Improved Delta parallel mechanism robot

Abstract

The invention relates to an improved Delta parallel mechanism robot and belongs to the technical field of parallel robot mechanisms. Projection included angles of three groups of electric linear guide rails on the horizontal plane are 120 degrees, and the three groups of electric linear guide rails are evenly arranged circumferentially. The three groups of guide rails and three groups of electric linear guide rail center lines with horizontal plane included angles of 45 degrees are converged at one point. Three groups of stepping motors are placed at the bottoms of the linear guide rails respectively, are fixed on a fixed platform and respectively drive connecting pieces on the three groups of linear guide rails to enable the connecting pieces to move along the direction of the linear guide rails. One ends of connecting rods are hinged to the connecting pieces on the three groups of linear guide rails respectively through spherical hinges, the other ends of the connecting rods are hinged to a movable platform through spherical hinges, and three groups of parallelogram branched chains are formed respectively. Compared with a traditional Delta robot, the improved Delta parallel mechanism robot is safe, high in reliability and precision, large in work space, compact in overall structure and small in volume mass.

Description

technical field [0001] The invention belongs to the technical field of parallel robot mechanism and relates to a Delta parallel mechanism, which is improved on the basis of the traditional Delta parallel robot so that it has more excellent motion performance. Background technique [0002] The Delta parallel robot was first proposed by R.clavel in 1985, and it got its name because both the base platform and the motion platform are triangular in shape. As a kind of parallel mechanism, Delta robot has many advantages and various possible applications mentioned above, and it is one of the most successful commercially applied robots. In 1988, Clavel proposed the Delta parallel robot with spherical four-bar mechanism in the branch, which is regarded as a milestone of the three-degree-of-freedom mobile parallel mechanism. The motor is placed on a fixed platform and the light-weight connecting rod is used, and the Delta mechanism can obtain an acceleration of up to 12g, which is ve...

AI Technical Summary

Problems solved by technology

However, this type of Delta parallel robot is greatly affected by the vibration generated by itself. When it is used in production, it needs to be loaded with anti-vibration devices, or install a mounting bracket with better anti-vibration performance, which greatly reduces the cost of use, overall movement, and transportation of Delta robots. Increase

Inconveniencing the user

With the development of Delta parallel robots, such figure 2 The improved Delta robot shown, although with figure 1 Compared with this structure, the vibration of the mechanism has been improved, but after the analysis of the working space, it is found that when the length of the rod, the radius of the fixed platform, the radius of the moving platform, and the movement stroke in the Z-axis direction are the same, figure 2 The structure shown is figure 1 Structure shown with significantly reduced working range of motion

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