CN1628939A - Two degrees of freedom moving planar parallel mechanism - Google Patents
Two degrees of freedom moving planar parallel mechanism Download PDFInfo
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- CN1628939A CN1628939A CN 200310112572 CN200310112572A CN1628939A CN 1628939 A CN1628939 A CN 1628939A CN 200310112572 CN200310112572 CN 200310112572 CN 200310112572 A CN200310112572 A CN 200310112572A CN 1628939 A CN1628939 A CN 1628939A
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Abstract
This invention belongs to industry robot field and provides a two free degree plane parallel structure, which comprises fixed platform and moving platform and the moving chain composed of slide block and connection bar. The fixed platform comprises two vertical guide rails. The connection plate connects the drive slide block and passive block. The kinematic pair between slide blocks, drive slide block, passive block and fixed platform is moving pair and other kinematic pair between the rest parts is rotation pair.
Description
Technical field
The invention belongs to the industrial robot field, particularly a kind of two degrees of freedom plane of motion parallel institution is particularly useful for operation production line key equipment---the soldering tip mechanism of wafer die Bonder behind the semiconductor.
Background technology
Parallel institution is the closed loop moving system that is made of a plurality of parallel chains, is promptly linked to each other with a terminal operation device with a plurality of frees degree simultaneously by an end of a plurality of kinematic chains and constitutes.Parallel institution has the following advantages: higher stiffness/weight ratio; Higher load weight ratio; Error is little, the precision height; Be easy to drive motor is placed on the support, reduced exercise load, can high-speed motion; Find the solution in the position, parallel institution is counter to be separated easily; Simple in structure, degree of modularity height.
People have turned to notice the parallel institution of lower-mobility (moving platform freedom of motion number is less than 6) in recent years.As in the automatic production line of industries such as light industry, medicine, food and electronics, such as paster mechanism of the PCB (printed circuit board (PCB)) of the soldering tip mechanism of wafer die Bonder, brilliant garden feed mechanism, SMT (surface mount) etc., soldering tip is the two-freedom transmission mechanism, there is no need as adopting multiple freedom parallel mechanism just to seem again, or manufacturing cost is too high.
Soldering tip is the die Bonder core component, its function be with on the brilliant garden the wafer of cutting and separating pick up, transmit and be positioned on the carrier (lead frame, pcb board etc.) and carry out paste weld.Draw with the process of placing wafer in, require soldering tip vertical with brilliant garden, carrier respectively.Soldering tip mechanism belongs to the transmission mechanism that two-freedom or Three Degree Of Freedom move for this reason, in this mechanism, there is one or two motor to be installed in another motor-driven mechanism, the ratio that the quality of motor mounted thereto accounts for whole soldering tip moving-mass is very big, therefore the movement inertia of soldering tip is bigger, for the effective way of head it off is: design a kind of or a class soldering tip mechanism, all drive motors all are installed on the fixed frame, can realize the two-freedom separate transmission again simultaneously.
Summary of the invention
The parallel institution that the objective of the invention is to overcome weak point of the prior art and provide a kind of planar to move, the present invention has that moving mass is light, high accuracy, high rigidity, advantages of simple structure and simple.
Technical scheme of the present invention is: this mechanism by fixed platform 1 with moving platform 9 and be connected and fixed platform 1 and formed with the movement branched chain that moving platform 9 is made up of slide block and connecting rod, it is characterized in that: every movement branched chain structure is incomplete same, every movement branched chain and fixed platform 1 joining kinematic pair are moving sets, with moving platform 9 joining kinematic pairs be revolute pair, the intermediary movements pair of movement branched chain is a revolute pair, when mechanism kinematic, the motion that moving platform 9 moves as two-freedom.
Said fixing platform 1 is made up of orthogonal two guide rails, and these two guide rails vertically are because soldering tip when work has the motion of translation respectively in this both direction requirement mutually, finish then two vertical or out of plumb of guide rail if move by resultant motion.
The connecting rod 4 of this mechanism, active sliding block 5, connecting plate 6, driven sliding block 7, connecting rod 8 constitute a parallelogram with moving platform 9.
The active sliding block 5 of this mechanism, connecting plate 6, driven sliding block 7, connecting rod 4, connecting rod 8 are arranged in the main direction of motion or the stricter direction of positioning requirements.
The invention has the beneficial effects as follows: the suction nozzle motor is fixed on the frame, finish to pick up and move by driving side chain and the joining moving sets of fixed platform with weldbonding, alleviated moving-mass, help improving soldering tip and come and go and improve dynamic property, have high accuracy, high rigidity, simple in structure, low cost of manufacture, advantage such as in light weight.
Description of drawings:
Fig. 1 is the general structure schematic diagram of the embodiment of the invention.
Among the figure, fixed platform 1, slide block 2, connecting rod 3, connecting rod 4, active sliding block 5, connecting plate 6, driven sliding block 7, connecting rod 8, moving platform 9.
The specific embodiment
Provide preferred version of the invention process below, and be illustrated in conjunction with the accompanying drawings.
The general structure of present embodiment as shown in Figure 1, fixed platform 1 is made up of orthogonal two guide rails, these two guide rails vertically are because soldering tip when work has the motion of translation respectively in this both direction requirement mutually, finish then two guide rails also can out of plumb if move by resultant motion, connecting plate 6 connects active sliding block 5 and driven sliding block 7, make active sliding block 5 have identical motion with driven sliding block 7, respectively by slide block 2, connecting rod 3 and active sliding block 5, connecting plate 6, driven sliding block 7, connecting rod 4, the movement branched chain that connecting rod 8 is formed is connected and fixed platform 1 and moving platform 9, the structure of movement branched chain is incomplete same, active sliding block 5, connecting plate 6, driven sliding block 7, connecting rod 4, connecting rod 8 is arranged in the main direction of motion or the stricter direction of positioning requirements, the joining kinematic pair of each movement branched chain and fixed platform is a moving sets, with the joining kinematic pair of moving platform be revolute pair, the intermediary movements pair of movement branched chain is a revolute pair, it is slide block 2, active sliding block 5, kinematic pair between driven sliding block 7 and the fixed platform 1 is a moving sets, kinematic pair between all the other each members is revolute pair, the equal in length of connecting rod 4 and connecting rod 8, the distance between active sliding block 5 and the driven sliding block 7 and the equal in length of moving platform 9, like this, connecting rod 4, active sliding block 5, connecting plate 6, driven sliding block 7, connecting rod 8 constitutes a parallelogram with moving platform 9, when mechanism drives slide block 2 with active sliding block 5 motions, the binary motion that moving platform moves as bidimensional.
Claims (4)
1. two degrees of freedom plane of motion parallel institution, this mechanism is by fixed platform (1) and moving platform (9) and be connected and fixed platform (1) and formed with the movement branched chain that moving platform (9) is made up of slide block and connecting rod, it is characterized in that: every movement branched chain structure is incomplete same, every movement branched chain and the joining kinematic pair of fixed platform (1) are moving sets, with the joining kinematic pair of moving platform (9) be revolute pair, the intermediary movements pair of movement branched chain is a revolute pair, when mechanism kinematic, the motion that moving platform (9) moves as two-freedom.
2. two degrees of freedom plane of motion parallel institution according to claim 1, it is characterized in that: said fixing platform (1) is made up of orthogonal two guide rails, these two guide rails vertically are because soldering tip when work has the motion of translation respectively in this both direction requirement mutually, finish then two vertical or out of plumb of guide rail if move by resultant motion.
3. two degrees of freedom plane of motion parallel institution according to claim 1 and 2 is characterized in that: connecting rod (4), active sliding block (5), connecting plate (6), driven sliding block (7), connecting rod (8) constitute a parallelogram with moving platform (9).
4. according to claim 1 or 2 or 3 described two degrees of freedom plane of motion parallel institutions, it is characterized in that: active sliding block (5), connecting plate (6), driven sliding block (7), connecting rod (4), connecting rod (8) are arranged in the main direction of motion or the stricter direction of positioning requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101125720A CN100364729C (en) | 2003-12-16 | 2003-12-16 | Two degrees of freedom moving planar parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101125720A CN100364729C (en) | 2003-12-16 | 2003-12-16 | Two degrees of freedom moving planar parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1628939A true CN1628939A (en) | 2005-06-22 |
| CN100364729C CN100364729C (en) | 2008-01-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003101125720A Expired - Fee Related CN100364729C (en) | 2003-12-16 | 2003-12-16 | Two degrees of freedom moving planar parallel mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN100364729C (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100377964C (en) * | 2006-01-09 | 2008-04-02 | 天津大学 | Rear suspension mechanism for bicycle shock-absorption |
| CN100391699C (en) * | 2006-06-28 | 2008-06-04 | 江苏工业学院 | Bifreedon space parallel mechanism used for parallel motion equipment |
| CN101863021A (en) * | 2010-06-04 | 2010-10-20 | 清华大学 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
| CN101863023A (en) * | 2010-06-04 | 2010-10-20 | 清华大学 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
| CN102615514A (en) * | 2012-04-10 | 2012-08-01 | 清华大学 | Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same |
| CN102691767A (en) * | 2011-03-25 | 2012-09-26 | 上海理工大学 | Movement amplification device based on force feedback equipment |
| CN105171093A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Variable-input reconfigurable mechanical shaper main motion mechanism |
| CN110355737A (en) * | 2018-04-10 | 2019-10-22 | 苏州迈澜医疗科技有限公司 | Translation mechanism and multiple degrees of freedom guiding mechanism with the translation mechanism |
| CN113996979A (en) * | 2021-12-15 | 2022-02-01 | 徐州环亚交通运输设备有限公司 | A side's pipe inner wall welding set for trailer production |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0791438B1 (en) * | 1996-02-07 | 2002-05-29 | Verein Deutscher Werkzeugmaschinenfabriken e.V. (VDW) | Device for moving a body in space |
| CN2540260Y (en) * | 2002-04-22 | 2003-03-19 | 刘旭东 | Class I three-freedom space prallel robot mechanism |
| CN2700064Y (en) * | 2003-12-16 | 2005-05-18 | 广东工业大学 | Two freedom degree moving plane parallel mechanism |
-
2003
- 2003-12-16 CN CNB2003101125720A patent/CN100364729C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100377964C (en) * | 2006-01-09 | 2008-04-02 | 天津大学 | Rear suspension mechanism for bicycle shock-absorption |
| CN100391699C (en) * | 2006-06-28 | 2008-06-04 | 江苏工业学院 | Bifreedon space parallel mechanism used for parallel motion equipment |
| CN101863021A (en) * | 2010-06-04 | 2010-10-20 | 清华大学 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
| CN101863023A (en) * | 2010-06-04 | 2010-10-20 | 清华大学 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
| CN102691767A (en) * | 2011-03-25 | 2012-09-26 | 上海理工大学 | Movement amplification device based on force feedback equipment |
| CN102615514A (en) * | 2012-04-10 | 2012-08-01 | 清华大学 | Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same |
| CN102615514B (en) * | 2012-04-10 | 2013-08-14 | 清华大学 | Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same |
| CN105171093A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Variable-input reconfigurable mechanical shaper main motion mechanism |
| CN110355737A (en) * | 2018-04-10 | 2019-10-22 | 苏州迈澜医疗科技有限公司 | Translation mechanism and multiple degrees of freedom guiding mechanism with the translation mechanism |
| CN113996979A (en) * | 2021-12-15 | 2022-02-01 | 徐州环亚交通运输设备有限公司 | A side's pipe inner wall welding set for trailer production |
| CN113996979B (en) * | 2021-12-15 | 2022-07-26 | 徐州环亚交通运输设备有限公司 | A square intraductal wall welding set for trailer production |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100364729C (en) | 2008-01-30 |
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Granted publication date: 20080130 Termination date: 20171216 |
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| CF01 | Termination of patent right due to non-payment of annual fee |