CN202399268U - Hybrid robot device facing to high-speed precise operation - Google Patents
Hybrid robot device facing to high-speed precise operation Download PDFInfo
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- CN202399268U CN202399268U CN2011205709976U CN201120570997U CN202399268U CN 202399268 U CN202399268 U CN 202399268U CN 2011205709976 U CN2011205709976 U CN 2011205709976U CN 201120570997 U CN201120570997 U CN 201120570997U CN 202399268 U CN202399268 U CN 202399268U
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- sliding block
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Abstract
The utility model relates to a hybrid robot device facing to a high-speed precise operation, which is provided with one pair of sliding rails which are vertically arranged in a vertical plane, wherein the sliding rails are respectively provided with an upper sliding block and the lower sliding block which mutually correspond in a sliding mode; the upper sliding block can be rotatably connected with a first connecting rod; the lower sliding block can be rotatably connected with a second connecting rod and a third connecting rod; the other end of the first connecting rod can be rotatably connected with the middle of the second connecting rod by a coupling shaft; the other end of the second connecting rod and the other end of the third connecting rod can be respectively and rotatably connected with two ends of a fourth connecting rod; a paster device is fixed on the fourth connecting rod; a trough and an LED (Light Emitting Diode) base plate are arranged below the paster device; and one side of the trough is provided with a CCD (Charge Coupled Device) camera. Because the hybrid robot device is directly driven in a serial-parallel connection hybrid mode and only has four-degree-of-freedom movement, the hybrid robot device has the advantages of simple structure, is convenient to manufacture, and is easy to control, and the requirement on sorting and splicing the LED components can be satisfied.
Description
Technical field
The utility model relates to a kind of series-parallel robot device towards the high speed and precision operation that can satisfy the letter sorting of LED components and parts, plug-in mounting requirement.
Background technology
At present; The letter sorting of LED components and parts, plug-in mounting generally all use robot to carry out; More universal five, six degree of freedom multi-joint type or Cartesian robot, like the robot of Sweden ABB, German KUKA and Japanese FUNUC etc., it is because the free degree and joint are many; So complex structure, cost are high, operating efficiency is also low, and its control is also complicated.
The utility model content
The purpose of the utility model provides a kind of simple in structure, with low cost, control easily, can satisfy the series-parallel robot device towards the high speed and precision operation of the letter sorting of LED components and parts, plug-in mounting requirement.
The technical scheme that realizes the utility model purpose is: a kind of series-parallel robot device towards the high speed and precision operation; Has a pair of slide rail that in perpendicular, laterally arranges one on the other; Be mounted slidably the top shoe and the sliding block of mutual correspondence on the slide rail respectively; Be connected with first connecting rod on the top shoe rotationally, be connected with second connecting rod and third connecting rod on the sliding block rotationally, the other end of first connecting rod is connected with the middle part of second connecting rod through coupling spindle rotationally; The other end of second connecting rod and third connecting rod is connected with the two ends of the 4th connecting rod respectively rotationally; Be fixed with paster apparatus on the 4th connecting rod, the below of paster apparatus is provided with hopper and substrate, and a side of hopper is provided with ccd video camera.
Described paster apparatus comprises suction nozzle, drives suction nozzle motor rotating and promote the cylinder that suction nozzle moves up and down in the horizontal direction.
Also fixedly install on described the 4th connecting rod and be useful on the industry high speed camera of taking substrate.
Described top shoe and sliding block are respectively by each self-corresponding driven by servomotor.
The utlity model has positive effect: the comparing with existing universal five, six degree of freedom multi-joint type or Cartesian robot of the utility model towards the series-parallel robot device of high speed and precision operation; It adopts the connection in series-parallel hybrid mode directly to drive; And have only the four-degree-of-freedom motion, thus simple in structure, easily manufactured, and also control is easily; Can satisfy the requirement of the letter sorting of LED components and parts, plug-in mounting; And reliability and durability, operating efficiency height have tangible cost advantage, can satisfy the economical and practical requirement of user.
Description of drawings
For the content that makes the utility model is expressly understood more easily,, the utility model is done further detailed explanation, wherein below according to specific embodiment and combine accompanying drawing
Fig. 1 is the overall structure sketch map of the utility model towards the series-parallel robot device of high speed and precision operation.
Fig. 2 is the structural representation of series-parallel robot device among Fig. 1.
Fig. 3 is the structural representation of the paster apparatus of the utility model.
Fig. 4 is the structure principle chart of the utility model towards the series-parallel robot device of high speed and precision operation.
Fig. 5 is the control coordinate sketch map of the utility model towards the series-parallel robot device of high speed and precision operation.
The specific embodiment
See Fig. 1,2 and 3, the series-parallel robot device towards the high speed and precision operation of the utility model has frame 15, and frame 15 is provided with a pair of slide rail 12, slide rail 12 in perpendicular for laterally arranging one on the other.Be mounted slidably the top shoe 4 and sliding block 5 of mutual correspondence on the opposite face of slide rail 12 respectively; One end of first connecting rod 6 is rotatably connected on the top shoe 4; Be connected with second connecting rod 7 and third connecting rod 8 on the sliding block 5 rotationally, the other end of first connecting rod 6 is connected through the middle part of coupling spindle with second connecting rod 7 rotationally, and the other end of second connecting rod 7 and third connecting rod 8 is connected with the two ends of the 4th connecting rod 9 respectively rotationally; Be fixed with paster apparatus 13 on the 4th connecting rod 9; Wherein, paster apparatus 13 comprises suction nozzle 13-2, drives suction nozzle 13-2 motor rotating 13-3 and promote the cylinder 13-1 that suction nozzle 13-2 moves up and down in the horizontal direction.The below of paster apparatus 13 is provided with hopper 1 and LED substrate 3, and a side in material chamber 1 is provided with ccd video camera 2.Also fixedly install on the 4th connecting rod 9 and be useful on the industry high speed camera 14 of taking LED substrate 3, in order to each position on the monitoring LED substrate 3 whether all on the plug-in mounting LED element.Top shoe 4 and sliding block 5 are respectively by each self-corresponding driven by servomotor.
The series-parallel robot device of the utility model adopts the connection in series-parallel hybrid mode directly to drive, and realizes letter sorting of LED element and plug-in mounting are reached the high speed and precision equalization based on PMAC.
PMAC, English is programmable multi-axes controller, promptly open multi-axis motion controller.
The hybrid mechanism that above-mentioned four connecting rods of the utility model are formed is as workbench, in the operation under the environment that mounts of hybrid mechanism workbench.By two servomotors that drive upper and lower slide block, promote the four-degree-of-freedom motion that suction nozzle cylinder that moves up and down and the stepper motor of proofreading and correct the LED element are accomplished system.
See Figure 4 and 5, from mechanical mechanism, the series-parallel robot device comprises the motion of three aspects, the one, and X, Y axle horizontal move paster apparatus; The 2nd, the Z axle is controlled the height that mounts of paster apparatus vertical direction; The 3rd, T axle rotation paster apparatus.Wherein, the accurate location of X axle, Y axle completion paster apparatus; The Z axle is realized moving up and down of suction nozzle; The T axle connects suction nozzle, through rotatablely moving adjustment LED component level orientation angle.
The process that mounts of whole LED substrate is made up of a plurality of circulations, and a basic circulation comprises that mainly getting material, correction and subsides puts 3 actions:
The first step: the paster apparatus of series and parallel combined direct driving moves to the material chamber, and the suction nozzle of paster apparatus is drawn the LED element from the material chamber;
Second step: the LED element that said paster apparatus carries absorption moves to the position of the ccd video camera of a side, by the angle of ccd video camera monitoring LED element, and proofreaies and correct to guarantee the degree of mounting of LED element;
The 3rd step: said paster apparatus is transported to the LED substrate to the LED element, and suction nozzle is attached to element the relevant position of LED substrate.
Paster apparatus moved to once more and gets place, material district after once circulation was accomplished, and got into the next round circulation, constantly back and forth just can finally accomplish mounting of monoblock LED substrate.
The utility model is based on the series-parallel robot control of PMAC; With the hybrid mechanism is workbench, has avoided sealed in unit to have deficiencies such as inertia is big, mechanical response time is also long, and control method is simple; Operating efficiency is high, can be widely used in fields such as the letter sorting of LED components and parts, plug-in mounting.
Obviously, the above-mentioned specific embodiment of the utility model only be for explain clearly that the utility model does for example, and be not to be qualification to the utility model embodiment.For the those of ordinary skill in affiliated field, on the basis of above-mentioned explanation, can also be easy to make other pro forma variation and perhaps substitute, and these change or alternative also will being included within the definite protection domain of the utility model.
Claims (4)
1. series-parallel robot device towards the high speed and precision operation; It is characterized in that: have a pair of slide rail (12) that in perpendicular, laterally arranges one on the other; Be mounted slidably the top shoe (4) and the sliding block (5) of mutual correspondence on the slide rail (12) respectively; Be connected with first connecting rod (6) on the top shoe (4) rotationally, be connected with second connecting rod (7) and third connecting rod (8) on the sliding block (5) rotationally, the other end of first connecting rod (6) is connected through the middle part of coupling spindle with second connecting rod (7) rotationally; The other end of second connecting rod (7) and third connecting rod (8) is connected with the two ends of the 4th connecting rod (9) respectively rotationally; Be fixed with paster apparatus (13) on the 4th connecting rod (9), the below of paster apparatus (13) is provided with hopper (1) and substrate (3), and a side of hopper (1) is provided with ccd video camera (2).
2. the series-parallel robot device towards the high speed and precision operation according to claim 1 is characterized in that: also fixedly install on described the 4th connecting rod (9) and be useful on the industry high speed camera (14) of taking substrate (3).
3. the series-parallel robot device towards the high speed and precision operation according to claim 1 and 2; It is characterized in that: described paster apparatus (13) comprises suction nozzle (13-2), drives suction nozzle (13-2) motor rotating (13-3) and promote the cylinder (13-1) that suction nozzle (13-2) moves up and down in the horizontal direction.
4. the series-parallel robot device towards the high speed and precision operation according to claim 1 is characterized in that: described top shoe (4) and sliding block (5) are respectively by each self-corresponding driven by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205709976U CN202399268U (en) | 2011-12-30 | 2011-12-30 | Hybrid robot device facing to high-speed precise operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205709976U CN202399268U (en) | 2011-12-30 | 2011-12-30 | Hybrid robot device facing to high-speed precise operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202399268U true CN202399268U (en) | 2012-08-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205709976U Expired - Lifetime CN202399268U (en) | 2011-12-30 | 2011-12-30 | Hybrid robot device facing to high-speed precise operation |
Country Status (1)
| Country | Link |
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| CN (1) | CN202399268U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264384A (en) * | 2013-05-20 | 2013-08-28 | 苏州大学 | Series-parallel combined three-freedom-degree translation carrying mechanism |
| CN104440906A (en) * | 2014-11-24 | 2015-03-25 | 东莞市智赢智能装备有限公司 | High-speed robot for production assembly line system |
| CN104690713A (en) * | 2015-01-21 | 2015-06-10 | 安徽工业大学 | Four-DOF (degree of freedom) parallel sorting robot |
| CN104827466A (en) * | 2015-04-14 | 2015-08-12 | 马鞍山鼎泰稀土新材料股份有限公司 | Four-freedom-degree high-speed conveying robot mechanism |
| CN106229275A (en) * | 2016-08-05 | 2016-12-14 | 深圳清华大学研究院 | A kind of chip mounter and pasting method |
| CN106229277A (en) * | 2016-08-05 | 2016-12-14 | 深圳清华大学研究院 | A kind of chip mounter and pasting method |
| WO2018023962A1 (en) * | 2016-08-05 | 2018-02-08 | 深圳瑞波光电子有限公司 | Die bonder and die bonding method |
| CN107876414A (en) * | 2017-10-11 | 2018-04-06 | 南京邮电大学 | A kind of sheet metal with additional shaft cuts part sorting equipment |
-
2011
- 2011-12-30 CN CN2011205709976U patent/CN202399268U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264384B (en) * | 2013-05-20 | 2016-09-28 | 苏州大学 | Sries-parallel connection type Three Degree Of Freedom translation carrying mechanism |
| CN103264384A (en) * | 2013-05-20 | 2013-08-28 | 苏州大学 | Series-parallel combined three-freedom-degree translation carrying mechanism |
| CN104440906A (en) * | 2014-11-24 | 2015-03-25 | 东莞市智赢智能装备有限公司 | High-speed robot for production assembly line system |
| CN104440906B (en) * | 2014-11-24 | 2016-06-01 | 东莞市智赢智能装备有限公司 | Production line system high-speed robot |
| CN104690713A (en) * | 2015-01-21 | 2015-06-10 | 安徽工业大学 | Four-DOF (degree of freedom) parallel sorting robot |
| CN104690713B (en) * | 2015-01-21 | 2016-02-10 | 安徽工业大学 | A kind of four-degree-of-freedom sorting machine people in parallel |
| CN104827466A (en) * | 2015-04-14 | 2015-08-12 | 马鞍山鼎泰稀土新材料股份有限公司 | Four-freedom-degree high-speed conveying robot mechanism |
| CN106229275A (en) * | 2016-08-05 | 2016-12-14 | 深圳清华大学研究院 | A kind of chip mounter and pasting method |
| CN106229277A (en) * | 2016-08-05 | 2016-12-14 | 深圳清华大学研究院 | A kind of chip mounter and pasting method |
| WO2018023962A1 (en) * | 2016-08-05 | 2018-02-08 | 深圳瑞波光电子有限公司 | Die bonder and die bonding method |
| CN106229275B (en) * | 2016-08-05 | 2019-03-26 | 深圳清华大学研究院 | A kind of chip mounter and pasting method |
| CN106229277B (en) * | 2016-08-05 | 2019-03-26 | 深圳清华大学研究院 | A kind of chip mounter and pasting method |
| CN107876414A (en) * | 2017-10-11 | 2018-04-06 | 南京邮电大学 | A kind of sheet metal with additional shaft cuts part sorting equipment |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120829 |
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| CX01 | Expiry of patent term |