WO2019090475A1 - Manipulateur parallèle à grande vitesse scara présentant une cinématique partiellement découplée et équilibrée - Google Patents

Manipulateur parallèle à grande vitesse scara présentant une cinématique partiellement découplée et équilibrée Download PDF

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Publication number
WO2019090475A1
WO2019090475A1 PCT/CN2017/109721 CN2017109721W WO2019090475A1 WO 2019090475 A1 WO2019090475 A1 WO 2019090475A1 CN 2017109721 W CN2017109721 W CN 2017109721W WO 2019090475 A1 WO2019090475 A1 WO 2019090475A1
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WO
WIPO (PCT)
Prior art keywords
link
branch
pulley
passive
active
Prior art date
Application number
PCT/CN2017/109721
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English (en)
Chinese (zh)
Inventor
吴广磊
赵文康
王德伦
董惠敏
Original Assignee
大连理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 大连理工大学 filed Critical 大连理工大学
Priority to PCT/CN2017/109721 priority Critical patent/WO2019090475A1/fr
Publication of WO2019090475A1 publication Critical patent/WO2019090475A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Definitions

  • 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.
  • 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.
  • 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.
  • a SCARA high-speed parallel manipulator with partial decoupling and dynamic balance characteristics the main body is a motion branch
  • the motion branch has two, which are a first motion branch and a second motion branch;
  • 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;
  • 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;
  • 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
  • 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 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
  • 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;
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a schematic view showing the external mechanical structure of the mechanism of the present invention.
  • FIG. 2 is a schematic view of the internal transmission structure of the mechanism of the present invention.
  • FIG 3 is a schematic view of the internal transmission structure of the mechanism of the present invention b.
  • FIG. 4 is a schematic diagram of dynamic balance characteristics of the mechanism of the present invention.
  • first branch drive timing belt 25 first branch spindle pulley; 26 second branch spindle pulley;
  • a SCARA high-speed parallel manipulator with partial decoupling and dynamic balance characteristics the main body is a motion branch
  • a total of two movement branches 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 device, an elbow connection device, and an end effect device;
  • 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.
  • 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
  • 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 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 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
  • 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
  • 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.

Abstract

La présente invention relève du domaine des robots parallèles. L'invention concerne un manipulateur parallèle à grande vitesse SCARA présentant une cinématique partiellement découplée et équilibrée. Le manipulateur parallèle à grande vitesse SCARA comprend un corps principal constitué de deux chaînes cinématiques, et comprend des moteurs (9, 10) cachés à l'intérieur d'une base fixe (1), des paires rotoïdes (36, 39), des liaisons actives (3, 8) et des liaisons passives (4, 7). Deux paires rotoïdes actives sont agencées de manière colinéaire pour constituer un mécanisme plan à cinq barres. La chaîne cinématique qui détermine qu'un actionneur à une extrémité distale doit se déplacer dans une direction verticale comprend un moteur (33, 32) fixé à la liaison active (3, 8) et un système de courroie synchrone caché à l'intérieur de la liaison. Le manipulateur est basé sur un mécanisme plan à cinq barres, et possède une structure simple. Les paires rotoïdes (36) actives disposées de manière colinéaire permettent à la liaison de tourner dans un cercle complet, ce qui permet d'élargir l'espace de fonctionnement. L'actionneur au niveau de l'extrémité distale peut se déplacer indépendamment et tourner dans la direction verticale, ce qui permet d'obtenir une cinématique partiellement découplée et de faciliter ainsi sa commande. Les deux moteurs qui entraînent des mouvements indépendants sont agencés sur deux côtés de la paire rotoïde active (36), ce qui permet de produire ainsi un manipulateur à cinématique équilibrée.
PCT/CN2017/109721 2017-11-07 2017-11-07 Manipulateur parallèle à grande vitesse scara présentant une cinématique partiellement découplée et équilibrée WO2019090475A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/109721 WO2019090475A1 (fr) 2017-11-07 2017-11-07 Manipulateur parallèle à grande vitesse scara présentant une cinématique partiellement découplée et équilibrée

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/109721 WO2019090475A1 (fr) 2017-11-07 2017-11-07 Manipulateur parallèle à grande vitesse scara présentant une cinématique partiellement découplée et équilibrée

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WO2019090475A1 true WO2019090475A1 (fr) 2019-05-16

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6354167B1 (en) * 2000-06-26 2002-03-12 The United States Of America As Represented By The Secretary Of The Navy Scara type robot with counterbalanced arms
CN1903520A (zh) * 2006-08-03 2007-01-31 天津大学 可实现整周回转的四自由度混联抓放式机器人机构
CN101049690A (zh) * 2007-04-25 2007-10-10 大连理工大学 悬臂式水火加工机器人
CN104260083A (zh) * 2014-10-09 2015-01-07 马鞍山市安工大工业技术研究院有限公司 一种五自由度平面关节机器人机构
CN205184768U (zh) * 2015-11-25 2016-04-27 浙江理工大学 齿轮组及四杆机构传动的scara机器人
CN106041921A (zh) * 2016-07-04 2016-10-26 安徽海思达机器人有限公司 一种六自由度混联机器人
CN107962550A (zh) * 2017-11-07 2018-04-27 大连理工大学 一种具有部分解耦和动平衡特性的scara高速并联机械手

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6354167B1 (en) * 2000-06-26 2002-03-12 The United States Of America As Represented By The Secretary Of The Navy Scara type robot with counterbalanced arms
CN1903520A (zh) * 2006-08-03 2007-01-31 天津大学 可实现整周回转的四自由度混联抓放式机器人机构
CN101049690A (zh) * 2007-04-25 2007-10-10 大连理工大学 悬臂式水火加工机器人
CN104260083A (zh) * 2014-10-09 2015-01-07 马鞍山市安工大工业技术研究院有限公司 一种五自由度平面关节机器人机构
CN205184768U (zh) * 2015-11-25 2016-04-27 浙江理工大学 齿轮组及四杆机构传动的scara机器人
CN106041921A (zh) * 2016-07-04 2016-10-26 安徽海思达机器人有限公司 一种六自由度混联机器人
CN107962550A (zh) * 2017-11-07 2018-04-27 大连理工大学 一种具有部分解耦和动平衡特性的scara高速并联机械手

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