CN104209946A - Parallel-connection movement surface-mount robot mechanism - Google Patents
Parallel-connection movement surface-mount robot mechanism Download PDFInfo
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- CN104209946A CN104209946A CN201310214643.1A CN201310214643A CN104209946A CN 104209946 A CN104209946 A CN 104209946A CN 201310214643 A CN201310214643 A CN 201310214643A CN 104209946 A CN104209946 A CN 104209946A
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Abstract
一种并联运动贴装机器人机构，包括机架(0)、导轨一(3)、导轨二(1)、滑块一(4)、滑块二(2)、连杆一(5)、连杆二(6)、连杆三(7)、连杆四(8)、汽缸体(9)、活塞杆(10)及吸嘴(11)，滑块二(2)与导轨二(1)组成移动副一(P9)后，又与连杆二(6)、连杆四(8)、连杆三(7)依次用转动副一(R2)、转动副二(R5)、转动副三(R6)、转动副四(R1)，组成一个平行四边形；同时，滑块一(4)与导轨一(3)组成移动副二(P10)后，又与连杆一(5)的一端以转动副五(R3)连接，而连杆一(5)的另一端以转动副六(R4)连接连杆二(6)，且转动副一～转动副六的轴线相平行；同时，在连杆四(8)上垂直固定一由汽缸体(9)和活塞杆(10)构成的气缸，吸嘴(11)与活塞杆(10)用一轴线平行于活塞杆(10)的转动副七(R7)连接。该贴装机器人机构的优点是：作业范围大、刚度好、贴装效率高，且结构简单、制造方便、控制解耦。
A parallel motion placement robot mechanism, comprising a frame (0), one guide rail (3), two guide rails (1), one slider (4), two sliders (2), one connecting rod (5), Rod two (6), connecting rod three (7), connecting rod four (8), cylinder block (9), piston rod (10) and suction nozzle (11), slider two (2) and guide rail two (1) After the moving pair one (P 9 ) is formed, the second connecting rod (6), the fourth connecting rod (8) and the third connecting rod (7) are sequentially used with the first rotating pair (R 2 ), the second rotating pair (R 5 ), Rotating pair 3 (R 6 ) and rotating pair 4 (R 1 ) form a parallelogram; at the same time, slider 1 (4) and guide rail 1 (3) form moving pair 2 (P 10 ), and connecting rod 1 One end of (5) is connected with rotating pair 5 (R 3 ), and the other end of connecting rod 1 (5) is connected with connecting rod 2 (6) with rotating pair 6 (R 4 ), and The axes are parallel; at the same time, a cylinder made of cylinder body (9) and piston rod (10) is vertically fixed on the connecting rod four (8), and the suction nozzle (11) and the piston rod (10) are parallel to the piston with an axis. The revolving pair seven (R 7 ) of the rod (10) is connected. The placement robot mechanism has the advantages of large operating range, good rigidity, high placement efficiency, simple structure, convenient manufacture, and decoupled control.
Description
技术领域technical field
本发明涉及一种电子产品贴装作业的机器人机构，具体地说是为表面贴装(SMT)提供一种新型高效的贴装机器人，满足LED、电容、电阻等电子器件的贴装、插装等精密作业。The invention relates to a robot mechanism for electronic product mounting operations, in particular to provide a new type of high-efficiency mounting robot for surface mount (SMT) to meet the mounting and insertion of electronic devices such as LEDs, capacitors, and resistors. And other precision work.
背景技术Background technique
目前用于电容、电阻等电子器件的贴装、插装以及LED器件的封装机器人，多为国际知名公司所垄断，如瑞典ABB、德国KUKA和日本FUNUC等，但价格昂贵；国内一些大学和研究机构在直角坐标机器人用于贴装方面也取得一定进展，如实现混联机器人末端执行器绕其驱动轴轴线的整周转动专利申请文献【CN200610015113.4】、【CN200610015114.9)】，但工作空间有限。本发明提出一种以并行导轨二滑块驱动在一侧的二自由度并联机构作为贴装机器人的主机构，在其输出杆又串接一个上下平移和一个绕垂直轴转动的串联结构为基础的四自由度机器人机构，用于电容、电阻及LED等电子器件的贴装等作业。At present, most of the packaging robots used for mounting and inserting electronic devices such as capacitors and resistors, and LED devices are monopolized by well-known international companies, such as ABB in Sweden, KUKA in Germany and FUNUC in Japan, etc., but the price is expensive; some domestic universities and research institutes The mechanism has also made some progress in the use of Cartesian coordinate robots for placement, such as realizing the complete rotation of the end effector of the hybrid robot around the axis of its drive shaft. Space is limited. The present invention proposes a two-degree-of-freedom parallel mechanism driven by two sliders on one side of the parallel guide rail as the main mechanism of the placement robot. The output rod is connected in series with a series structure that translates up and down and rotates around a vertical axis. The unique four-degree-of-freedom robot mechanism is used for placement and other operations of electronic devices such as capacitors, resistors, and LEDs.
发明内容Contents of the invention
本发明的目的是要发明一种新型的一种并联运动贴装机器人机构，以克服上述缺点。其主要内容是：一种并联运动贴装机器人机构，包括机架(0)、导轨一(3)、导轨二(1)、滑块一(4)、滑块二(2)、连杆一(5)、连杆二(6)、连杆三(7)、连杆四(8)、汽缸体(9)、活塞杆(10)及吸嘴(11)，其特征在于滑块二(2)与导轨二(1)组成移动副一(P9)后，又与连杆二(6)、连杆四(8)、连杆三(7)依次用转动副一(R2)、转动副二(R5)、转动副三(R6)、转动副四(R1)，组成一个平行四边形(R2R5R6R1)，同时，滑块一(4)与导轨一(3)组成移动副二(P10)后，又与连杆一(5)的一端以转动副五(R3)连接，而连杆一(5)的另一端以转动副六(R4)连接连杆二(6)，且转动副一～转动副六的轴线相平行；同时，在连杆四(8)上垂直固定一由汽缸体(9)和活塞杆(10)构成的气缸，吸嘴(11)与活塞杆(10)用一轴线平行于活塞杆(10)的转动副七(R7)连接；其中，导轨一(3)、导轨二(1)在一条直线上或在同一平面内的两条平行直线上。The purpose of the present invention is to invent a novel a kind of parallel kinematic mounting robot mechanism, to overcome the above-mentioned shortcoming. Its main content is: a parallel motion placement robot mechanism, including a frame (0), guide rail one (3), guide rail two (1), slider one (4), slider two (2), connecting rod one (5), connecting rod two (6), connecting rod three (7), connecting rod four (8), cylinder block (9), piston rod (10) and suction nozzle (11), it is characterized in that slide block two ( 2) After forming the first moving pair (P 9 ) with the guide rail two (1), it is then used with the second connecting rod (6), the fourth connecting rod (8) and the third connecting rod (7) in sequence with the first rotating pair (R 2 ), The second rotating pair (R 5 ), the third rotating pair (R 6 ), and the fourth rotating pair (R 1 ) form a parallelogram (R 2 R 5 R 6 R 1 ). At the same time, the first slider (4) and the first guide rail (3) After the second moving pair (P 10 ) is formed, it is connected with one end of the connecting rod one (5) by the rotating pair five (R 3 ), and the other end of the connecting rod one (5) is connected by the rotating pair six (R 4 ) to connect connecting rod 2 (6), and the axes of rotating pair 1 to rotating pair 6 are parallel; at the same time, vertically fix a cylinder composed of cylinder block (9) and piston rod (10) on connecting rod 4 (8) , the suction nozzle (11) is connected with the piston rod (10) with a rotating pair seven (R 7 ) whose axis is parallel to the piston rod (10); wherein, the first guide rail (3) and the second guide rail (1) are on a straight line or on two parallel lines in the same plane.
这种并联运动贴装机器人机构具有作业范围大、定位准确、刚度好、分拣插装效率高，同时，结构简单、制造方便、控制解耦。The parallel motion placement robot mechanism has the advantages of large operating range, accurate positioning, good rigidity, high sorting and inserting efficiency, and at the same time, simple structure, convenient manufacture, and decoupled control.
附图说明Description of drawings
附图1为本发明实施例的机构主体的简图。Accompanying drawing 1 is the schematic diagram of the mechanism main body of the embodiment of the present invention.
附图2为本发明实施例的机构主体的附加部件简图。Accompanying drawing 2 is the schematic diagram of the additional parts of the mechanism main body of the embodiment of the present invention.
具体实施方式Detailed ways
图1为本发明的一个实施例的机构简图。其实施方案是：一种并联运动贴装机器人机构，包括机架0、导轨一3、导轨二1、滑块一4、滑块二2、连杆一5、连杆二6、连杆三7、连杆四8、汽缸体9、活塞杆10及吸嘴11，滑块二2与导轨二1组成移动副一P9后，又与连杆二6、连杆四8、连杆三7依次用转动副一R2、转动副二R5、转动副三R6、转动副四R1，组成一个平行四边形R2R5R6R1，同时，滑块一4与导轨一3组成移动副二P10后，又与连杆一5的一端以转动副五R3连接，而连杆一5的另一端以转动副六R4连接连杆二6，且转动副一～转动副六的轴线相平行。同时，在连杆四8上垂直固定一由汽缸体9和活塞杆10构成的气缸(见图2)，吸嘴11与活塞杆10用一轴线平行于活塞杆10的转动副七R7连接。其中，导轨一3、导轨二1在一条直线上，也可以在同一平面内的两条平行直线上。Figure 1 is a schematic diagram of the mechanism of an embodiment of the present invention. Its embodiment is: a parallel motion placement robot mechanism, including frame 0, guide rail 1 3, guide rail 2 1, slider 1 4, slider 2 2, connecting rod 1 5, connecting rod 2 6, connecting rod 3 7. Connecting rod 4 8, cylinder block 9, piston rod 10 and suction nozzle 11, slide block 2 and guide rail 2 1 form moving pair 1 P 9 , and connect rod 2 6, connecting rod 4 8, connecting rod 3 7 Use the first rotating pair R 2 , the second rotating pair R 5 , the third rotating pair R 6 , and the fourth rotating pair R 1 to form a parallelogram R 2 R 5 R 6 R 1 , at the same time, the sliding block 4 and the guide rail 3 After the moving pair 2 P 10 is formed, it is connected with one end of the connecting rod 1 5 with the rotating pair 5 R 3 , and the other end of the connecting rod 1 5 is connected with the connecting rod 2 6 with the rotating pair 6 R 4 , and the rotating pair 1 ~ rotates The axes of vice six are parallel. Simultaneously, on connecting rod 4 8, vertically fix a cylinder (see figure 2) that is made of cylinder block 9 and piston rod 10, suction nozzle 11 and piston rod 10 are connected with a rotating pair 7 R 7 whose axis is parallel to piston rod 10 . Wherein, the first guide rail 3 and the second guide rail 1 are on a straight line, or on two parallel straight lines in the same plane.
其工作原理是：当滑块二2和滑块一4分别以不同的速度运动时，使吸嘴11移动到需要的位置，在真空系统作用下，活塞杆10上下直线运动，其上的吸嘴11将元器件抓取或释放，当吸取的元件与贴放位置有误差时，由转动副R7来补偿角度误差，因此，需要4个驱动电机。Its working principle is: when slider 2 and slider 1 move at different speeds, the suction nozzle 11 is moved to the required position, and under the action of the vacuum system, the piston rod 10 moves linearly up and down, and the suction nozzle 11 on it moves linearly up and down. The nozzle 11 grabs or releases the components. When there is an error between the picked component and the placement position, the angle error is compensated by the rotating pair R 7. Therefore, four drive motors are required.
这种并联运动贴装机器人机构，还可用于涂胶、雕刻等其他作业，具有作业范围大、定位准确、刚度好、作业效率高等优点；同时，结构简单、制造方便、控制部分解耦。This parallel motion placement robot mechanism can also be used for other operations such as gluing and engraving, and has the advantages of large operating range, accurate positioning, good rigidity, and high operating efficiency; at the same time, it has a simple structure, convenient manufacturing, and decoupled control parts.
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| CN201310214643.1A CN104209946A (en) | 2013-06-03 | 2013-06-03 | Parallel-connection movement surface-mount robot mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743713A (en) * | 2016-12-27 | 2017-05-31 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
| CN108705517A (en) * | 2018-06-16 | 2018-10-26 | 上海晓奥享荣汽车工业装备有限公司 | Integrated flexible captures plateform system |
| FR3078660A1 (en) * | 2018-03-08 | 2019-09-13 | Renault S.A.S. | AUTOMATED CHARGE DEVICE OF AN ELECTRIC VEHICLE |
| CN118321813A (en) * | 2024-06-06 | 2024-07-12 | 金丰（中国）机械工业有限公司 | Series-parallel welding robot for narrow space operation |
-
2013
- 2013-06-03 CN CN201310214643.1A patent/CN104209946A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743713A (en) * | 2016-12-27 | 2017-05-31 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
| CN106743713B (en) * | 2016-12-27 | 2019-05-14 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
| FR3078660A1 (en) * | 2018-03-08 | 2019-09-13 | Renault S.A.S. | AUTOMATED CHARGE DEVICE OF AN ELECTRIC VEHICLE |
| CN108705517A (en) * | 2018-06-16 | 2018-10-26 | 上海晓奥享荣汽车工业装备有限公司 | Integrated flexible captures plateform system |
| CN118321813A (en) * | 2024-06-06 | 2024-07-12 | 金丰（中国）机械工业有限公司 | Series-parallel welding robot for narrow space operation |
| CN118321813B (en) * | 2024-06-06 | 2024-09-06 | 金丰（中国）机械工业有限公司 | Series-parallel welding robot for narrow space operation |
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Application publication date: 20141217 |