CN107717959A - A kind of SCARA high-speed parallel manipulators of partly decoupled - Google Patents
A kind of SCARA high-speed parallel manipulators of partly decoupled Download PDFInfo
- Publication number
- CN107717959A CN107717959A CN201711081851.3A CN201711081851A CN107717959A CN 107717959 A CN107717959 A CN 107717959A CN 201711081851 A CN201711081851 A CN 201711081851A CN 107717959 A CN107717959 A CN 107717959A
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- Prior art keywords
- connecting rod
- branched chain
- movement branched
- synchronous pulley
- passive
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- 230000033001 locomotion Effects 0.000 claims abstract description 56
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims description 40
- 238000005096 rolling process Methods 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of SCARA high-speed parallel manipulators of partly decoupled, applied to the pick-and-place pickup in industry, belong to parallel robot technical field.The main body of SCARA high-speed parallel manipulators is two movement branched chains, including motor, rotary pair, drive connecting rod, the passive connecting rod being hidden in fixed pedestal, forms planar five-bar mechanism；Determine that the movement branched chain that movement branched chain end is vertically moved and rotated around vertical direction includes the motor being fixed in drive connecting rod and the timing belt system being hidden in connecting rod.The manipulator is based on planar five-bar mechanism, simple in construction, reduces manufacturing cost；In addition to the translation in plane, movement branched chain end can produce independent movement vertically and the rotation around vertical direction, i.e. kinematical Part decouples, beneficial to control.
Description
Technical field
The invention belongs to parallel robot field, it is related to a kind of SCARA high-speed parallel manipulators of partly decoupled, especially
Towards packaging, assembling etc. and material pickup application.
Background technology
One four-freedom parallel mechanism for rotating SACRA motions of three movements and vertical direction in space can be achieved, have
Larger working space and the rigidity of structure, suitable for quick pickup work, larger commercial application potentiality is shown, and
The high-speed picking-up application of production in light industry line is applied to more and more widely.Patent No. US4976582,
US20090019960A1, EP2436511B1 high-speed parallel manipulator use holosymmetric parallel-connection structure, and side chain quantity is more, fortune
Dynamic height Non-linear coupling, structure and control are complicated.From the angle of manufacture and application, development structure simple and compact, have
The high-speed parallel manipulator equipment of mobile decoupling characteristic has economic anticipate for reducing manufacturing cost, simplify control pattern and algorithm
Justice.
The content of the invention
The invention aims to make robot manipulator structure simple and compact, easily fabricated, control, production cost is reduced, is carried
For a kind of partly decoupled high-speed parallel manipulator applied on production line.
Technical scheme：
A kind of SCARA high-speed parallel manipulators of partly decoupled, main body are movement branched chain；
Described movement branched chain totally two, it is the first movement branched chain and the second movement branched chain；
The first described movement branched chain includes the first drive connecting rod, the first passive connecting rod and end coupling apparatus, described
End coupling apparatus further comprises that the first drive connecting rod end driving device, the first drive connecting rod and the first passive connecting rod share
Ancon attachment means, the first passive interlinking lever end performs device；
The first described drive connecting rod end driving device include leading screw motor, synchronous pulley, the first side chain motor,
Rolling bearing b, connecting rod belt shaft and shaft coupling, the first side chain motor, rolling bearing b, shaft coupling, synchronous pulley and leading screw driving
From top to bottom, by connecting rod belt wheel axis connection, the first side chain motor driven synchronous pulley rotates motor；Outside leading screw motor
Electric motor protecting shell is set with, the first side chain motor 18 is located at the inside of fixed pedestal；
The first described drive connecting rod and the first passive connecting rod common end drive device include rolling bearing a, timing belt
Wheel and connecting rod belt shaft；Multiple rolling bearing a set two synchronous pulleys by synchronous pulley interval altogether, rolling bearing a and same
Pass through connecting rod belt wheel axis connection between step belt wheel；
Timing belt is located in the cavity of the first drive connecting rod and the first passive connecting rod, is set in the drive of the first drive connecting rod end
On the synchronous pulley of dynamic device, the synchronous pulley of the first drive connecting rod and the first passive connecting rod common end drive device upper end
On；Rotary pair, synchronous pulley are formed by bearing between timing belt, synchronous pulley and the first passive connecting rod, the first drive connecting rod
Timing belt is driven to rotate；
The first described passive interlinking lever end performs device includes ball-screw, synchronous pulley and feed screw nut, ball wire
Thick stick and the feed screw nut being fixed on synchronous pulley form screw pair；
The first described movement branched chain is identical with the structure of the second movement branched chain, and the first active in the first movement branched chain connects
The second drive connecting rod end driving device in boom end drive device and the second movement branched chain shares a fixed pedestal；Second
First passive interlinking lever end of the second passive interlinking lever end performs device in the first movement branched chain in movement branched chain performs dress
On the basis of putting, set up spline guide rail and splined shaft, spline guide rail simultaneously with the first passive connecting rod and the second passive connecting rod end
Connected, be fixed on synchronous pulley by rotary pair；
Leading screw lower end in first movement branched chain is fixed on actuator connecting rod, the second passive connecting rod upper spline axle lower end with
Actuator connecting rod forms rotary pair, drives clamper to rotate.
Beneficial effects of the present invention：The SCARA high-speed parallel manipulators of a kind of partly decoupled of the present invention, using structure letter
Single planar five-bar mechanism, manufacturing cost is reduced, movement branched chain end can produce continuous rotate and export, and have componental movement decoupling
Characteristic, simplify control.
Brief description of the drawings
Fig. 1 is the outside mechanical structure schematic diagram of mechanism of the present invention.
Fig. 2 is the internal drive structural representation of mechanism of the present invention.
In figure：1 leading screw motor；2 electric motor protecting shells；3 splined shaft motors；
4 second drive connecting rods；5 second passive connecting rods；6 spline guide rails；7 splined shafts；8 clampers；
9 actuator connecting rods；10 ball-screws；11 first passive connecting rods；12 first drive connecting rods；
13 fixed pedestals；14 timing belts；15 rolling bearing a；16 synchronous pulleys；
17 second side chain motors；18 first side chain motors；19 feed screw nuts；20 connecting rod belt shafts；
21 rolling bearing b；22 shaft couplings.
Embodiment
Below in conjunction with accompanying drawing and technical scheme, embodiment of the invention is further illustrated.
A kind of SCARA high-speed parallel manipulators of partly decoupled, main body are movement branched chain；
Described movement branched chain totally two, it is the first movement branched chain and the second movement branched chain；
The first described movement branched chain includes the first drive connecting rod 12, the first passive connecting rod 11 and end coupling apparatus, institute
The end coupling apparatus stated further comprises that the end driving device of the first drive connecting rod 12, the first drive connecting rod 12 and first are passive
Connecting rod 11 shares ancon attachment means, the first passive end performs device of connecting rod 11；
The described end driving device of the first drive connecting rod 12 includes leading screw motor 1, synchronous pulley 16, the first side chain
Motor 18, rolling bearing b21, connecting rod belt shaft 20 and shaft coupling 22, the first side chain motor 18, rolling bearing b21, shaft coupling
22nd, connected between synchronous pulley 16 and leading screw motor 1 by connecting rod belt shaft 20, the first side chain motor 18 drives timing belt
Wheel 16 rotates；The outer cover of leading screw motor 1 is equipped with electric motor protecting shell 2, and the first side chain motor 18 is located at the interior of fixed pedestal 13
Portion；
The first described drive connecting rod 12 and the first passive common end drive device of connecting rod 11 include rolling bearing a15,
Synchronous pulley 16 and connecting rod belt shaft 20；Multiple rolling bearing a15 are spaced by synchronous pulley 16, totally two synchronous pulleys 16,
Connected between rolling bearing a15 and synchronous pulley 16 by connecting rod belt shaft 20；
Timing belt 14 is located in the cavity of the first drive connecting rod 12 and the first passive connecting rod 11, is set in the first drive connecting rod
On the synchronous pulley 16 of 12 end driving devices, in the first drive connecting rod 12 and the first passive common end drive device of connecting rod 11
On the synchronous pulley 16 at end；Pass through axle between timing belt 14,16 and first passive connecting rod 11 of synchronous pulley, the first drive connecting rod 12
Composition rotary pair is held, synchronous pulley 16 drives timing belt 14 to rotate；
The first described passive end performs device of connecting rod 11 includes ball-screw 10, synchronous pulley 16 and feed screw nut
19, ball-screw 10 and the feed screw nut 19 being fixed on synchronous pulley 16 form screw pair；
The first described movement branched chain is identical with the structure of the second movement branched chain, and the first active in the first movement branched chain connects
The end driving device of the second drive connecting rod 4 in the end driving device of bar 12 and the second movement branched chain shares a fixed pedestal
13；First passive connecting rod 11 of the second passive end performs device of connecting rod 5 in the first movement branched chain in second movement branched chain
On the basis of the performs device of end, set up spline guide rail 6 and splined shaft 7, spline guide rail 6 simultaneously with the first passive connecting rod 11 and the
The two passive ends of connecting rod 5 are connected by rotary pair, are fixed on synchronous pulley 16；
The lower end of leading screw 10 in first movement branched chain is fixed on actuator connecting rod 9, the second passive upper spline axle 7 of connecting rod 5
Lower end forms rotary pair with actuator connecting rod 9, drives clamper 8 to rotate.
The planar five-bar mechanism that two movement branched chains of mechanism of the present invention are formed, determine movement branched chain end planar
It is mobile；First and second movement branched chains are coupled, and limit freely rotating for leading screw, and the first movement branched chain passes through timing belt system
Motor is converted into the vertical shift of ball-screw by the transmission of system, movement branched chain end is produced independent vertical direction and moves
It is dynamic；The rotation of motor by timing belt drive system to splined shaft, is realized clamper around vertical direction by the second movement branched chain
It is independent to rotate.
Manipulator can produce the movement in three directions and the rotation of vertical direction forms SCARA motions, wherein vertical direction
Movement and rotate independently in the movement in plane, be the motion of partly decoupled.
Claims (1)
1. the SCARA high-speed parallel manipulators of a kind of partly decoupled, it is characterised in that the main body of described manipulator is motion branch
Chain；
Described movement branched chain totally two, it is the first movement branched chain and the second movement branched chain；
The first described movement branched chain includes the first drive connecting rod (12), the first passive connecting rod (11) and end coupling apparatus, institute
The end coupling apparatus stated further comprises the first drive connecting rod (12) end driving device, the first drive connecting rod (12) and first
Passive connecting rod (11) shares ancon attachment means, the first passive connecting rod (11) end performs device；
Described the first drive connecting rod (12) end driving device include leading screw motor (1), synchronous pulley (16), first
Chain motor (18), rolling bearing b (21), connecting rod belt shaft (20) and shaft coupling (22), the first side chain motor (18), rolling bearing
B (21), shaft coupling (22), synchronous pulley (16) and leading screw motor (1) from top to bottom, are connected by connecting rod belt shaft (20)
Connect, the first side chain motor (18) drives synchronous pulley (16) to rotate；Leading screw motor (1) outer cover is equipped with electric motor protecting shell
(2), the first side chain motor (18) is located at the inside of fixed pedestal (13)；
Described the first drive connecting rod (12) and the first passive connecting rod (11), which share ancon attachment means, includes rolling bearing a
(15), synchronous pulley (16) and connecting rod belt shaft (20)；Multiple rolling bearing a (15) are spaced by synchronous pulley (16), are set altogether
Two synchronous pulleys (16) are put, are connected between rolling bearing a (15) and synchronous pulley (16) by connecting rod belt shaft (20)；
Timing belt (14) is located in the cavity of the first drive connecting rod (12) and the first passive connecting rod (11), is set in the first active and connects
On the synchronous pulley (16) of bar (12) end driving device, the first drive connecting rod (12) and the first passive connecting rod (11) share ancon
On the synchronous pulley (16) of attachment means upper end；Timing belt (14), synchronous pulley (16) and the first passive connecting rod (11), the first master
Rotary pair is formed by bearing between dynamic connecting rod (12), synchronous pulley (16) drives timing belt (14) to rotate；
The first described passive connecting rod (11) end performs device includes ball-screw (10), synchronous pulley (16) and feed screw nut
(19), ball-screw (10) and the feed screw nut (19) being fixed on synchronous pulley (16) form screw pair；
The first described movement branched chain is identical with the structure of the second movement branched chain, the first drive connecting rod in the first movement branched chain
(12) the second drive connecting rod (4) end driving device in end driving device and the second movement branched chain shares a fixed pedestal
(13)；The second passive connecting rod (5) end performs device in second movement branched chain first passively connecting in the first movement branched chain
On the basis of the performs device of bar (11) end, set up spline guide rail (6) and splined shaft (7), spline guide rail (6) and meanwhile with the first quilt
Dynamic connecting rod (11) is connected by rotary pair with the second passive connecting rod (5) end, is fixed on synchronous pulley (16)；
Leading screw (10) lower end in first movement branched chain is fixed on actuator connecting rod (9), the second passive connecting rod (5) upper spline axle
(7) lower end forms rotary pair with actuator connecting rod (9), drives clamper (8) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711081851.3A CN107717959B (en) | 2017-11-07 | 2017-11-07 | Partially-decoupled SCARA high-speed parallel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711081851.3A CN107717959B (en) | 2017-11-07 | 2017-11-07 | Partially-decoupled SCARA high-speed parallel manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107717959A true CN107717959A (en) | 2018-02-23 |
| CN107717959B CN107717959B (en) | 2020-08-14 |
Family
ID=61222666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711081851.3A Expired - Fee Related CN107717959B (en) | 2017-11-07 | 2017-11-07 | Partially-decoupled SCARA high-speed parallel manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN107717959B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| WO2019090474A1 (en) * | 2017-11-07 | 2019-05-16 | 大连理工大学 | Scara high-speed parallel manipulator having partially decoupled kinematics |
| CN111168650A (en) * | 2020-01-17 | 2020-05-19 | 太原理工大学 | Series-parallel connection cooperation knotting robot with coaxial layout double five-rod mechanism |
| CN108818501B (en) * | 2018-06-27 | 2021-04-20 | 大连理工大学 | Novel two-branch chain SCARA motion parallel mechanism |
| CN113165171A (en) * | 2018-10-01 | 2021-07-23 | 勒阿弗尔大学 | Robotic system including articulated arm |
| CN113601549A (en) * | 2021-09-03 | 2021-11-05 | 重庆理工大学 | Method for controlling planar motion of article by using mechanical arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6547510B1 (en) * | 1998-05-04 | 2003-04-15 | Brooks Automation Inc. | Substrate transport apparatus with coaxial drive shafts and dual independent scara arms |
| CN100410029C (en) * | 2006-08-03 | 2008-08-13 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| US8196492B1 (en) * | 2009-07-24 | 2012-06-12 | David Sutton Denu | Versatile robotic module and robots comprising same |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| CN105500338A (en) * | 2016-01-06 | 2016-04-20 | 上海大学 | Double-arm SCARA (selective compliance assembly robot arm) industrial robot |
-
2017
- 2017-11-07 CN CN201711081851.3A patent/CN107717959B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019090474A1 (en) * | 2017-11-07 | 2019-05-16 | 大连理工大学 | Scara high-speed parallel manipulator having partially decoupled kinematics |
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN108818501B (en) * | 2018-06-27 | 2021-04-20 | 大连理工大学 | Novel two-branch chain SCARA motion parallel mechanism |
| CN113165171A (en) * | 2018-10-01 | 2021-07-23 | 勒阿弗尔大学 | Robotic system including articulated arm |
| CN111168650A (en) * | 2020-01-17 | 2020-05-19 | 太原理工大学 | Series-parallel connection cooperation knotting robot with coaxial layout double five-rod mechanism |
| CN111168650B (en) * | 2020-01-17 | 2020-11-20 | 太原理工大学 | Series-parallel connection cooperation knotting robot with coaxial layout double five-rod mechanism |
| CN113601549A (en) * | 2021-09-03 | 2021-11-05 | 重庆理工大学 | Method for controlling planar motion of article by using mechanical arm |
| CN113601549B (en) * | 2021-09-03 | 2023-01-03 | 重庆理工大学 | Method for controlling planar motion of article by using mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN107717959B (en) | 2020-08-14 |
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