SCARA type high-speed parallel manipulator

Abstract

The invention relates to the technical field of manipulator equipment, in particular to an SCARA type high-speed parallel manipulator. The SCARA type high-speed parallel manipulator comprises a machine frame, a rotating joint, a moving joint, a servo motor and a controller, wherein the rotating joint comprises a pair of main connecting rods and a pair of auxiliary connecting rods; and the moving joint comprises a column body, a suction head and an electromagnetic valve. In the process that an existing SCARA type manipulator assembles child parts to a parent part, the child parts need to be collected and placed through the contraction and stretching actions of the mechanical claw, the child parts with the unconformable postures can be damaged through the fixing action of the mechanical claw, and then the assembly effect of the child parts is influenced, therefore, in the case of the SCARA type high-speed parallel manipulator, the suction head arranged on the moving joint is used for carrying out adsorption and release operation on the child parts to be assembled, contraction and stretching actions of the mechanical claw in the process of clamping the child parts for assembly are replaced, the assembly speed of the child parts on the vertical plane is increased, high-speed movement of the SCARA horizontal plane is used in cooperation, so that the assembly effect of the SCARA typehigh-speed parallel manipulator is improved.

Description

technical field [0001] The invention relates to the technical field of manipulator equipment, in particular to a SCARA high-speed parallel manipulator. Background technique [0002] SCARA is the abbreviation of Selective Compliance Assembly Robot Arm, which means a robot arm used in assembly operations; the SCARA robot has several rotating joints, whose axes are parallel to each other, for positioning and orientation in the plane; there is also a moving joint for Complete the movement of the end piece perpendicular to the plane; the high-speed parallel manipulator installs the driving motor on the frame of the static platform, and cooperates with the light-weight connecting rod used by the slave arm, so that the end of the manipulator can obtain a large moving speed; this type of manipulator Lightweight structure and fast response; it is most suitable for plane positioning and vertical assembly operations; for the introduction of SCARA high-speed parallel manipulator, please...

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Problems solved by technology

[0004] There are also some technical solutions for SCARA high-speed parallel manipulators in the prior art. For example, a Chinese patent with application number 2017110818513 discloses a partially decoupled SCARA high-speed parallel manipulator, which is used for pick-and-place picking in industry. In the field of parallel robot technology; the main body of the SCARA high-speed parallel manipulator is two kinematic branch chains, including the motor hidden in the fixed base, the rotary pair, the active link, and the passive link, forming a planar five-bar mechanism; the end of the kinematic branch chain is determined The motion branch chain that moves vertically and rotates around the vertical direction includes a motor fixed on the active link and a synchronous belt system hidden in the link; the manipulator in this technical solution is based on a planar five-bar mechanism with a simple structure. Reduce manufacturing costs; in addition to the translational motion in the plane, the end of the kinematic branch chain can produce independent movement along the vertical direction and rotation around the vertical direction, that is, the decoupling of the kinematics part is beneficial to control; Solve the problem that the SCARA high-speed parallel manipulator moves slowly in the vertical direction, which weakens the overall assembly efficiency of the SCARA manipulator

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