WO2019090475A1

WO2019090475A1 - Scara high-speed parallel manipulator having partially decoupled and balanced kinematics

Info

Publication number: WO2019090475A1
Application number: PCT/CN2017/109721
Authority: WO
Inventors: 吴广磊; 赵文康; 王德伦; 董惠敏
Original assignee: 大连理工大学
Priority date: 2017-11-07
Filing date: 2017-11-07
Publication date: 2019-05-16

Abstract

The present invention relates to the field of parallel robots. Provided is a SCARA high-speed parallel manipulator having partially decoupled and balanced kinematics. The SCARA high-speed parallel manipulator has a main body consisting of two kinematic chains, and comprises motors (9, 10) concealed inside a fixed base (1), revolute pairs (36, 39), active links (3, 8) and passive links (4, 7). Two active revolute pairs are collinearly arranged to constitute a five-bar planar mechanism. The kinematic chain that determines that an actuator at a distal end is to move in a vertical direction comprises a motor (33, 32) fixed to the active link (3, 8) and a synchronous belt system concealed inside the link. The manipulator is based on a five-bar planar mechanism, and has a simple structure. The collinearly arranged active revolute pairs (36) enable the link to rotate in a full circle, thereby expanding an operating space. The actuator at the distal end can independently move and rotate in the vertical direction, achieving partially decoupled kinematics and thereby facilitating control thereof. The two motors that drive independent movements are arranged at two sides of the active revolute pair (36), thereby providing a manipulator with balanced kinematics.

Description

SCARA high speed parallel manipulator with partial decoupling and dynamic balance characteristics

Technical field

[0001] The present invention belongs to the field of parallel robot technology, and in particular to a SCARA high speed parallel manipulator with partial decoupling and dynamic balance characteristics for packaging, assembly, and material picking applications.

Background technique

[0002] A four-degree-of-freedom parallel mechanism capable of three-moving and vertical-rotating SACRA motion in a space, having a large working space and structural rigidity, is suitable for rapid picking work, exhibiting a large industrial application potential And more and more widely used in high-speed picking applications in light industrial production lines. The high-speed parallel manipulator with patent number US4976582, US20090019960A EP2436511B1 adopts a full-symmetric parallel structure, with a large number of branches, nonlinear coupling of motion height, and complicated structure and control. From the point of view of manufacturing and application, high-speed parallel robotic equipment with simple and compact burst structure and motion decoupling and dynamic balance characteristics is economical for reducing manufacturing costs, simplifying control modes and algorithms, and improving dynamic response.

technical problem

[0003] The object of the present invention is to provide a partially decoupled high-speed parallel manipulator for use on a production line in order to make the manipulator structure simple and compact, large working space, and good dynamic response characteristics, easy to manufacture, control, and reduce production cost.

Problem solution

Technical solution

[0004] Technical Solution of the Invention:

[0005] A SCARA high-speed parallel manipulator with partial decoupling and dynamic balance characteristics, the main body is a motion branch

[0006] The motion branch has two, which are a first motion branch and a second motion branch;

[0007] The first motion branch includes a first active link, a first passive link, a proximal drive, and an elbow Connecting device and end executing device;

[0008] The proximal drive device is located inside the fixed base and is sealed by the base end cover, and includes a first branch motor, a first chain drive timing belt, a first chain spindle pulley and a first branch The first spindle shaft is fixed on the first branch spindle pulley, and forms a rotary pair between the bearing and the bearing housing. The first active link is fixed on the first branch spindle, and the bearing seat end cover limits the bearing. The axial displacement is shared by the first active link and the first passive link, including the first branched pulley shaft and the pulley bearing, the first active link and the first passive link and the first a chain pulley axle is formed by a pulley bearing to form a rotary pair, and the first active link and the first passive link are independently rotated with respect to the first branch pulley axle; the end effect device further comprises a ball screw and a wire a lever nut, a screw nut and a first passive link, and a second passive link end constitute a rotary pair;

[0009] The second motion branch includes a second active link, a second passive link, a proximal drive device, an elbow connection device, and an end effect device; the proximal drive device is located inside the fixed base Sealed by the base end cap, comprising a second branch motor, a second branch drive timing belt, a second branch spindle pulley and a second branch spindle, and the second branch spindle is fixed to the second branch spindle belt a rotating pair is formed on the wheel, passing through the first branch main shaft pulley and the first branch main shaft, and the second driving link is fixed on the second branch main shaft; the elbow connecting device is composed of the second driving link and The second passive link is shared, and includes a second branch pulley shaft and a pulley bearing, and the second active link and the second driven link and the second branch pulley shaft respectively form a rotary pair through the pulley bearing, and the second active connection The rod and the second passive link are independently rotated with respect to the second branching pulley shaft; the end effecting device further comprises a spline shaft and a spline rail, and the rotating pair is formed between the spline rail and the second passive link;

[0010] The end effector device of the first motion branch is driven by a motor driven, an active synchronous belt system and a passive synchronous belt system fixed on the first active link; the active synchronous belt system includes the first The chain pulley and the first branch active timing belt, the passive timing belt system comprises a first branch chain axle and a first branch passive timing belt; the first branch active timing belt is located at the first active link In the cavity, the first chain pulley of the first active link proximal active device, the elbow connection device shared by the first active link and the first passive link, and the lower end of the first chain pulley shaft The first branch passive timing belt is located in the cavity of the first passive link, and is disposed on the upper end of the first chain pulley shaft in the elbow connection device of the first active link and the first passive link Pulley, outside of the first passive link end screw nut On the pulley

[0011] The end effector of the second motion branch is driven by a motor driven, an active timing belt system and a passive timing belt system fixed to the second active link; the active timing belt system includes a second a chain pulley and a second branch active timing belt, the passive timing belt system includes a second branch chain axle and a second branch passive timing belt; and the second branch active timing belt is located at the second active link In the cavity, the second chain pulley disposed on the proximal active end of the second active link, the second active link and the second passive link share the upper end of the second chain pulley shaft in the elbow connection device The second branch passive timing belt is located in the cavity of the second passive link, and is disposed on the lower end of the second chain pulley shaft in the elbow connection device of the first active link and the first passive link. a pulley, the pulley on the outside of the first passive link end spline guide;

[0012] the lower end of the ball screw in the first motion branch end effect device and the lower end of the spline shaft in the second motion branch end effect device are connected by an actuator link, and the ball screw is fixed on the actuator link. The lower end of the spline shaft and the actuator link constitute a swivel pair and a fixed connection gripper; the connection of the spline shaft to the actuator link limits the rotation of the ball screw.

Advantageous effects of the invention

Beneficial effect

[0013] A partially decoupled SCARA high-speed parallel manipulator of the present invention adopts a simple planar five-bar mechanism to reduce manufacturing cost, and the end effector can generate a continuous rotation output, has partial motion decoupling characteristics, and simplifies control. The whole system has dynamic balance characteristics, which is beneficial to improve the dynamic response of the robot. Brief description of the drawing

DRAWINGS

1 is a schematic view showing the external mechanical structure of the mechanism of the present invention.

2 is a schematic view of the internal transmission structure of the mechanism of the present invention.

3 is a schematic view of the internal transmission structure of the mechanism of the present invention b.

4 is a schematic diagram of dynamic balance characteristics of the mechanism of the present invention.

[0018] In the figure: 1 fixed base; 2 base end cover; 3 first active link; 4 first passive link;

[0019] 5 ball screw; 6 spline shaft; 7 second passive link; 8 second active link; 9 first branch motor;

[0020] 10 second branch motor; 11 bearing seat; 12 first branch active timing belt; [0021] 13 first chain pulley shaft; 14 first chain passive timing belt; 15 screw nut; 16 spline rail;

[0022] 17 second branch passive timing belt; 18 second chain pulley shaft; 19 second branch active timing belt;

[0023] 20 bearing end cap; 21 second chain spindle; 22 first chain spindle; 23 bearing;

[0024] 24 first branch drive timing belt; 25 first branch spindle pulley; 26 second branch spindle pulley;

[0025] 27 second branch drive timing belt; 28 holder; 29 actuator link; 30 pulley bearing;

[0026] 31 second chain pulley; 32 second chain motor; 33 first chain motor; 34 first chain pulley;

[0027] 35 racks; 36 active swivel pairs; 37 centroids; 38 links; 39 passive swivel pairs.

Embodiments of the invention

[0028] A SCARA high-speed parallel manipulator having partial decoupling and dynamic balance characteristics according to the present invention is described in detail below with reference to the accompanying drawings and embodiments:

[0029] A SCARA high-speed parallel manipulator with partial decoupling and dynamic balance characteristics, the main body is a motion branch

[0030] a total of two movement branches, which are a first motion branch and a second motion branch;

[0031] The first motion branch includes a first active link 3, a first passive link 4, a proximal drive device, an elbow connection device, and an end effect device;

[0032] The proximal drive device is located inside the fixed base 1 and is sealed by the base end cover 2, and includes a first branch motor 10, a first chain drive timing belt 27, and a first chain spindle pulley 26 And the first chain main shaft 22, the first chain main shaft 22 is fixed on the first branch main shaft pulley 26, and the rotating pair is formed between the bearing 23 and the bearing housing 11, and the first driving link 3 is fixed to the first branch. On the chain main shaft 22, the bearing end cap 20 limits the axial displacement of the bearing 23; the elbow connecting device is shared by the first driving link 3 and the first passive link 4, and includes the first chain pulley shaft 13 and The pulley bearing 30, the first driving link 3 and the first driven link 4 and the first branching pulley shaft 13 both form a rotating pair through the pulley bearing 30, and the first driving link 3 and the first passive link 4 are opposite The first chain pulley shaft 13 is independently rotated; the end effect device further includes a ball screw 5 and a screw nut 15, and the screw nut 15 and the first passive link 4 and the second passive link 7 end Rotary pair

[0033] The second motion branch includes a second active link 8, a second passive link 7, a proximal drive, an elbow connection, and an end effector; the proximal drive is located at a fixed base Seat 1 inside, by base The end cover 2 is sealed, and includes a second branch motor 9, a second branch drive timing belt 24, a second branch spindle pulley 25 and a second branch spindle 21, and the second branch spindle 21 is fixed to the second branch The chain main pulley 15 passes through the first branch main pulley 26 and the first branch main shaft 22 to form a swivel pair, and the second main connecting rod 8 is fixed to the second branch main shaft 21; the elbow connection The device is shared by the second drive link 8 and the second passive link 7, and includes a second branch pulley shaft 18 and a pulley bearing 30, a second drive link 8 and a second passive link 7 and a second chain link The axles 18 each constitute a rotary pair by a pulley bearing 30, and the second drive link 8 and the second passive link 7 are independently rotated with respect to the second chain pulley shaft 18; the end effect device further includes a spline shaft 6 And a spline guide 16, a spline guide 16 and a second passive link 7 constitute a swivel pair;

[0034] The end effector of the first motion branch is driven by a motor 33 fixed to the first drive link 3, an active timing belt system, and a passive timing belt system; the active timing belt system includes a first chain pulley 34 and a first branch active timing belt 12, the passive timing belt system comprising a first chain pulley shaft 13 and a first branch passive timing belt 14; said first branch active timing belt 12 is located in the cavity of the first driving link 3, is disposed on the first branching pulley 34 of the proximal active device of the first driving link 3, and is shared by the first driving link 3 and the first passive link 4 a pulley of a lower end of the first chain pulley shaft 13 in the elbow connecting device; the first branched passive timing belt 14 is located in a cavity of the first passive link 4, and is disposed on the first driving link 3 and a passive link 4 shares a pulley on the upper end of the first branch pulley shaft 13 in the elbow connection device, and a pulley on the outer portion of the first passive link 4 end screw nut 15;

[0035] The end effector of the second motion branch is driven by a motor 32 fixed to the second drive link 8, an active timing belt system, and a passive timing belt system; the active timing belt system includes a second branch pulley 34 and a second branch active timing belt 19, the passive timing belt system comprising a second branch pulley axle 18 and a second branched passive timing belt 17; said second branched active timing belt 19 is located in the cavity of the second driving link 8, is disposed on the second chain pulley 31 of the proximal active device of the second driving link 8, and the second driving link 8 and the second passive link 7 share the elbow a pulley of an upper end of the second chain pulley shaft 18 in the connecting device; the second branched passive timing belt 17 is located in the cavity of the second passive link 7, and is disposed on the first driving link 8 and the first The passive link 7 shares a pulley on the lower end of the second branch pulley shaft 18 in the elbow connection device, and a pulley on the outside of the end spline guide 16 of the first passive link 7;

[0036] The lower end of the ball screw 5 in the first motion branch end effect device and the lower end of the spline shaft 6 in the second motion branch end effect device are connected by an actuator link 29, and the ball screw 5 is fixed to the actuator On the connecting rod 29, The lower end of the spline shaft 6 and the actuator link 29 constitute a swivel pair and a fixed connection gripper 28; the connection of the spline shaft 6 to the actuator link 29 restricts the rotation of the ball screw 5.

The robot can produce movement in three directions and rotation in the vertical direction to form a SCARA motion, wherein the vertical movement and rotation are independent of the movement in the plane, respectively, and are partially decoupled motion.

Claims

Claim

[Claim 1] A SCARA high-speed parallel manipulator having partial decoupling and dynamic balance characteristics, wherein a body of the SCARA high-speed parallel manipulator is a motion branch;

The two motion branches are two, which are a first motion branch and a second motion branch; the first motion branch includes a first active link (3), a first passive link (4), a proximal drive, an elbow attachment, and an end effector;

The proximal drive device is located inside the fixed base (1) and is sealed by the base end cover (2), and includes a first branch motor (10), a first chain drive timing belt (27), and a first branch. a chain spindle pulley (26) and a first branch spindle (22), the first chain spindle (22) is fixed to the first branch spindle pulley (26), through the bearing (23) and the bearing housing (11) The first active link (3) is fixed on the first branch main shaft (22), and the bearing end cover (20) limits the axial displacement of the bearing (23); the elbow connecting device Shared by the first active link (3) and the first passive link (4), including a first branch pulley shaft (13) and a pulley bearing (30), a first active link (3) and a first passive The connecting rod (4) and the first branching pulley shaft (13) respectively form a rotating pair through the pulley bearing (30), the first active connecting rod (3) and the first passive connecting rod (4 Xiang for the first branching belt) The axle (13) is independently rotated; the end effect device further includes a ball screw (5) and a screw nut (15), the screw nut (15) and the first passive link (4), the second passive connection The second motion branch formed by the slewing pair between the ends of the rod (7) The chain includes a second active link (8), a second passive link (7), a proximal drive, an elbow connection, and an end effector; the proximal drive is located inside the fixed base (1), Sealed by the base end cap (2), comprising a second branch motor (9), a second branch drive timing belt (24), a second branch spindle pulley (25) and a second branch spindle (21) The second branch main shaft (21) is fixed on the second branch main shaft pulley (25), passes through the first branch main shaft pulley (26) and the first branch main shaft (22) constitutes a rotary pair, and the second The active link (8) is fixed to the second branch main shaft (21); the elbow connecting device is shared by the second active link (8) and the second passive link (7), including the second branch The pulley shaft (18) and the pulley bearing (30), the second driving link (8) and the second passive connecting rod (7) and the second branching pulley shaft (18) are respectively rotated by the pulley bearing (30) The second active link (8) and the second passive link (7) are opposite to the second chain link The axle (18) is independently rotated; the end effector further includes a spline shaft (6) and a spline rail (16), and the spline rail (16) and the second passive link (7) form a swivel pair The end effector of the first motion branch is driven by a motor (33) fixed to the first active link (3), an active synchronous belt system, and a passive synchronous belt system; the active timing belt The system includes a first branching pulley (34) and a first branched active timing belt (12), the passive timing belt system including a first branching pulley axle (13) and a first branched passive timing belt (14); The first branch active timing belt (12) is located in the cavity of the first active link (3), and is fitted to the first chain pulley (34) of the proximal active link of the first active link (3) a pulley at a lower end of the first branch pulley shaft (13) in the elbow connection device shared by the upper, first active link (3) and the first passive link (4); said first branched passive timing belt (14) being located in the cavity of the first passive link (4), the first active link (3) and the first passive link (4) sharing the first chain pulley shaft in the elbow connection device (13) ) End pulley, the first driven link (4) (15) of the outer end of the spindle nut pulley;

The end effector of the second motion branch is driven by a motor (32) fixed to the second active link (8), an active synchronous belt system, and a passive synchronous belt system; the active synchronous belt system The second chain pulley (34) and the second chain active timing belt (19), the passive timing belt system includes a second chain pulley shaft (18) and a second branch passive timing belt (17); The second branch active timing belt (19) is located in the cavity of the second active link (8) and is disposed on the second branch pulley (31) of the proximal active link of the second active link (8) The second active link (8) and the second passive link (7) share the pulley of the upper end of the second branch pulley shaft (18) in the elbow connecting device; the second branched passive timing belt (17) Located in the cavity of the second passive link (7), the first active link (8) and the first passive link (7) are shared by the lower end of the second branch pulley shaft (18) in the elbow connection device. a pulley, the first passive link (7) end spline guide (16) on the outer pulley;

The lower end of the ball screw (5) in the first motion branch end effector and the lower end of the spline shaft (6) in the second motion branch end effector are connected by an actuator link (29), the ball screw (5) ) fixed to the actuator link (29), the lower end of the spline shaft (6) and the actuator link (29) constitute a rotary pair, fixed connection holder (28); the spline shaft (6) and the actuator Rod (29) connection limit roll The rotation of the bead screw (5).