KR20090099761A - Planar type high-speed parallel mechanism for positioning - Google Patents

Abstract

PURPOSE: A planar type high-speed parallel transfer mechanism is provided to have high speed, high accuracy, and high stiffness while it is less weight and is moved on the plate freely. CONSTITUTION: A planar type high-speed parallel transfer mechanism is composed of two fixing guides(2,3)s, two movable guides(4,5), two links(6,7), and a movable platform(8). The two fixing guides are extended in a specific direction while being parallel with each other, and the two movable guides are extended so that they are crossed with fixing guides. The two movable guides are connected with more than one fixing guide above them by a prismatic joint. The two links are connected with more than one movable guides above them through a prismatic joint.

Description

Planar type high-speed parallel mechanism for positioning

The present invention relates to a planar high-speed feed parallel mechanism, and more particularly, to a planar high-speed feed parallel mechanism capable of realizing three degrees of freedom motion of the X-axis, Y-axis and rotation at high speed and high accuracy in a plane.

In recent years, the manufacture of electronic devices often requires a process of handling a printed circuit board (PCB) for mass production. In particular, such a process is essential in a surface mount technology (SMT) or a depaneling process of a printed circuit board. Here, the surface mounting technology is a technology that directly implements the electronic circuit on the surface of the printed circuit board, the depaneling process is a process of separating the individual printed circuit board after the surface mounting work in a large manufacturing panel including several printed circuit boards to be. In such a mass production process, the device performing the work must be fast, accurate and inexpensive. The individual process consists of subsystems such as mounting, separating and positioning systems, of which the conveying system is an essential system for the individual process.

The most commonly used form of planar conveying system is the planar two degree of freedom serial mechanism. FIG. 9 is a view schematically showing a conventional XY-stage device configuration implementing the planar two degree of freedom disclosed in Korean Patent Publication No. 1996-0015125. The conventional XY-stage 110 shown in FIG. 9 is provided with the stage base 11 which supports an apparatus, On the stage base 11, the Y-stage 12 is the Y-stage 12 The X-stage 13 is seated on the top. Then, an X-stage drive motor 13m and a Y-stage drive motor 12m for generating a driving force for the reciprocating linear motion of each stage 12 and 13 are provided on one side of each stage 12 and 13, respectively. have. This planar two degree of freedom series mechanism requires a rotation axis that provides a separate degree of freedom of rotation in order to realize free movement on the plane. However, in order to have a separate axis of rotation has the disadvantage that the weight of the system is increased and the cost is added to configure the system. When the weight of the system becomes large, there is a problem that it is difficult to realize high speed movement or high precision movement.

It is an object of the present invention to provide a planar high speed parallel mechanism which can realize free movement on a plane and has high speed, high accuracy and high stiffness.

An object of the present invention as described above, two fixing guides extending in one direction and arranged in parallel to each other; Two movable guides extending in a direction crossing the fixing guides and connected to at least one of the fixing guides by a prismatic joint on top of the fixing guides; Two links each connected by a prismatic joint to an upper side of one of the movable guides; And a movable platform parallel to each of the two links, the movable platform being connected to a revolved joint.

Here, the revolute joint connecting the link and the movable platform is preferably arranged to protrude toward the movable platform on the movable guide.

Here, it is preferable that the length of the link projecting toward the movable platform side on the movable guide is greater than the distance between two revolution joints of the movable platform.

Here, (i) an actuator (A1) to move the first movable guide along the first fixed guide; (ii) an actuator A2 for allowing the second movable guide to move along the second fixed guide; (iii) an actuator B1 for allowing the first link to move along the first movable guide; And (iv) three or more actuators among the actuators B2 allowing the second link to move along the second movable guide.

Alternatively, the actuator A1 allows the first movable guide to move along the first fixed guide, and the actuator to allow the second movable guide to move independently of the first movable guide along the first fixed guide. A2), comprising: (i) an actuator B1 for allowing the first link to move along the first movable guide; And (ii) one or more actuators B2 which allow the second link to move along the second movable guide.

According to the present invention, a planar high speed parallel mechanism having a simple structure, low weight, free movement on a plane, high speed, high accuracy, and high stiffness can be realized. ) Can be implemented.

Hereinafter, with reference to the accompanying drawings a preferred embodiment of the present invention will be described in more detail.

Figure 1 is a perspective view schematically showing the configuration of a planar high speed transfer parallel mechanism according to the present invention.

As shown in FIG. 1, the planar high-speed conveying parallel mechanism 100 according to the present invention includes first and second fixed guides 2 and 3, first and second movable guides 4 and 5, and first and second guides. A second link 6, 7 and a movable platform 8.

The first and second fixing guides 2 and 3 extend in one direction on the predetermined base 1 and are arranged in parallel with each other.

The first and second movable guides 4 and 5 extend in a direction crossing the fixing guides 2 and 3, and the fixing guides 2, 3 on the upper side of the fixing guides 2, 3. 3) is connected to at least one of the prismatic joint (prismatic joint). Here, "prismatic joint" means that the connected members are connected to each other by sliding relative movement. In addition, the "cross direction" herein means a direction that is not parallel and is not limited to the case orthogonal as shown in the figure. However, it is preferable that the fixing guides 2, 3 and the movable guides 4, 5 orthogonal to each other, to facilitate the control of the entire mechanism. The gap between the two fixed guides does not change, and the two movable guides can move on the fixed guide.

The first and second links 6, 7 are connected to the movable platform 8 and revolute joints C1 and C2, the revolut joint portion being connected to the movable platform from the movable guides. (8) It functions to protrude in the direction. To this end, the first and second links respectively extend in a direction intersecting with the movable guides, and are fixedly disposed on an upper side of the movable guide. In the figure the first and second links 6, 7 are shown orthogonal to the movable platforms 8, but the invention is not so limited. However, in order to facilitate control through the symmetrical movement and configuration of the mechanism, the two links 6 and 7 are preferably orthogonal to the movable guides 4 and 5, respectively. When the movable guides 4 and 5 and the fixed guides 2 and 3 are orthogonal, the links 6 and 7 are arranged in parallel with the fixed guides 2 and 3.

The movable platform 8 is connected to the two links 6, 7 respectively with a revolved joint. The shape of the movable platform 8 is indicated by a rectangular link in the figure, but the scope of the present invention is not limited to the illustrated shape. In addition, any end effector required by the system employing the parallel mechanism of the present invention may be arranged.

In the above, the fixing guides and the links are arranged in parallel with each other, and the movable guides are preferably arranged in the direction orthogonal to the fixing guides or the links in terms of enabling precise movement and facilitating control. However, the present invention is not limited thereto.

At least three actuators are required to implement the planar three degree of freedom of movement and rotation in the X-axis direction and the Y-axis direction by driving the planar high-speed transfer parallel mechanism 100 configured as described above. For example, three of the actuators implementing the following four movements may optionally be used.

(i) an actuator A1 which enables relative movement between the first fixed guide and the first movable guide;

(ii) an actuator A2 which enables relative movement between the second fixed guide and the second movable guide;

(iii) an actuator B1 for enabling relative movement between the first movable guide and the first link;

(iv) Actuator B2 enabling relative movement between the second movable guide and the second link.

Preferably, all four actuators are preferably used. The reason for this will be described in detail later with reference to the singularity.

2 to 4 schematically show a method for implementing the Y-axis direction, the X-axis movement and the rotational motion of the movable platform 8 in the planar high speed parallelism mechanism of the present invention configured as described above.

As shown in FIG. 2, the movable guides 4, 5 are moved along the links 6, along the movable guides 4, 5 by an actuator B1 or B2 without moving on the stationary guides 2, 3. When 7) moves in the same direction, reciprocating movement in the Y axis direction of the movable platform 8 is possible.

As shown in FIG. 3, links 6, 7 are guided along the fixing guides 2, 3 by actuator A1 or A2 without moving on the movable guides 4, 5. When the fields 4 and 5 are moved, the reciprocating motion of the movable platform 8 in the X axis direction is possible.

As shown in FIG. 4, the movable guide (first movable guide 2) located at the upper side of FIG. 4 of the two movable guides moves to the left side of the drawing, and the movable guide (second movable guide) located at the lower side of FIG. 4. , 3) moves to the right side of the drawing, the link (second link, 7) located on the left side of FIG. 4 moves downward, and the link (first link, 6) located on the right side of FIG. 4 moves upwards, The movable platform 8 rotates counterclockwise in the plane of FIG. 4. The movable platform 8 can rotate clockwise when the movable guides 4, 5 and the links 6, 7 move in the opposite direction as mentioned here.

5 and 6 show a view showing a 90 ° rotation of the movable platform 8.

By virtue of the combination of linear movement of the links and the movable guides as shown in FIG. 5, the movable platform 8 connected to the links with a revolute joint is rotatable clockwise by 90 °. Of course, even when rotating the movable platform 8 in the opposite direction as shown in Figure 5 can be rotated to 90 ° counterclockwise as shown in FIG.

In the embodiment shown in the drawings, it is intended not to rotate by more than 90 °, but when the length of the link is increased, both clockwise and counterclockwise rotations of nearly 180 ° are possible. However, when the length of the link is long, rigidity may be a problem depending on the function of the end effector installed in the movable platform 8. For example, when a rotary cutting tool of a router performing the depaneling operation is installed on the movable platform 8, the link is subjected to a large bending stress by the cutting force required to cut the panel, so that a high precision Work can be difficult. Therefore, when it is configured to enable rotation of 90 degrees or more, it may be preferable that the force acting on the end effector is small or high precision work is not required.

7 and 8 are views showing the position and attitude corresponding to the singularity point of the planar high speed parallelism mechanism of the present invention.

Singularity refers to the position and posture at which the degree of freedom of the instrument changes instantaneously. In the parallel mechanism, if the mechanism is in the singularity state, the movement may be restricted, the end effector may be out of control, or even the mechanism may be broken. Therefore, the design to avoid the singularity is very important in the parallel mechanism design.

In the planar high-speed transfer parallel mechanism of the present invention, as shown in FIG. 7, one singular point exists in a state where the rotation angle of the movable platform 8 is 0 °, and as shown in FIG. There is another singularity with the rotation angle at 90 °. In FIG. 8, only the case where the counterclockwise rotation angle of the movable platform 8 is 90 degrees is shown, but it is the same also when the clockwise rotation angle of the movable platform 8 is 90 degrees.

In order to avoid this singularity state during operation, it is preferred in the present invention to use all four actuators mentioned above.

That is, only three actuators A1, A2, and B1 in the same state as shown in FIG. If you use the actuator of B2 at this time, normal operation is possible. Similarly, even in the case shown in Fig. 8, the actuators of A1, B1, and B2 alone are constrained in movement and cannot change their posture or position. If you use the actuator of A2 at this time, normal operation is possible.

On the other hand, as shown in the drawings, but described only the case where the actuators for driving the two movable guides are respectively installed in different fixed guides, the present invention is not limited to this, two movable guides in one fixed guide In the case where an actuator for independently driving the actuator is installed, it is also within the scope of the present invention.

In the following description of the present invention, the embodiments illustrated in the drawings have been described with reference to the embodiments, which are merely exemplary, and various modifications and equivalent other embodiments are possible to those skilled in the art. I will understand the point. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

1 is a perspective view schematically showing the configuration of a planar high speed transfer parallel mechanism according to the present invention.

2 to 4 schematically show a case in which the parallel mechanism shown in FIG. 1 implements Y-axis movement, X-axis movement, and rotational movement, respectively.

5 and 6 show a 90 ° rotation of the movable platform.

7 and 8 are views showing the position and posture corresponding to the singularity point of the planar high speed parallelism mechanism of the present invention.

<Explanation of symbols for the main parts of the drawings>

1: base 2: first fixing guide

3: second fixing guide 4: first movable guide

5: The Second Operation Guide 6: The First Link

7: Link 2 8: Operation Platform

9: first slider 10: second slider

100: plane high speed parallelism mechanism

Claims (5)

Two fixing guides extending in one direction and arranged in parallel to each other; Two movable guides extending in a direction crossing the fixing guides and connected to at least one of the fixing guides by a prismatic joint on top of the fixing guides; Two links each connected by a prismatic joint to an upper side of one of the movable guides; And A planar high speed traverse parallel mechanism comprising a movable platform connected to each of the two links by a revolved joint. The method of claim 1, And a revolute joint connecting said link and said movable platform is arranged to protrude toward said movable platform on said movable guide. The method of claim 2, And a planar high feed parallel mechanism in which the length of the link projecting from the movable guide toward the movable platform is greater than the distance between two revolution joints of the movable platform. The method of claim 1, (i) an actuator A1 for allowing the first movable guide to move along the first fixed guide; (ii) an actuator A2 for allowing the second movable guide to move along the second fixed guide; (iii) an actuator B1 for allowing the first link to move along the first movable guide; And (iv) a planar high speed transfer parallel mechanism further comprising three or more actuators of the actuators B2 allowing the second link to move along the second movable guide. The method of claim 1, An actuator A1 for allowing the first movable guide to move along the first fixed guide, and an actuator A2 for allowing the second movable guide to move independently of the first movable guide along the first fixed guide. Including, (i) an actuator B1 for allowing the first link to move along the first movable guide; And (ii) a planar high speed transfer parallel mechanism further comprising an actuator (B2) of the actuator (B2) to allow the second link to move along the second movable guide.

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