CN2700064Y - Two freedom degree moving plane parallel mechanism - Google Patents
Two freedom degree moving plane parallel mechanism Download PDFInfo
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- CN2700064Y CN2700064Y CN 200320119227 CN200320119227U CN2700064Y CN 2700064 Y CN2700064 Y CN 2700064Y CN 200320119227 CN200320119227 CN 200320119227 CN 200320119227 U CN200320119227 U CN 200320119227U CN 2700064 Y CN2700064 Y CN 2700064Y
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- slide block
- connecting rod
- platform
- motion
- sliding block
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Abstract
The utility model belongs to the field of industrial robot, aiming at providing a two freedom degree moving plane parallel mechanism. The mechanism comprises a fixed platform 1, a movable platform 9 and a motion branched chain which is used to connect a fixed platform with a movable platform and formed by a slide block and a connecting rod. The fixed platform 1 is composed of orthogonal two lead rails. The active slide block 5 and the follow-up slide block 7 are connected together by a connecting plate 6. A parallelogram is composed of a connecting rod 4, the active slide block 5, the connecting plate 6, the follow-up slide block 7, a connecting rod 8 and the movable platform 9. The kinematic pair among the slide block 2, the active slide block 5, the follow-up slide block 7 and the fixed platform 1 is a moving pair. The kinematic pairs among other components are all revolving pairs. The movable platform makes a motion of bidimensional movable two degrees of freedom when the mechanism moves. The utility model has the advantages of high accuracy, simple structure, low cost of manufacture, light weight, etc. By fixing the suction head motor on a frame and relieving moving mass.
Description
Technical field
The utility model belongs to the industrial robot field, and 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 purpose of this utility model is to overcome weak point of the prior art and the parallel institution that provides a kind of planar to move, and the present invention has that moving mass is light, high accuracy, high rigidity, advantages of simple structure and simple.
The technical solution of the utility model 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.
Above-mentioned slide block comprises slide block 2, active sliding block 5, driven sliding block 7, and above-mentioned connecting rod includes 3,4,8 three; Above-mentioned connecting rod 4, active sliding block 5, connecting plate 6, driven sliding block 7, connecting rod 8 constitute a parallelogram with moving platform 9.
The beneficial effects of the utility model are: 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 utility model embodiment.
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 the preferred version that the utility model is implemented 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 (3)
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 is characterized in that: above-mentioned slide block comprises slide block (2), active sliding block (5), driven sliding block (7), above-mentioned connecting rod include (3), (4), (8) three; Above-mentioned connecting rod (4), active sliding block (5), connecting plate (6), driven sliding block (7), connecting rod (8) constitute a parallelogram with moving platform (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200320119227 CN2700064Y (en) | 2003-12-16 | 2003-12-16 | Two freedom degree moving plane parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200320119227 CN2700064Y (en) | 2003-12-16 | 2003-12-16 | Two freedom degree moving plane parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2700064Y true CN2700064Y (en) | 2005-05-18 |
Family
ID=34762425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200320119227 Expired - Fee Related CN2700064Y (en) | 2003-12-16 | 2003-12-16 | Two freedom degree moving plane parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2700064Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100364729C (en) * | 2003-12-16 | 2008-01-30 | 广东工业大学 | Two degrees of freedom moving planar parallel mechanism |
| CN103288035A (en) * | 2013-06-05 | 2013-09-11 | 河南工业大学 | Silicon micro plane flexible connecting rod mechanism manufactured on semiconductor chip |
| CN104440883A (en) * | 2014-12-04 | 2015-03-25 | 齐鲁工业大学 | Planar two-degree of freedom robot |
| CN105171497A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Variable-input reconfigurable mechanical shaper main motion mechanism |
| CN106315454A (en) * | 2016-08-18 | 2017-01-11 | 江苏大学 | Novel linear lifting mechanism |
-
2003
- 2003-12-16 CN CN 200320119227 patent/CN2700064Y/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100364729C (en) * | 2003-12-16 | 2008-01-30 | 广东工业大学 | Two degrees of freedom moving planar parallel mechanism |
| CN103288035A (en) * | 2013-06-05 | 2013-09-11 | 河南工业大学 | Silicon micro plane flexible connecting rod mechanism manufactured on semiconductor chip |
| CN103288035B (en) * | 2013-06-05 | 2017-02-08 | 河南工业大学 | Silicon micro plane flexible connecting rod mechanism manufactured on semiconductor chip |
| CN104440883A (en) * | 2014-12-04 | 2015-03-25 | 齐鲁工业大学 | Planar two-degree of freedom robot |
| CN104440883B (en) * | 2014-12-04 | 2016-01-06 | 齐鲁工业大学 | Plane two-degree-of-freedorobot robot |
| CN105171497A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Variable-input reconfigurable mechanical shaper main motion mechanism |
| CN105171497B (en) * | 2015-10-27 | 2017-12-08 | 北华航天工业学院 | Become input restructural shaping machine main motion mechanism |
| CN106315454A (en) * | 2016-08-18 | 2017-01-11 | 江苏大学 | Novel linear lifting mechanism |
| CN106315454B (en) * | 2016-08-18 | 2018-06-26 | 江苏大学 | A kind of straight line elevating mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |