction of the telescopic rod 32 into the opening and closing of the gripper 31.

[0043] In addition to the above-described feasible implementations, based on the same inventive concept, another objective of this invention is to provide a wet wipe production equipment, including the parallel robotic arm mentioned above, which is mounted above the material conveying line and is used to pick up soft packaging materials for wet wipes from the production line.

[0044] This application presents a wet wipes production line by integrating a parallel robotic arm with a material conveying system. This equipment utilizes the high responsiveness (compared to worm gear grippers) and high precision (compared to telescopic grippers) of the parallel robotic arm to automate the gripping and transfer of soft-packaged materials. While ensuring gripping accuracy, it improves the continuity and automation level of material supply, thus addressing the technical problem of inconvenient overall equipment operation in existing wet wipes production lines.

[0045] Based on the same inventive concept, this invention also proposes a wet wipe production line, which includes the wet wipe production equipment described above. The equipment is distributed in multiple processing stations to realize the automatic gripping, handling and feeding of wet wipe soft packaging between the stations.

[0046] Compared to existing technologies, the wet wipe production line of this invention possesses all the advantages of the aforementioned parallel robotic arms and wet wipe production equipment, which will not be elaborated upon here. Furthermore, this application distributes the wet wipe production equipment across multiple processing stations, forming a complete wet wipe production line. Through automated gripping, handling, and feeding operations between various devices, connection barriers between stations are eliminated, maintaining full-process coordination and synchronization, and significantly improving the overall operating efficiency of the production line. This solves the problem of limited overall production capacity caused by low material connection efficiency and logistical stagnation between stations during multi-station processing.

[0047] In summary, this application provides a parallel manipulator that utilizes a universal joint assembly 2 to drive the drive sleeve 21 to rotate. Through the sliding engagement of the inner wall pin 211 with the outer spiral groove 320 of the telescopic rod 32, torque is directly converted into axial reciprocating displacement of the telescopic rod 32, thereby driving the gripper 31 to open or close. This design simplifies the power path of the gripping assembly 3, eliminates pneumatic accessories, and utilizes the characteristics of the helical pair to achieve high-response gripper 31 drive, solving the problems of bulky structure, large space occupation, and slow transmission response caused by pneumatic actuators in the prior art.

[0048] In terms of overall structure, this application achieves power decoupling between the action of the gripper 31 and the posture adjustment of the moving platform 1 by integrating the power output motor 42, the swing arm control motor 43, and the universal joint assembly 2. Utilizing the parallel configuration of the active arm 51 and the driven arm 52 connected by parallel hinge axes, along with multi-motor coordinated drive and uniform symmetrical arrangement, a high-rigidity spatial motion control system is constructed. This solves problems such as control difficulties caused by power coupling in complex operations, posture instability caused by complex forces at the hinge points during high-speed motion, and accuracy reduction caused by insufficient branch stiffness in long-stroke operations.

[0049] In terms of transmission optimization and adaptability, multiple circumferentially evenly distributed spiral grooves 320 are set to balance the load, radial thrust bearings 212 are configured to reduce friction, and a linkage mechanism 33 is introduced to flexibly adjust the transmission ratio. Combined with the visual guidance of the bottom positioning camera 44, the robot arm has the ability to efficiently adapt to materials of different shapes and achieve dynamic real-time alignment. In this way, the technical bottlenecks of easy off-center loading and difficulty in compatibility with diverse materials due to a single transmission path, as well as large alignment deviations and low success rates caused by a lack of precise perception during high-speed grasping, are solved.

[0050] Finally, the robotic arm was integrated with the material conveyor line and deployed at multiple processing stations to create a fully automated wet wipes production line. This enabled efficient material handling, transport, and feeding between stations, eliminating logistical bottlenecks and maintaining a high degree of coordination in the production process. This resulted in a significant improvement in production efficiency and automation levels.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A parallel robotic arm, characterized in that, include: Mobile platform (1); Universal connector assembly (2), the bottom of the universal connector assembly (2) is provided with a drive sleeve (21) for outputting rotational torque, and the drive sleeve (21) is axially locked and rotatably adapted to the mobile platform (1), and the inner side wall of the drive sleeve (21) is provided with a pin (211). The clamping assembly (3) includes a gripper (31) and a telescopic rod (32) for controlling the opening or closing of the gripper (31). The gripper (31) is closable and is located on the moving platform (1). The telescopic rod (32) is telescopically located on the moving platform (1) along its own axis. The telescopic rod (32) is coaxially located inside the drive sleeve (21). The side wall of the telescopic rod (32) is provided with a spiral groove (320) that is slidably adapted to the pin (211). When the universal connection assembly (2) drives the drive sleeve (21) to rotate, the pin (211) slides in the spiral groove (320), converting the rotation of the drive sleeve (21) into the axial reciprocating movement of the telescopic rod (32), thereby driving the gripper (31) to perform opening or closing actions.

2. The parallel robotic arm according to claim 1, characterized in that, Also includes: Mounting frame (4), the mounting frame (4) includes a frame body (41) and a power output motor (42) and a swing arm control motor (43) disposed on the frame body (41). The universal joint assembly (2) includes a top connecting rod (22) and a middle telescopic rod (23). The top end of the top connecting rod (22) is coaxially connected to the power output end of the power output motor (42). The top connecting rod (22), the middle telescopic rod (23) and the drive sleeve (21) are arranged sequentially in the vertical direction and all transmit power through a universal joint. The swing arm mechanism (5) is driven by the swing arm control motor (43). The top of the swing arm mechanism (5) is connected to the swing arm control motor (43), and the bottom of the swing arm mechanism (5) is connected to the mobile platform (1).

3. The parallel robotic arm according to claim 2, characterized in that, The swing arm mechanism (5) includes an active arm (51) and a driven arm (52). The active arm (51) is connected to the output end of the swing arm control motor (43). The active arm (51) and the driven arm (52) are connected through a first hinge shaft. The driven arm (52) is connected to the moving platform (1) through a second hinge shaft. The first hinge shaft and the second hinge shaft are parallel.

4. The parallel robotic arm according to claim 1, characterized in that, The number of spiral grooves (320) is two or more, and they are evenly arranged along the circumference of the telescopic rod (32). The number of pins (211) is two or more, and they correspond one-to-one with the spiral grooves (320).

5. The parallel robotic arm according to claim 2, characterized in that, The mounting bracket (4) is equipped with a positioning camera (44) on its bottom surface.

6. The parallel robotic arm according to claim 1, characterized in that, The outer periphery of the drive sleeve (21) is fitted with a radial thrust bearing (212), which is fixedly installed on the moving platform (1) for axial positioning and support of the drive sleeve (21).

7. The parallel robotic arm according to claim 2, characterized in that, The swing arm mechanism (5) and the swing arm control motor (43) are three or more in one-to-one correspondence, and each of the swing arm mechanisms (5) and each of the swing arm control motors (43) are evenly arranged around the axis of the power output motor (42).

8. The parallel robotic arm according to claim 1, characterized in that, The clamping assembly (3) further includes a linkage mechanism (33), the gripper (31) is connected to the telescopic rod (32) through the linkage mechanism (33), and the axial displacement of the telescopic rod (32) is converted into the opening and closing stroke of the gripper (31) through the linkage mechanism (33).

9. A wet wipe production equipment, characterized in that, include: The parallel robot arm as described in any one of claims 1 to 8 is mounted above the material conveying line and is used to pick up soft packaging materials for wet wipes from the conveying line.

10. A wet wipes production line, characterized in that, include: The wet wipe production equipment as described in claim 9 is distributed across multiple processing stations to enable automatic gripping, handling, and feeding of wet wipe soft packaging between the stations.

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