CN107486843A - A kind of industrial double Delta parallel robots structures and control system - Google Patents

Abstract

A kind of industrial double Delta parallel robots structures and control system include aluminium section bar base 1 and support baseboard 2,Aluminium section bar frame 3,Bearing and bearing block 4,First kinematic chain 5,Second kinematic chain 6,3rd kinematic chain 7,Guide rail slide block component 8,Flake bulb bearing assembly 9,Armed lever 10 in parallel,Executing agency's fixture 11,Executing agency 12,Limit switch 13,Optoelectronic switch 14,Control system 15,First kinematic chain 5,Second kinematic chain 6,Double delta parallel robots are together in series work by the 3rd kinematic chain 7,Same work is completed under the effect of STC singlechip controllers,Change existing delta parallel robots single homework or two single delta parallel robots independently working efficiency are low,Cost is high,The shortcomings of working space is small,Executing agency is by installing motor,Shaft coupling drives Pneumatic suction cup revolution,Realize the gyroscopic pendulum positive control to operation object,Operation strong adaptability,Fitness is wide.

Description

A kind of industrial double Delta parallel robots structures and control system

Technical field

The invention belongs to field of industrial machinery, more particularly to a kind of Delta parallel robots, espespecially a kind of double Delta are simultaneously Join robot mechanism and control system.

Background technology

The continuous progressive and development of technology, economic interests, which are pursued, to be maximized, and promotes what industrial circle was required production efficiency Improve constantly, therefore, higher requirement it is also proposed to the apparatus for production line of commercialization.Delta parallel robots have 3 translations The free degree realizes the conversion to end effector mechanism locus, has the characteristics that small volume, in light weight, high speed, registration, It has been commercially available and has been widely applied.But the delta parallel robots used in existing production line, it can be common that single Based on delta parallel robot operations, or two single delta parallel robots independently workings, it is complementary to one another, but effect be present The shortcomings of rate is low, cost is high, working space is small.

The content of the invention

It is an object of the invention to provide a kind of industrial double Delta parallel robots structures and its control system, this pair Delta parallel robots are cascaded using 2 Delta parallel robots, make 2 Delta simultaneously simultaneously by a controller Join robot and complete same work, its field of operation scope can be substantially increased, improve its work capacity, operating efficiency, and not The characteristics of losing former each separate unit Delta parallel robots.

In order to solve the above technical problems, the technical solution adopted by the present invention is：

A kind of industrial double Delta parallel robots structures and its control system, mainly include aluminium section bar base, support baseboard, Aluminium section bar frame, bearing and bearing block, the first kinematic chain, the second kinematic chain, the 3rd kinematic chain, guide rail slide block component, flake ball Head bearing assembly, carbon fiber bar parallel connection armed lever, executing agency's fixture, executing agency, limit switch, optoelectronic switch, control system System；Described aluminium section bar base is that 4 aluminium section bars are connected firmly into a rectangular structure by casting right angle；Described support baseboard It is fixed together by T-bolt and aluminium section bar base；Described aluminium section bar frame includes three aluminium section upright posts, aluminium profiles Material column is vertically-mounted by aluminium section bar framework pillar by carrying out tapping process to 3 column center positioning holes in 120 ° of distributions On support baseboard, to prevent aluminium section bar framework pillar from tilting, adopted between aluminium section bar framework pillar with aluminium section bar frame support bar Aluminium section upright post is fixed together with casting right angle and forms unified overall, installation base of the aluminium section upright post for guide rail slide block component Seat, installs a guide rail slide block component on three root posts of each frame respectively, and carbon fiber parallel connection armed lever is by guide rail slide block component It is fixed together with executing agency, can makes executing agency's kinematic mount when guide rail slide assemblies move；Described guide rail is slided Block assembly includes guide rail, guide rail slide block；Described flake bulb bearing assembly includes flake bearing, the flake support of bearing, synchronization Band fixture；First servomotor, the second servomotor and the 3rd servomotor are installed on described support baseboard, controlled respectively Making the first kinematic chain, the second kinematic chain, the 3rd kinematic chain makes respective guide rail slide block component corresponding to it real along aluminium section bar frame The movement of existing 3 translational degree of freedom, completes the conversion of the executing agency locus to being installed on executing agency's fixture；Institute The first kinematic chain stated includes the first servomotor, 5 pairs of synchronizing wheels, synchronous belt transmission device, bearing and bearing block, power transmission shaft, Synchronizing wheel is arranged in above and below support baseboard, and timing belt passes through support baseboard positioning hole, the first servomotor Output shaft drives the power transmission shaft being fixed on below support baseboard to operate synchronizing wheel by 1, on the power transmission shaft below support baseboard 2 pairs of synchronous wheel drive mechanisms are also further arranged for, 2 pairs of toothed belt transmissions being connected by being fixed on the power transmission shaft above pedestal fill Put, drive guide rail slide block component to realize it along aluminium section bar frame translational degree of freedom；The second described kinematic chain includes the second servo Motor, shaft coupling, power transmission shaft, drive bevel gear, driven wheel of differential, synchronizing wheel, synchronous belt transmission device, 2 pairs of synchronizing wheels, synchronizations Belt driver, bearing and bearing block, power transmission shaft are arranged in the top of support baseboard, and the output shaft of the second servomotor leads to Cross shaft coupling with power transmission shaft to be connected, power transmission shaft is fixedly mounted on above support baseboard by bearing block, is installed on power transmission shaft There are 2 drive bevel gears, the driven wheel of differential engaged changes the direction of transfer of power transmission shaft, driven wheel of differential output shaft phase 2 pairs of synchronous belt transmission devices even drive guide rail slide block component edge to realize it along aluminium section bar frame translational degree of freedom；Described Three kinematic chains include the 3rd servomotor, shaft coupling, power transmission shaft, drive bevel gear, driven wheel of differential, synchronizing wheel, timing belt and passed Dynamic device, 2 pairs of synchronizing wheels, synchronous belt transmission device, bearing and bearing block, power transmission shaft are arranged in the top of support baseboard, The output shaft of 3rd servomotor is connected by shaft coupling with power transmission shaft, and power transmission shaft is fixedly mounted on support bottom by bearing block Above plate, 2 drive bevel gears are installed on power transmission shaft, the driven wheel of differential engaged changes the transmission side of power transmission shaft To 2 pairs of connected synchronous belt transmission devices of driven wheel of differential output shaft drive guide rail slide block component edge to realize it along aluminium section bar machine Frame translational degree of freedom.

It is fine that the carbon fiber parallel connection armed lever includes carbon fiber parallel arm first connecting rod, carbon fiber parallel arm second connecting rod, carbon Parallel arm third connecting rod, carbon fiber parallel arm fourth link, the connecting rod of carbon fiber parallel arm the 5th, carbon fiber parallel arm the 6th is tieed up to connect Bar；Described carbon fiber parallel arm first connecting rod does not intersect with carbon fiber parallel arm second connecting rod not to be contacted with each other, passes through extension spring Realize that position positions；Described carbon fiber parallel arm third connecting rod does not intersect not phase mutual connection with carbon fiber parallel arm fourth link Touch, realize that position positions by extension spring；The described connecting rod of carbon fiber parallel arm the 5th is not handed over carbon fiber parallel arm six-bar linkage Fork does not contact with each other, and realizes that position positions by extension spring；The carbon fiber parallel arm first connecting rod and carbon fiber parallel arm second One end of connecting rod is fixedly mounted on the left and right sides of corresponding guide rail slide block component by flake bearing assembly respectively, and carbon fiber is simultaneously The other end of joint arm first connecting rod and carbon fiber parallel arm second connecting rod is fixedly mounted on adjacent again by flake bearing assembly Ground is arranged on executing agency's fixture；The carbon fiber parallel arm third connecting rod and one end of carbon fiber parallel arm fourth link The left and right sides of corresponding guide rail slide block component is fixedly mounted on by flake bearing assembly respectively, carbon fiber parallel arm the 3rd connects Bar and the other end of carbon fiber parallel arm fourth link are fixedly mounted on to be adjacent to be arranged on and held again by flake bearing assembly On row mechanism fixture；One end of the connecting rod of carbon fiber parallel arm the 5th and carbon fiber parallel arm six-bar linkage passes through fish respectively Axis oculi bearing assembly is fixedly mounted on the left and right sides of corresponding guide rail slide block component, the connecting rod of carbon fiber parallel arm the 5th and carbon fiber The other end of parallel arm six-bar linkage is fixedly mounted on to be adjacent to again by flake bearing assembly to be fixed installed in executing agency On part；Described the first kinematic chain, the second kinematic chain, the 3rd kinematic chain drive the guide rail slide block component being each connected to put down respectively During shifting movement, the conversion for the equipment locus installed on executing agency's fixture is realized, and keeps executing agency to consolidate Determine part and be in horizontality all the time.

Described executing agency, i.e. the 4th axle, by installing motor on executing agency's fixture, shaft coupling drives pneumatically Sucker turns round, to realize the gyroscopic pendulum positive control to operation object.

Described limit switch is fixed on the top of fixed pulley fixing axle on the madial wall of aluminium section bar framework pillar, for examining Survey the extreme position of guide rail slide block component.

Described optoelectronic switch is fixedly installed on executing agency's fixture, and lower plane and the executing agency of photoelectricity switch consolidate The lower plane of part is determined in same level, extreme position during for detecting executing agency's fixture operation.

A kind of described industrial double Delta parallel robots control systems include starting control button signal transacting electricity Road, photoelectric switching signal process circuit, limit switch signal process circuit, stopping control button signal processing circuit, STC monolithics Machine controller, signal input part photoelectric isolating circuit, the acquisition of displacement motor amount, signal output part photoelectric isolating circuit, motor arteries and veins Punching, direction drive circuit, encoder；A beginning control button signal can be produced after beginning control button is pressed, by letter Entering STC singlechip controllers after number input photoelectric isolating circuit, STC singlechip controllers carry out kinematic calculation, according to Target location obtains the displacement of 3 servomotors, then sends a pulse, direction control signal passes through signal output part light Electric isolating circuit, motor pulses, direction drive circuit make the first driving-chain servomotor, the second driving-chain servomotor, the 3rd Driving-chain servomotor drives respective guide rail slide block to drive executing agency to move to target location through respective driving-chain, in fact Control position is now accurately achieved to executing agency, the first driving-chain servomotor, the second driving-chain servomotor, the 3rd pass Dynamic chain servomotor is utilized respectively respective encoder and realizes that position is fed back, and double Delta parallel robots are realized according to PID regulations Accurate control；When double Delta parallel robots touch limit switch and to produce a limit switch signal double to prevent Delta parallel robots damage；Meanwhile optoelectronic switch 14 on executing agency's fixture 11 is packed in, can be in the group of executing agency The fit distance close to support baseboard is when in the range of setting, one photoelectric switching signal of generation, at STC singlechip controllers The assembly of executing agency is caused to damage to prevent the assembly touching lower platform of double Delta parallel robots executing agencies after reason It is bad；A stopping control button signal can be produced after stopping control button being pressed, can be made after the processing of STC singlechip controllers double Delta parallel robots are stopped.

Beneficial effects of the present invention：By adopting the above-described technical solution, compared with prior art, the present invention passes through first Double delta parallel robots are together in series work by kinematic chain, the second kinematic chain, the 3rd kinematic chain, and it is in parallel to change existing delta Single delta parallel robots independently working efficiency is low, cost is high, working space is small etc. lacks by robot single homework or two Point, executing agency, can be by installing motor, shaft coupling drive Pneumatic suction cup revolution, to realize to operation object as the 4th axle Gyroscopic pendulum positive control, according to reality need of work, can also be installed on double Delta parallel robots executing agency fixtures Corresponding instrument is to adapt to different work requirements, operation strong adaptability, and fitness is wide.

Brief description of the drawings

In order to deepen the understanding of the present invention, with reference to embodiments knot and accompanying drawing to the present invention principle and feature make into The description of one step, the embodiment are only used for explaining the present invention, do not form and protection scope of the present invention is limited.

Fig. 1 is the industrial double delta parallel robots structural representations of the present invention；

Fig. 2 is intended to for the industrial double delta parallel robots aluminium section bar bases of the present invention；

Fig. 3 is the industrial double delta parallel robots support baseboard structural representations of the present invention；

Fig. 4 is the industrial double driving-chain structural representations of delta parallel robots first, second, third of the present invention；

Fig. 5 is the industrial double delta parallel robots support baseboards of the present invention and motor driving structure schematic top plan view；

Fig. 6 is the industrial double delta parallel robots support baseboards of the present invention and motor driving structure elevational schematic view；

Fig. 7 is industrial double the first servo motor transmission of the delta parallel robots axle construction schematic diagrames of the present invention；

Fig. 8 is the industrial double delta parallel robots guide rail slide block components of the present invention, flake bulb bearing assembly, parallel arm knot Structure schematic diagram；

Fig. 9 is the industrial double delta parallel robots executing agency structural representations of the present invention；

Figure 10 is the industrial double Delta parallel robots control system schematic diagrames of the present invention.

In figure：1st, aluminium section bar base, 2, support baseboard, 3, aluminium section bar frame, 4, bearing and bearing block, the 5, first motion Chain, the 6, second kinematic chain, the 7, the 3rd kinematic chain, 8, guide rail slide block component, 9, flake bulb bearing assembly, 10, carbon fiber parallel connection Armed lever, 11, executing agency's fixture, 12, executing agency, 13, limit switch, 14, optoelectronic switch；101st, 102,103,104 aluminium Section bar I, II, III, IV；201st, 202, support baseboard I, II；301st, 302,303 aluminium section bar framework pillar I, II, III；304th, aluminium Profile rack support bar；401st, 402,403,404,405,406,407,408,409,411,412,413,414,415 bearings and Bearing block I, II, III, IV, V, VI, VII, VIII, IX, X, XI, XII, XIII, XIV, XV；501st, the first servomotor；502 First servo motor seat；503rd, the first servo motor seat positioning hole；504th, 505,507,509,511,513,515,517 synchronizing wheel I、II、III、IV、V、VI、VII、VIII；506th, 510,514 small timing belt I, II, III；508th, 516 small power transmission shaft I, II； 512nd, big drive shaft I；518th, 519 big timing belt I, II；520th, 521 fixed pulley I, II；522nd, 523 fixed pulley fixing axle I, II； 601st, the second servomotor；602nd, the second servo motor seat；603rd, shaft coupling I；604th, 609 small power transmission shaft III, IV；606、611 Drive bevel gear I, II；605th, 610 driven wheel of differential I, II；607th, 612 synchronizing wheel IX, X；608th, 613 big timing belt III, IV； 614th, big drive shaft II；615th, 616 fixed pulley III, IV；617th, 618 fixed pulley fixing axle III, IV；701st, the 3rd servo electricity Machine；702nd, the 3rd servo motor seat；703rd, shaft coupling II；706th, 711 small power transmission shaft V, VI；705th, 710 drive bevel gear III, IV；704th, 709 driven wheel of differential III, IV；707th, 712 synchronizing wheel XI, XII；708th, 713 big timing belt V, VI；714th, big transmission Axle III；715th, 716 fixed pulley V, VI；717th, 718, fixed pulley fixing axle V, VI；801st, 803,805 guide rail slide block I, II, III； 802nd, 804,806 guide rail I, II, III；901st, 902,903,904,905,906 flake bearing Is, II, III, IV, V, VI；907、 908th, 909, the flake support of bearing I, II, III；910th, 911,912, timing belt fixing device I, II, III；1001st, carbon fiber is in parallel Arm first connecting rod；1002nd, carbon fiber parallel arm second connecting rod；1003rd, carbon fiber parallel arm third connecting rod；1004th, carbon fiber is simultaneously Joint arm fourth link；1005th, the connecting rod of carbon fiber parallel arm the 5th；1006 carbon fiber parallel arm six-bar linkages；1007th, extension spring； 1201st, stepper motor IV；1202nd, shaft coupling；1203rd, sucker；1204th, passage；1501st, photoelectric switching signal process circuit； 1502nd, limit switch signal process circuit；1503rd, control button signal processing circuit is stopped；1504th, control button signal is started Process circuit；1505th, signal input part photoelectric isolating circuit；1506th, STC singlechip controllers；1507th, kinematic calculation mould Block；1508th, signal output part photoelectric isolating circuit；1509th, motor pulses, direction drive circuit；1510th, encoder.

Embodiment

A kind of industrial double Delta parallel robots structures and control system, using 2 Delta parallel manipulator person series Together, same work is completed simultaneously in the presence of STC single-chip computer control systems, improves the operating efficiency of system.

With reference to Fig. 1, a kind of industrial double Delta parallel robots structures and control system, mainly by the He of aluminium section bar base 1 Support baseboard 2, aluminium section bar frame 3, bearing and bearing block 4, the first kinematic chain 5, the second kinematic chain 6, the 3rd kinematic chain 7, guide rail Slide block assembly 8, flake bulb bearing assembly 9, armed lever in parallel 10, executing agency's fixture 11, executing agency 12, limit switch 13rd, optoelectronic switch 14, control system 15 form.

With reference to Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of industrial double Delta parallel robots structures and control system System, described aluminium section bar base 1 is that aluminium section bar I, II, III, IV101,102,103,104 are connected firmly into one by casting right angle Rectangular structure, to ensure the convenience of maintenance, installation；Described support baseboard 2 is divided into 2 independent parts, respectively props up Bottom plate I, II201,202 are supportted, the first servomotor 501, the second servomotor 601, the are installed with support baseboard I201 Three servomotors 701, it is the first kinematic chain 5, the second kinematic chain 6, the 3rd kinematic chain 7 offer power；Aluminium section bar frame 3 includes aluminium Profile rack column I, II, III301,302,303, aluminium section bar frame support bar 304, aluminium section bar framework pillar I, II, III301,302,303 are distributed in 120 °, are respectively perpendicular and are fixedly mounted on support baseboard II202, aluminium section bar frame support bar 304 with aluminium section bar framework pillar I, II, the right angle setting of III301,302,303, aluminium section bar frame support bar 304 and support baseboard II202 is parallel, to ensure aluminium section bar framework pillar I, II, the perpendicularity of III301,302,303；The aluminium of described aluminium section bar frame 3 Profile rack column I, II, III301,302,303 madial wall on top, be fixedly mounted respectively fixed pulley fixing axle I, II, III, IV, V, VI522,523,617,618,717,718, fixed pulley fixing axle I, II, III, IV, V, VI522,523, 617th, 618,717,718 are used to be fixedly mounted with fixed pulley I, II, III, IV, V, VI520,521,615,616,715,716, are fixedly mounted with and determine cunning As power by driving wheel when taking turns I, II, III, IV, V, VI520,521,615,616,715,716；On support baseboard II202 also Be bolted installation bearing and bearing block I, II, III, IV, V, VI, VII, VIII, IX, X, XI, XII, XIII, XIV, XV401,402,403,404,405,406,407,408,409,411,412,413,414,415, for support big drive shaft I, II, III512,614,714, small power transmission shaft I, II, III, IV, V, VI508,516,604,609,706,711, wherein, bearing and Bearing block I, II, III, IV, V, VI, VII, VIII, IX, X, XI, XII401,402,403,404,405,406,407,408, 409th, 411,412 above support baseboard II202, and bearing and bearing block XIII, XIV, XV413,414,415 pass through bolt It is fixedly mounted on below support baseboard II202；Big drive shaft I512 sequentially passes through the axle being fixed on below support baseboard II202 Hold and bearing block XV, XIV, XIII415,414,413, the power of the first servomotor 501 is passed；Big drive shaft II614 sequentially passes through the bearing being fixed on above support baseboard II202 and bearing block I, IV, IX401,404,409, and second is watched The power for taking motor 601 passes；Big drive shaft III714 sequentially pass through the bearing that is fixed on above support baseboard II202 and Bearing block 402,405,412II, V, XII pass the power of the 3rd servomotor 701.

With reference to Fig. 8, a kind of industrial double Delta parallel robots structures and control system, described guide rail slide block component 8 Comprising each 2 of guide rail I, II, III802,804,806, guide rail slide block I, II, III801,803,805 respectively have 2 pieces；Described fish Eyeball head bearing assembly 9 includes flake bearing I, II, III, IV, V, VI 901,902,903,904,905,906, flake bearing Support I, II, III 907,908,909, timing belt fixing device I, II, III910,911,912；Described carbon fiber parallel connection armed lever 10 include carbon fiber parallel arm first connecting rod 1001, carbon fiber parallel arm second connecting rod 1002, carbon fiber parallel arm third connecting rod 1003rd, carbon fiber parallel arm fourth link 1004, the connecting rod 1005 of carbon fiber parallel arm the 5th, carbon fiber parallel arm six-bar linkage 1006；Described guide rail I, II, III802,804,806 by screw be respectively arranged in aluminium section bar framework pillar I, II, On the madial wall of III301,302,303, guide rail slide block I, II, III801,803,805 respectively have 2 pieces, be separately mounted to guide rail I, On II, III802,804,806, the flake support of bearing I907 installed on guide rail slide block I801 will be provided with flake bearing I901, carbon fiber parallel arm third connecting rod 1003, carbon fiber parallel arm fourth link 1004 are fixed together, in guide rail slide block The flake support of bearing II908 installed on II803 will be provided with flake bearing VI906, carbon fiber parallel arm first connecting rod 1001, Carbon fiber parallel arm second connecting rod 1002 is fixed together, the flake support of bearing III909 installed on guide rail slide block III805 Flake bearing I II903, the connecting rod 1005 of carbon fiber parallel arm the 5th, carbon fiber parallel arm six-bar linkage 1006 will be installed to be connected Together, carbon fiber parallel arm first connecting rod 1001, carbon fiber parallel arm second connecting rod 1002, carbon fiber parallel arm third connecting rod 1003rd, carbon fiber parallel arm fourth link 1004, the connecting rod 1005 of carbon fiber parallel arm the 5th, carbon fiber parallel arm six-bar linkage Executing agency's fixture 11 is bound up by 1006 other end by flake bearing I I, V, IV902,904,905, for respectively Ensure carbon fiber parallel arm first connecting rod 1001 and carbon fiber parallel arm second connecting rod 1002, carbon fiber parallel arm third connecting rod 1003 with carbon fiber parallel arm fourth link 1004, the connecting rod 1005 of carbon fiber parallel arm the 5th and carbon fiber parallel arm six-bar linkage 1006 depth of parallelism, between carbon fiber parallel arm first connecting rod 1001 and carbon fiber parallel arm second connecting rod 1002, carbon fiber Between parallel arm third connecting rod 1003 and carbon fiber parallel arm fourth link 1004, the connecting rod 1005 of carbon fiber parallel arm the 5th and carbon Extension spring 1007 is mounted with respectively between fiber parallel arm six-bar linkage 1006.

With reference to Fig. 9, a kind of industrial double Delta parallel robots structures and control system, described executing agency 12 wraps Stepper motor IV 1201, shaft coupling 1202, sucker 1203, passage 1204 are included, its assembly is packed in executing agency's fixture On 11.

With reference to Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, the first motion of described double Delta parallel robots The power of chain 5 is provided by the first servomotor 501, and synchronizing wheel I504 is provided with the output shaft of the first servomotor 501, big to pass Moving axis I512 sequentially passes through the bearing being fixed on below support baseboard II202 and bearing block XV, XIV, XIII415,414,413, And synchronizing wheel II, IV, VI505,509,513 are sequentially installed with big drive shaft I512, it is fixed on above support baseboard II202 Small power transmission shaft I508, II516 are installed with respectively on bearing and bearing block III403, VIII408, small power transmission shaft I508's Both ends are separately installed with synchronizing wheel III, V507,511, and synchronizing wheel III, V507,511 are distributed in bearing and bearing block III403 Both sides, are separately installed with synchronizing wheel VII, VIII515,517 at small power transmission shaft II516 both ends, synchronizing wheel VII, VIII515, 517 are distributed in bearing and bearing block VIII408 both sides, and small timing belt I506 is equipped between synchronizing wheel I504 and synchronizing wheel II505, Small timing belt II510 is equipped between synchronizing wheel IV509 and synchronizing wheel V511, equipped with small between synchronizing wheel VI513 and synchronizing wheel VII515 Timing belt III514；Big timing belt I518 is installed between described synchronizing wheel III507 and fixed pulley I520, and synchronizing wheel Big timing belt II519 is installed between VIII517 and fixed pulley II521, using timing belt fixing device I 910 to big timing belt I, II518,519 are clamped, and big timing belt I, II518,519 are tensioned using torsion spring；Further, the first kinematic chain 5 the first servomotor 501 can drive guide rail slide block I801 to be moved up and down along guide rail I802 by the transmission of timing belt；Institute The power of second kinematic chain 6 of the double Delta parallel robots stated is provided by the second servomotor 601, the second servomotor 601 Output shaft on shaft coupling I603 is installed, big drive shaft II614 sequentially passes through the bearing being fixed on below support baseboard II202 And bearing block I, IV, IX401,404,409, and drive bevel gear I, II 606,611 is installed in big drive shaft II614, it is fixed Be installed with respectively on bearing and bearing block VI406, X410 above support baseboard II202 small power transmission shaft III604, IV609, synchronizing wheel IX607, driven wheel of differential I 605, synchronizing wheel are separately installed with small power transmission shaft III604 both ends IX607, driven wheel of differential I 605 are distributed in bearing and bearing block VI406 both sides, driven wheel of differential I and drive bevel gear I 606 intermeshings；Synchronizing wheel X612, driven wheel of differential II610, synchronizing wheel are separately installed with small power transmission shaft IV609 both ends X612, driven wheel of differential II 610 are distributed in bearing and bearing block X410 both sides, driven wheel of differential II 610 and active conical tooth Take turns II611 intermeshings；Driven wheel of differential I is intermeshed with drive bevel gear I 606, driven wheel of differential II 610 and initiative taper Gear II611 is intermeshed, and the power for coming from big drive shaft II614 is handed on by bevel gearing；Described Big timing belt III608 is installed between synchronizing wheel IX607 and fixed pulley III617, and synchronizing wheel X612 and fixed pulley IV618 it Between big timing belt IV613 is installed, big timing belt III608, IV618 are clamped using timing belt fixing device I II912, and Big timing belt III608, IV618 are tensioned using torsion spring；Further, the second servomotor 601 of the second kinematic chain 6 Guide rail slide block III805 can be driven to be moved up and down along guide rail III806 transmission by bevel gear；Described double Delta are simultaneously The power for joining the 3rd kinematic chain 7 of robot is provided by the 3rd servomotor 701, is pacified on the output shaft of the 3rd servomotor 701 Equipped with shaft coupling II703, big drive shaft III714 sequentially passes through the bearing and bearing block being fixed on below support baseboard II202 II, V, XIII402,405,412, and drive bevel gear III, IV705,710 are installed in big drive shaft III714, it is fixed on branch Small power transmission shaft V706, VI711 are installed with respectively on bearing and bearing block VII407, XI411 above support bottom plate II202, It is separately installed with synchronizing wheel XI707, driven wheel of differential III704 at small power transmission shaft V706 both ends, synchronizing wheel XI707, from mantle Gear III 704 is distributed in bearing and bearing block VII407 both sides, driven wheel of differential III 704 and drive bevel gear III705 Intermeshing；Synchronizing wheel XII712, driven wheel of differential IV709, synchronizing wheel are separately installed with small power transmission shaft VI711 both ends XII712, driven wheel of differential IV 09 are distributed in bearing and bearing block XI411 both sides, driven wheel of differential IV709 and bevel gear VIII drive bevel gears IV710 is intermeshed；It is intermeshed from drive bevel gear III 704 and drive bevel gear III705, from Dynamic bevel gear IV709 and bevel gear VIII drive bevel gears IV710 is intermeshed, and the power for coming from big drive shaft III714 leads to Bevel gearing is crossed to hand on；Big timing belt V708 is installed between described synchronizing wheel XI707 and fixed pulley V715, And big timing belt VI713 is installed between synchronizing wheel XII712 and fixed pulley VI716, using timing belt fixing device I I911 to big Timing belt III608, IV618 are clamped, and big timing belt V708, VI713 are tensioned using torsion spring；Further, 3rd servomotor 701 of three kinematic chains 7 can drive guide rail slide block II803 along guide rail II804 by bevel gear to transmission Move up and down；The power of first servomotor 501 of the first described kinematic chain 5 makes guide rail slide block I801 along on guide rail I802 The displacement of lower motion, the power of the second servomotor 601 of the second kinematic chain 6 make guide rail slide block III805 along guide rail Displacement that III806 moves up and down, the servomotor 701 of power the 3rd of the 3rd kinematic chain 7 make guide rail slide block II803 along leading During the displacement synchronization that rail II804 moves up and down, make stepper motor IV 1201, shaft coupling 1202, sucker 1203, passage The 1204 executing agency's assemblys formed are synchronously transported along aluminium section bar framework pillar I, II, the vertical direction of III301,302,303 It is dynamic, improve the operation height of executing agency's assembly；The power of first servomotor 501 of the first described kinematic chain 5 makes to lead Displacement that rail sliding block I801 moves up and down along guide rail I802, the power of the second servomotor 601 of the second kinematic chain 6 make to lead Displacement that rail sliding block III805 moves up and down along guide rail III806, the power of the 3rd servomotor 701 of the 3rd kinematic chain 7 When the displacement for making guide rail slide block II803 be moved up and down along guide rail II804 is asynchronous, just make stepper motor IV 1201, shaft coupling The assembly that device 1202, sucker 1203, passage 1204 are formed constitutes bigger working space, effectively improves existing dress It is standby the shortcomings that efficiency is low, cost is high, working space is small to be present.

With reference to Fig. 1, limit switch 13 be fixed on aluminium section bar framework pillar I, II, III301,302,303 madial wall on it is fixed Pulley fixing axle I, II, III, IV, the top of V, VI522,523,617,618,717,718, for detecting guide rail slide block component Extreme position.

With reference to Fig. 1, optoelectronic switch 14 is fixedly installed on executing agency's fixture 11, the lower plane of photoelectricity switch and execution The lower plane of mechanism fixture 11 is in same level, for detecting when executing agency's fixture 11 is run fixture 11 under The extreme position of platform.

With reference to Figure 10, a kind of described industrial double Delta parallel robots control systems include starting control button letter Number process circuit 1504, photoelectric switching signal process circuit 1501, limit switch signal process circuit 1502, stop control and press Key signals process circuit 1503, STC singlechip controllers 1506, signal input part photoelectric isolating circuit 1505, kinematic calculation Module 1507, signal output part photoelectric isolating circuit 1508, motor pulses, direction drive circuit 1509, encoder 1510；When by After lower beginning control button, a beginning control button signal, warp can be produced through starting control button signal processing circuit 1504 Enter STC singlechip controllers 1506 after crossing signal input part photoelectric isolating circuit 1505, STC singlechip controllers 1506 are handled Start double Delta parallel robots afterwards, STC singlechip controllers 1506 carry out kinematics meter by kinematic calculation module 1507 Calculate, according to target location obtain 3 servomotors displacement, and then send 3 tunnel pulses, direction control signal by signal it is defeated Go out to hold photoelectric isolating circuit 1508, motor pulses, direction drive circuit 1509 to pass the first driving-chain servomotor 501, second Dynamic chain servomotor 601, the 3rd driving-chain servomotor 701 drive guide rail slide block I801 along guide rail through respective driving-chain I802 moves up and down, guide rail slide block III805 moves up and down along guide rail III806, guide rail slide block II803 is along guide rail II804 Move up and down, be further driven to executing agency 12 and move to target location, control is accurately achieved to executing agency 12 to realize Position, the first driving-chain servomotor, the second driving-chain servomotor, the 3rd driving-chain servomotor are utilized respectively respective Encoder realizes that position is fed back, and the accurate control of double Delta parallel robots is realized according to PID regulations, accurately achieves control Position；When touching limit switch 13 and producing a limit switch signal 1502 to prevent double Delta parallel robots damages； Meanwhile optoelectronic switch 14 on executing agency's fixture 11 is packed in, when stepper motor IV 1201, shaft coupling 1202, sucker 1203rd, the assembly for the executing agency that passage 1204 is formed, a photoelectric switching signal 1501, STC single-chip microcomputers can be produced After the processing of controller 1506 execution machine is caused to prevent the assembly touching lower platform of double Delta parallel robots executing agencies The assembly damage of structure；One, which can be produced, after stopping control button being pressed stops control button signal 1503, STC single-chip microcomputer controls Device 1506 processed can make double Delta parallel robots be stopped after handling.

The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations, it is all the present invention spirit and Within principle, any modification, replacement, improvement etc. on an equal basis for being made, it is all contained within protection scope of the present invention.

Claims (9)

1. a kind of industrial double Delta parallel robots structures and control system, it is characterised in that including aluminium section bar base 1, branch Support bottom plate 2, aluminium section bar frame 3, bearing and bearing block 4, the first kinematic chain 5, the second kinematic chain 6, the 3rd kinematic chain 7, guide rail cunning Block assembly 8, flake bulb bearing assembly 9, carbon fiber parallel connection armed lever 10, executing agency's fixture 11, executing agency 12, spacing open Close 13, optoelectronic switch 14, control system 15.

2. the industrial double Delta parallel robots structures of one kind according to claim 1 and control system, its feature exist In：The power of the first described kinematic chain 5 is provided by the first servomotor 501, and guide rail slide block I801 edges are driven through 5 pairs of timing belts Guide rail I802 up and down motions；5 pairs of described synchronous belt transmission devices be respectively 501 synchronized wheel I504 of the first servomotor with Small timing belt I506 is equipped between synchronizing wheel II505, small timing belt II510 is equipped between synchronizing wheel IV509 and synchronizing wheel V511, it is synchronous Small timing belt III514 is equipped between wheel VI513 and synchronizing wheel VII515, is provided between synchronizing wheel III507 and fixed pulley I520 Big timing belt I518, and big timing belt II519 is installed between synchronizing wheel VIII517 and fixed pulley II521, consolidated using timing belt Determine part I910 to be clamped big timing belt I, II518,519, and using torsion spring carry out to big timing belt I, II518,519 Tightly；Described synchronizing wheel II, IV, VI505,509,513 are fixed on big drive shaft I512, and synchronizing wheel III, V507,511 are fixed On small power transmission shaft I508, II516.

3. the industrial double Delta parallel robots structures of one kind according to claim 1 and control system, its feature exist In：The power of second kinematic chain 6 of described double Delta parallel robots is provided by the second servomotor 601, through 2 pairs of cone teeth Wheel drive mechanism, 2 pairs of timing belts drive guide rail slide block III805 to be moved up and down along guide rail III806；2 pairs of described bevel gears Transmission mechanism is driven wheel of differential I605 and drive bevel gear I606 intermeshings, driven wheel of differential II610 and drive bevel gear II611 is intermeshed；2 pairs of described synchronous belt transmission devices are respectively to be installed between synchronizing wheel IX607 and fixed pulley III617 There is big timing belt III608, big timing belt IV613 is installed between synchronizing wheel X612 and fixed pulley IV618, consolidated using timing belt Determine part III912 to be clamped big timing belt III608, IV618, and carried out using torsion spring to big timing belt III608, IV618 Tensioning；Described drive bevel gear I, II 606,611 is arranged on big drive shaft II614, described driven wheel of differential I, II605,610 have been separately mounted on small power transmission shaft III, IV604,609.

4. the industrial double Delta parallel robots structures of one kind according to claim 1 and control system, its feature exist In：The power of 3rd kinematic chain 7 of described double Delta parallel robots is provided by the 3rd servomotor 701, through 2 pairs of cone teeth Wheel drive mechanism, 2 pairs of timing belts drive guide rail slide block II803 to be moved up and down along guide rail II804；2 pairs of described bevel gears pass Motivation structure is driven wheel of differential III704 and drive bevel gear III705 intermeshings, driven wheel of differential IV709 and active conical tooth Take turns IV710 intermeshings；2 pairs of described synchronous belt transmission devices are respectively to be installed between synchronizing wheel XI707 and fixed pulley V715 There is big timing belt V708, big timing belt VI713 is installed between synchronizing wheel XII712 and fixed pulley VI716, consolidated using timing belt Determine part II911 to be clamped big timing belt III608, IV618, and carried out using torsion spring to big timing belt V708, VI713 Tightly；Described drive bevel gear III, IV705,710 are arranged on big drive shaft III714, described driven wheel of differential III, IV704,709 have been separately mounted on small power transmission shaft V, VI706,711.

5. the industrial double Delta parallel robots structures of one kind according to claim 1 and control system, its feature exist In：Displacement that described guide rail slide block I801 moves up and down along guide rail I802, guide rail slide block III805 are along guide rail When the displacement that III806 moves up and down is synchronous with the displacement that guide rail slide block II803 moves up and down along guide rail II804, make step Executing agency's assembly that stepper motor IV 1201, shaft coupling 1202, sucker 1203, passage 1204 are formed improves execution machine The operation height of structure assembly；Displacement that guide rail slide block I801 moves up and down along guide rail I802, guide rail slide block III805 edges The displacement for guide rail III806 up and down motions is different from the displacement that guide rail slide block II803 moves up and down along guide rail II804 During step, the assembly that stepper motor IV 1201, shaft coupling 1202, sucker 1203, passage 1204 are formed just is set to constitute more Big working space.

6. the industrial double Delta parallel robots structures of one kind according to claim 1 and control system, its feature exist In：Described executing agency includes stepper motor IV 1201, shaft coupling 1202, sucker 1203, passage 1204, its assembly It is packed on executing agency's fixture 11, realizes the gyroscopic pendulum positive control to operation object；Described executing agency's fixture It according to actual job environment and can need to carry out the replacing of executing agency, meet the market requirement.

7. the industrial double Delta parallel robots structures of one kind according to claim 1 and control system, its feature exist In：Limit switch 13 be fixed on aluminium section bar framework pillar I, II, III301,302,303 madial wall on fixed pulley fixing axle I, II, III, IV, V, the top of VI522,523,617,618,717,718, for detecting the extreme position of guide rail slide block component.

8. the industrial double Delta parallel robots structures of one kind according to claim 1 and control system, its feature exist In：Optoelectronic switch 14 is fixedly installed on executing agency's fixture 11, lower plane and the executing agency's fixture 11 of photoelectricity switch Lower plane in same level, for detecting when executing agency's fixture 11 is run executing agency's fixture 11 apart from lower platform Extreme position.

9. the industrial double Delta parallel robots structures of one kind according to claim 1 and control system, its feature exist In：A kind of described industrial double Delta parallel robots control systems are after beginning control button is pressed, STC single-chip microcomputer controls Device 1506 processed starts double Delta parallel robots after handling, STC singlechip controllers 1506 are by kinematic calculation module 1507 Kinematic calculation is carried out, sends 3 tunnel pulses, direction control signal watches the first driving-chain servomotor 501, the second driving-chain Take motor 601, the 3rd driving-chain servomotor 701 moves to target location, to realize the first driving-chain servomotor 501, Two driving-chain servomotors 601, the 3rd driving-chain servomotor 701 drive guide rail slide block I801 along leading through respective driving-chain Rail I802 moves up and down, guide rail slide block III805 moves up and down along guide rail III806, guide rail slide block II803 is along guide rail II804 moves up and down, and is further driven to executing agency 12 and moves to target location, and realizes that position is anti-using respective encoder Feedback, the accurate control of double Delta parallel robots is realized according to PID regulations, accurately achieve control position；It is spacing when touching Switch 13 and produce a limit switch signal 1502 to prevent double Delta parallel robots damages；Meanwhile it is packed in execution machine Optoelectronic switch 14 on structure fixture 11, the assembly of executing agency, a photoelectric switching signal 1501, STC single-chip microcomputers can be produced After the processing of controller 1506 execution machine is caused to prevent the assembly touching lower platform of double Delta parallel robots executing agencies The assembly damage of structure；One, which can be produced, after stopping control button being pressed stops control button signal 1503, STC single-chip microcomputer controls Device 1506 processed can make double Delta parallel robots be stopped after handling.