CN107717959B - Partially-decoupled SCARA high-speed parallel manipulator - Google Patents

Partially-decoupled SCARA high-speed parallel manipulator Download PDF

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Publication number
CN107717959B
CN107717959B CN201711081851.3A CN201711081851A CN107717959B CN 107717959 B CN107717959 B CN 107717959B CN 201711081851 A CN201711081851 A CN 201711081851A CN 107717959 B CN107717959 B CN 107717959B
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China
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rod
driving
driven
branched chain
synchronous belt
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CN201711081851.3A
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CN107717959A (en
Inventor
吴广磊
董惠敏
赵文康
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Dalian University of Technology
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Dalian University of Technology
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-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
    • B25J9/041Cylindrical coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

The invention provides a partially decoupled SCARA high-speed parallel manipulator which is applied to grabbing, releasing and picking in industry and belongs to the technical field of parallel robots. The main body of the SCARA high-speed parallel manipulator is two moving branched chains, and the two moving branched chains comprise a motor, a revolute pair, a driving connecting rod and a driven connecting rod which are hidden in a fixed base to form a plane five-rod mechanism; the motion branched chain determining the movement of the tail end of the motion branched chain along the vertical direction and the rotation around the vertical direction comprises a motor fixed on a driving connecting rod and a synchronous belt system hidden in the connecting rod. The manipulator is based on a plane five-rod mechanism, has a simple structure, and reduces the manufacturing cost; besides the translation in a plane, the tail end of the moving branched chain can independently move along the vertical direction and rotate around the vertical direction, namely the kinematics is partially decoupled, and the control is facilitated.

Description

Partially-decoupled SCARA high-speed parallel manipulator
Technical Field
The invention belongs to the field of parallel robots, and relates to a partially decoupled SCARA high-speed parallel manipulator, in particular to packaging, assembling and the like oriented material picking application.
Background
The four-degree-of-freedom parallel mechanism capable of realizing three-movement and one-rotation SACRA motion in the vertical direction in the space has larger working space and structural rigidity, is suitable for quick picking work, shows larger industrial application potential, and is more and more widely applied to high-speed picking application of light industrial production lines. The high-speed parallel manipulator with the patent numbers of US4976582, US20090019960A1 and EP2436511B1 adopts a full-symmetric parallel structure, the number of branched chains is large, the motion height is nonlinear coupled, and the structure and the control are complex. From the manufacturing and application perspectives, the development of the high-speed parallel manipulator equipment which is simple and compact in structure and has the motion decoupling characteristic has economic significance for reducing the manufacturing cost and simplifying the control mode and the algorithm.
Disclosure of Invention
The invention aims to provide a partial decoupling high-speed parallel manipulator applied to a production line, which has a simple and compact structure, is easy to manufacture and control and reduces the production cost.
The technical scheme of the invention is as follows:
a partially decoupled SCARA high-speed parallel manipulator, the main body is a moving branch chain;
the number of the moving branched chains is two, and the moving branched chains are a first moving branched chain and a second moving branched chain;
the first motion branched chain comprises a first driving connecting rod, a first driven connecting rod and an end combining device, and the end combining device further comprises a first driving connecting rod end driving device, a first driving connecting rod and first driven connecting rod shared elbow connecting device and a first driven connecting rod end executing device;
the first driving connecting rod end driving device comprises a screw rod driving motor, a synchronous belt pulley, a first branch chain motor, a rolling bearing b, a connecting rod belt pulley shaft and a coupling, wherein the first branch chain motor, the rolling bearing b, the coupling, the synchronous belt pulley and the screw rod driving motor are connected from bottom to top through the connecting rod belt pulley shaft, and the first branch chain motor drives the synchronous belt pulley to rotate; a motor protective shell is sleeved outside the screw driving motor, and the first branch motor 18 is positioned inside the fixed base;
the first driving connecting rod and the first driven connecting rod share an end driving device which comprises a rolling bearing a, a synchronous belt pulley and a connecting rod belt pulley shaft; the rolling bearings a are spaced by the synchronous pulleys, and are provided with two synchronous pulleys in total, and the rolling bearings a are connected with the synchronous pulleys through connecting rod pulley shafts;
the synchronous belt is positioned in the cavities of the first driving connecting rod and the first driven connecting rod and is sleeved on a synchronous belt wheel of the driving device at the end part of the first driving connecting rod and a synchronous belt wheel at the upper end of the driving device at the common end part of the first driving connecting rod and the first driven connecting rod; a rotating pair is formed among the synchronous belt, the synchronous belt pulley, the first driven connecting rod and the first driving connecting rod through bearings, and the synchronous belt pulley drives the synchronous belt to rotate;
the first driven connecting rod end part executing device comprises a ball screw, a synchronous belt pulley and a screw nut, and the ball screw and the screw nut fixed on the synchronous belt pulley form a screw pair;
the first moving branched chain and the second moving branched chain have the same structure, and a first driving connecting rod end driving device in the first moving branched chain and a second driving connecting rod end driving device in the second moving branched chain share one fixed base; a second driven connecting rod end executing device in the second moving branched chain is additionally provided with a spline guide rail and a spline shaft on the basis of a first driven connecting rod end executing device in the first moving branched chain, and the spline guide rail is simultaneously connected with the tail ends of the first driven connecting rod and the second driven connecting rod through a revolute pair and is fixed on a synchronous belt pulley;
the lower end of a screw rod in the first moving branched chain is fixed on an actuator connecting rod, and the lower end of a spline shaft on the second driven connecting rod and the actuator connecting rod form a rotary pair to drive the holder to rotate.
The invention has the beneficial effects that: the partially decoupled SCARA high-speed parallel manipulator adopts a plane five-rod mechanism with a simple structure, reduces the manufacturing cost, can generate continuous rotation output at the tail end of a moving branch chain, has the characteristic of partial motion decoupling, and simplifies the control.
Drawings
Fig. 1 is a schematic view of the external mechanical structure of the mechanism of the present invention.
Fig. 2 is a schematic view of the internal transmission structure of the mechanism of the present invention.
In the figure: 1, a screw rod driving motor; 2, a motor protective shell; 3, spline shaft driving motor;
4 a second active link; 5 a second passive link; 6 spline guide rail; 7 spline shafts; 8 a clamp holder;
9 actuator connecting rod; 10 ball screw; 11 a first passive link; 12 a first active link;
13 fixing a base; 14 synchronous belts; 15 rolling bearing a; 16 synchronous pulleys;
17 a second branched motor; 18 a first branch motor; 19 a lead screw nut; 20 connecting rod belt wheel shafts;
21 rolling bearing b; 22 coupling.
Detailed Description
The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.
A partially decoupled SCARA high-speed parallel manipulator, the main body is a moving branch chain;
the number of the moving branched chains is two, and the moving branched chains are a first moving branched chain and a second moving branched chain;
the first motion branched chain comprises a first driving connecting rod 12, a first driven connecting rod 11 and an end combining device, wherein the end combining device further comprises a first driving connecting rod 12 end driving device, a first driving connecting rod 12 and first driven connecting rod 11 shared elbow connecting device and a first driven connecting rod 11 end executing device;
the end part driving device of the first driving connecting rod 12 comprises a screw rod driving motor 1, a synchronous belt pulley 16, a first branch chain motor 18, a rolling bearing b21, a connecting rod belt pulley shaft 20 and a coupler 22, wherein the first branch chain motor 18, the rolling bearing b21, the coupler 22, the synchronous belt pulley 16 and the screw rod driving motor 1 are connected through the connecting rod belt pulley shaft 20, and the first branch chain motor 18 drives the synchronous belt pulley 16 to rotate; a motor protective shell 2 is sleeved outside the screw driving motor 1, and a first branch motor 18 is positioned inside the fixed base 13;
the common end driving device of the first driving connecting rod 12 and the first driven connecting rod 11 comprises a rolling bearing a15, a synchronous pulley 16 and a connecting rod pulley shaft 20; the rolling bearings a15 are spaced by the synchronous pulleys 16, and are totally two synchronous pulleys 16, and the rolling bearings a15 are connected with the synchronous pulleys 16 through the connecting rod pulley shaft 20;
the synchronous belt 14 is positioned in the cavities of the first driving connecting rod 12 and the first driven connecting rod 11 and is sleeved on a synchronous belt pulley 16 of the end driving device of the first driving connecting rod 12 and a synchronous belt pulley 16 at the upper end of the end driving device shared by the first driving connecting rod 12 and the first driven connecting rod 11; a synchronous belt 14, a synchronous belt pulley 16, a first driven connecting rod 11 and a first driving connecting rod 12 form a rotation pair through bearings, and the synchronous belt pulley 16 drives the synchronous belt 14 to rotate;
the end part executing device of the first driven connecting rod 11 comprises a ball screw 10, a synchronous pulley 16 and a screw nut 19, wherein the ball screw 10 and the screw nut 19 fixed on the synchronous pulley 16 form a screw pair;
the first moving branched chain and the second moving branched chain have the same structure, and a first driving connecting rod 12 end driving device in the first moving branched chain and a second driving connecting rod 4 end driving device in the second moving branched chain share one fixed base 13; the end part executing device of the second driven connecting rod 5 in the second moving branched chain is additionally provided with a spline guide rail 6 and a spline shaft 7 on the basis of the end part executing device of the first driven connecting rod 11 in the first moving branched chain, and the spline guide rail 6 is simultaneously connected with the tail ends of the first driven connecting rod 11 and the second driven connecting rod 5 through a revolute pair and is fixed on a synchronous belt pulley 16;
the lower end of a screw rod 10 in the first moving branched chain is fixed on an actuator connecting rod 9, and the lower end of a spline shaft 7 on the second driven connecting rod 5 and the actuator connecting rod 9 form a rotary pair to drive a clamp holder 8 to rotate.
The plane five-rod mechanism formed by the two moving branch chains of the mechanism determines the movement of the tail end of the moving branch chain in a plane; the first moving branch chain and the second moving branch chain are coupled together to limit free rotation of the screw rod, and the first moving branch chain converts motor rotation into vertical movement of the ball screw rod through transmission of a synchronous belt system, so that the tail end of the moving branch chain moves in an independent vertical direction; the second moving branched chain transmits the rotation of the motor to the spline shaft through the synchronous belt system, and the holder can independently rotate around the vertical direction.
The manipulator can generate movement in three directions and rotation in the vertical direction to form SCARA movement, wherein the movement and the rotation in the vertical direction are respectively independent of the movement in a plane and are partially decoupled movement.

Claims (1)

1. A partially decoupled SCARA high-speed parallel manipulator is characterized in that the main body of the manipulator is a moving branched chain;
the number of the moving branched chains is two, and the moving branched chains are a first moving branched chain and a second moving branched chain;
the first motion branched chain comprises a first driving connecting rod (12), a first driven connecting rod (11) and an end combining device, wherein the end combining device further comprises a first driving connecting rod (12) end driving device, a first driving connecting rod (12) and a first driven connecting rod (11) shared elbow connecting device and a first driven connecting rod (11) end executing device;
the end part driving device of the first driving connecting rod (12) comprises a screw rod driving motor (1), a synchronous belt pulley (16), a first branch chain motor (18), a rolling bearing b (21), a connecting rod belt pulley shaft (20) and a coupler (22), wherein the first branch chain motor (18), the rolling bearing b (21), the coupler (22), the synchronous belt pulley (16) and the screw rod driving motor (1) are connected from bottom to top through the connecting rod belt pulley shaft (20), and the first branch chain motor (18) drives the synchronous belt pulley (16) to rotate; a motor protective shell (2) is sleeved outside the screw driving motor (1), and a first branch chain motor (18) is positioned inside the fixed base (13);
the elbow connecting device shared by the first driving connecting rod (12) and the first driven connecting rod (11) comprises a rolling bearing a (15), a synchronous pulley (16) and a connecting rod pulley shaft (20); the rolling bearings a (15) are arranged at intervals through the synchronous pulleys (16), two synchronous pulleys (16) are arranged in total, and the rolling bearings a (15) are connected with the synchronous pulleys (16) through the connecting rod belt wheel shaft (20);
the synchronous belt (14) is positioned in a cavity of the first driving connecting rod (12) and the first driven connecting rod (11), and is sleeved on a synchronous belt wheel (16) of a driving device at the end part of the first driving connecting rod (12) and a synchronous belt wheel (16) at the upper end of an elbow connecting device shared by the first driving connecting rod (12) and the first driven connecting rod (11); a synchronous belt (14), a synchronous belt pulley (16), a first driven connecting rod (11) and a first driving connecting rod (12) form a rotation pair through bearings, and the synchronous belt pulley (16) drives the synchronous belt (14) to rotate;
the end part executing device of the first driven connecting rod (11) comprises a ball screw (10), a synchronous pulley (16) and a screw nut (19), wherein the ball screw (10) and the screw nut (19) fixed on the synchronous pulley (16) form a screw pair;
the first moving branched chain and the second moving branched chain have the same structure, and a first driving connecting rod (12) end driving device in the first moving branched chain and a second driving connecting rod (4) end driving device in the second moving branched chain share one fixed base (13); a spline guide rail (6) and a spline shaft (7) are additionally arranged on the end executing device of a second driven connecting rod (5) in the second moving branched chain on the basis of the end executing device of a first driven connecting rod (11) in the first moving branched chain, and the spline guide rail (6) is simultaneously connected with the tail ends of the first driven connecting rod (11) and the second driven connecting rod (5) through a revolute pair and is fixed on a synchronous belt pulley (16);
the lower end of a screw rod (10) in the first moving branched chain is fixed on an actuator connecting rod (9), and the lower end of a spline shaft (7) on the second driven connecting rod (5) and the actuator connecting rod (9) form a rotary pair to drive the clamp holder (8) to rotate.
CN201711081851.3A 2017-11-07 2017-11-07 Partially-decoupled SCARA high-speed parallel manipulator Active CN107717959B (en)

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Application Number Priority Date Filing Date Title
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Families Citing this family (3)

* Cited by examiner, † Cited by third party
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
CN108818501B (en) * 2018-06-27 2021-04-20 大连理工大学 Novel two-branch chain SCARA motion parallel 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

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002514001A (en) * 1998-05-04 2002-05-14 ブルックス オートメーション インコーポレイテッド Double arm device with coaxial drive shaft
CN1903520A (en) * 2006-08-03 2007-01-31 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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002514001A (en) * 1998-05-04 2002-05-14 ブルックス オートメーション インコーポレイテッド Double arm device with coaxial drive shaft
CN1903520A (en) * 2006-08-03 2007-01-31 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

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