Coal gangue sorting parallel flexible three-degree-of-freedom robot

• Main Authors: LI CHENHUI, ZHU ZHENGJUN, SHI JILU, ZHANG JIANBAO, LI ZHANXIAN, MIAO SHUJI, YU JIANGTAO, WANG HONGTAO, HUANG BAOWANG
• Format: Patent
• Language: Chinese; English
• Published: 30.06.2020
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; POSTAL SORTING; SEPARATING SOLIDS FROM SOLIDS; SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTEDPIECE-MEAL, e.g. BY PICKING; TRANSPORTING

A coal gangue sorting parallel flexible three-degree-of-freedom robot is composed of a moving mechanism, a parallel mechanical arm and a paw mechanism, the moving mechanism is driven by a lead screw nut pair and supported by double guide rods, the parallel mechanical arm is mainly composed of a left driving arm, a left driven arm, a right driving arm, a right driven arm and a movable platform, andthe left side and the right side of the parallel mechanical arm are symmetrically distributed. The gripper mechanism is fixedly installed at the lower end of the movable platform, in order to ensurethat the movable platform is kept horizontal, a cog belt transmission and auxiliary rod parallelogram mechanism is adopted, and the cog belt transmission mechanism adopts the mode that a belt wheel atone end is fixed and a belt wheel at the other end swings along with a driving arm. In order to reduce impact generated in the sorting process, a spring plate is adopted in the auxiliary rod mechanism to absorb vibration gener