新型并联运动贴装机器人的研制

Development of the New Parallel Movement Mount Robot

针对现有贴装机价格昂贵、机构刚度低、动力学响应慢等缺陷,提出并联运动贴装机器人的概念并进行研制。首先,采用自主发明的二滑块驱动解耦并联机构作为贴装机器人主机构,并进行了运动学性能分析;其次,进行了详细的机械结构设计,包括并联机构模块、贴装头模块、PCB板定位模块、供料器模块、传动模块等,并按贴装要求设计了气动回路以及控制系统;最后,研制了实物样机,进行了调试和贴装,表明并联运动贴装机器人运行可靠、高效、贴装精度能满足要求,具有较好的推广应用价值。

For the defects of high prices,low stiffness of mechanism and slow dynamic response speed of existing mount machines,the concept of parallel movement mount robot is proposed and prototype is developed in this paper.Firstly,self-created decoupled parallel mechanism with two sliders is used as the main mechanism of mount robot and kinematics character is studied.Secondly,the mechanical construction,including parallel mechanism module,mounting head module,PCB positioning module,feeder module,and transmission module,etc.is designed in detail.Pneumatic circuit and control system are designed according to mount requirements.Finally,physical prototype is developed,debugged and mounted.The result shows that the parallel movement mount robot has the features of reliable running,high efficiency and high mounting precision,which has a broad generalized value of application.