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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- China
- Prior art keywords
- connecting rod
- guide rail
- revolute pair
- rotating pair
- parallel
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Abstract
The invention discloses a parallel-connection movement surface-mount robot mechanism which comprises a rack (0), a first guide rail (3), a second guide rail (1), a first sliding block (4), a second sliding block (2), a first connecting rod (5), a second connecting rod (6), a third connecting rod (7), a fourth connecting rod (8), an air cylinder body (9), a piston rod (10) and a sucking nozzle (11). The second sliding block (2) and the second guide rail (1) form a first movement pair (P9), and then the first movement pair (P9), the second connecting rod (6), the fourth connecting rod (8) and the third connecting rod (7) form a parallelogram through a first rotating pair (R2), a second rotating pair (R5), a third rotating pair (R6) and a fourth rotating pair (R1) respectively. Meanwhile, the first sliding block (4) and the first guide rail (3) form a second movement pair (P10), and then the second movement pair (P10) is connected with one end of the first connecting rod (5) through a fifth rotating pair (R3), the other end of the first connecting rod (5) is connected with the second connecting rod (6) through a sixth rotating pair (R4), and axes of the first rotating pair, the second rotating pair, the third rotating pair, the fourth rotating pair, the fifth rotating pair and the sixth rotating pair are parallel to one another. In addition, an air cylinder formed by the air cylinder body (9) and the piston rod (10) is perpendicularly fixed to the fourth connecting rod (8), and the sucking nozzle (11) is connected with the piston rod (10) through a seventh rotating pair (R7) with the axis parallel to the piston rod (10). The parallel-connection movement surface-mount robot mechanism has the advantages of being wide in operation range, good in rigidity, high in surface-mount efficiency, simple in structure, convenient to manufacture and capable of achieving control decoupling.
Description
Technical field
The present invention relates to the robot mechanism of a kind of electronic product attachment operation, specifically provide a kind of new and effective mounting machine people for surface mount (SMT), meet the precise operations such as the attachment of the electronic devices such as LED, electric capacity, resistance, plug-in mounting.
Background technology
At present for the packaging robot of the attachment of the electronic device such as electric capacity, resistance, plug-in mounting and LED component, mostly be international renowned company and monopolize, as Sweden ABB, German KUKA and Japanese FUNUC etc., but expensive; More domestic universities and research institution also obtain certain progress at Cartesian robot in mounting, as realized series-parallel robot end effector around the circumferential rotation type Patent Application Publication [CN200610015113.4] of its drive axis, [CN200610015114.9)], but working space is limited.The present invention proposes a kind of main machine frame using the two-freedom-degree parallel mechanism of parallel guide rail two slider-actuated in side as mounting machine people, a upper and lower translation and a four-degree-of-freedom robot mechanism based on the cascaded structure of vertical axes is connected in series again, for the operation such as attachment of the electronic devices such as electric capacity, resistance and LED at its take-off lever.
Summary of the invention
The object of the invention is will invent a kind of novel a kind of parallel kinematic mounting machine robot mechanism, to overcome above-mentioned shortcoming.It is to the effect that: a kind of parallel kinematic mounting machine robot mechanism, comprise frame (0), guide rail one (3), guide rail two (1), slide block one (4), slide block 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) and guide rail two (1) form moving sets one (P
9) after, use revolute pair one (R successively with connecting rod two (6), connecting rod four (8), connecting rod three (7) again
2), revolute pair two (R
5), revolute pair three (R
6), revolute pair four (R
1), form a parallelogram (R
2r
5r
6r
1), meanwhile, slide block one (4) and guide rail one (3) form moving sets two (P
10) after, again with one end of connecting rod one (5) with revolute pair five (R
3) connect, and the other end of connecting rod one (5) is with revolute pair six (R
4) connect connecting rod two (6), and the axis of revolute pair one ~ revolute pair six parallels; Simultaneously, connecting rod four (8) is vertically fixed a cylinder be made up of cylinder block (9) and piston rod (10), suction nozzle (11) and piston rod (10) revolute pair seven (R of an axis being parallel in piston rod (10)
7) connect; Wherein, in guide rail one (3), guide rail two (1) two parallel lines point-blank or in same plane.
This parallel kinematic mounting machine robot mechanism has that job area is large, accurate positioning, good rigidity, sorting plug-in mounting efficiency are high, and meanwhile, structure is simple, easily manufactured, control decoupling zero.
Accompanying drawing explanation
Accompanying drawing 1 is the sketch of the mechanism body of the embodiment of the present invention.
Accompanying drawing 2 is the optional feature sketch of the mechanism body of the embodiment of the present invention.
Detailed description of the invention
Fig. 1 is the schematic diagram of mechanism of one embodiment of the present of invention.Its embodiment is: a kind of parallel kinematic mounting machine robot mechanism, comprise frame 0, guide rail 1, guide rail 21, slide block 1, slide block 22, connecting rod 1, connecting rod 26, connecting rod 37, connecting rod 48, cylinder block 9, piston rod 10 and suction nozzle 11, slide block 22 and guide rail 21 form moving sets one P
9after, use revolute pair one R successively with connecting rod 26, connecting rod 48, connecting rod 37 again
2, revolute pair two R
5, revolute pair three R
6, revolute pair four R
1, form a parallelogram R
2r
5r
6r
1, meanwhile, slide block 1 and guide rail 1 form moving sets two P
10after, again with one end of connecting rod 1 with revolute pair five R
3connect, and the other end of connecting rod 1 is with revolute pair six R
4connect connecting rod 26, and the axis of revolute pair one ~ revolute pair six parallels.Meanwhile, connecting rod 48 is vertically fixed a cylinder (see Fig. 2) be made up of cylinder block 9 and piston rod 10, suction nozzle 11 and piston rod 10 revolute pair seven R of an axis being parallel in piston rod 10
7connect.Wherein, guide rail 1, guide rail 21 point-blank, also can in two parallel lines in same plane.
Its operation principle is: when slide block 22 and slide block 1 move with different speed respectively, suction nozzle 11 is made to move to the position of needs, under vacuum system effect, piston rod about 10 rectilinear motion, components and parts capture or release by the suction nozzle 11 on it, when the element drawn be placed with position have an error time, by revolute pair R
7carry out angular errors, therefore, need 4 drive motors.
This parallel kinematic mounting machine robot mechanism, also can be used for other operations such as gluing, engraving, have that job area is large, accurate positioning, good rigidity, operating efficiency advantages of higher; Meanwhile, simple, easily manufactured, the control section decoupling zero of structure.
Claims (2)
1. a parallel kinematic mounting machine robot mechanism, comprise frame (0), guide rail one (3), guide rail two (1), slide block one (4), slide block 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) and guide rail two (1) form moving sets one (P
9) after, use revolute pair one (R successively with connecting rod two (6), connecting rod four (8), connecting rod three (7) again
2), revolute pair two (R
5), revolute pair three (R
6), revolute pair four (R
1), form a parallelogram (R
2r
5r
6r
1), meanwhile, slide block one (4) and guide rail one (3) form moving sets two (P
10) after, again with one end of connecting rod one (5) with revolute pair five (R
3) connect, and the other end of connecting rod one (5) is with revolute pair six (R
4) connect connecting rod two (6), and the axis of revolute pair one ~ revolute pair six parallels; Simultaneously, connecting rod four (8) is vertically fixed a cylinder be made up of cylinder block (9) and piston rod (10), suction nozzle (11) and piston rod (10) revolute pair seven (R of an axis being parallel in piston rod (10)
7) connect.
2., by parallel kinematic mounting machine robot mechanism according to claim 1, it is characterized in that in guide rail one (3), guide rail two (1) two parallel lines point-blank or in same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310214643.1A CN104209946A (en) | 2013-06-03 | 2013-06-03 | Parallel-connection movement surface-mount robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310214643.1A CN104209946A (en) | 2013-06-03 | 2013-06-03 | Parallel-connection movement surface-mount robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104209946A true CN104209946A (en) | 2014-12-17 |
Family
ID=52092056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310214643.1A Pending CN104209946A (en) | 2013-06-03 | 2013-06-03 | Parallel-connection movement surface-mount robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104209946A (en) |
Cited By (3)
| 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 |
-
2013
- 2013-06-03 CN CN201310214643.1A patent/CN104209946A/en active Pending
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 |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141217 |