CN107486843B - Industrial double-Delta parallel robot structure and control system - Google Patents

Abstract

An industrial double-Delta parallel robot structure and a control system comprise an aluminum profile base 1, a supporting bottom plate 2, an aluminum profile frame 3, a bearing and bearing seat 4, a first moving chain 5, a second moving chain 6, a third moving chain 7, a guide rail sliding block assembly 8, a fisheye ball head bearing assembly 9, a parallel arm rod 10, an actuating mechanism fixing piece 11, an actuating mechanism 12, a limit switch 13, a photoelectric switch 14 and a control system 15, wherein the first moving chain 5, the second moving chain 6 and the third moving chain 7 connect double-Delta parallel robots in series to work, the same work is completed under the action of an STC single chip microcomputer controller, the defects of low independent working efficiency, high cost, small working space and the like of the existing Delta parallel robots are changed, the actuating mechanism drives a pneumatic sucker to rotate through a motor and a coupler, the rotation swing positive control of an operating object is realized, the operation adaptability is strong, and the adaptability is wide.

Description

Industrial double-Delta parallel robot structure and control system

Technical Field

The invention belongs to the field of industrial machinery, and particularly relates to a Delta parallel robot, in particular to a double Delta parallel robot mechanism and a control system.

Background

The continuous progress and development of technology, the pursuit of maximization of economic interest and the promotion of the continuous improvement of the production efficiency requirement in the industrial field, therefore, higher requirements are also put forward on the production line equipment for commercialization. The Delta parallel robot has 3 translation degrees of freedom to realize the transformation of the space position of the end executing mechanism, has the characteristics of small volume, light weight, high speed, accurate positioning and the like, and is widely applied in the market. However, the delta parallel robots adopted in the existing production line usually mainly work with a single delta parallel robot or work with two single delta parallel robots independently and complement each other, but all have the defects of low efficiency, high cost, small working space and the like.

Disclosure of Invention

The invention aims to provide an industrial double Delta parallel robot structure and a control system thereof, wherein 2 Delta parallel robots are connected in series, and one controller simultaneously enables the 2 Delta parallel robots to complete the same work, so that the range of the working field of the double Delta parallel robots can be greatly enlarged, the working capacity and the working efficiency of the double Delta parallel robots are improved, and the characteristics of each original single Delta parallel robot are not lost.

In order to solve the technical problems, the invention adopts the technical scheme that:

an industrial double-Delta parallel robot structure and a control system thereof mainly comprise an aluminum profile base, a supporting bottom plate, an aluminum profile frame, a bearing seat, a first kinematic chain, a second kinematic chain, a third kinematic chain, a guide rail sliding block assembly, a fisheye ball head bearing assembly, a carbon fiber rod parallel arm rod, an actuating mechanism fixing piece, an actuating mechanism, a limit switch, a photoelectric switch and a control system; the aluminum profile base is a rectangular structure body formed by fixedly connecting 4 aluminum profiles through casting right angles; the supporting bottom plate is fixedly connected with the aluminum profile base through a T-shaped bolt; the aluminum profile rack comprises three aluminum profile stand columns, the aluminum profile stand columns are distributed in 120 degrees, the aluminum profile rack stand columns are vertically arranged on a supporting base plate by tapping 3 stand column center positioning holes, in order to prevent the aluminum profile rack stand columns from inclining, the aluminum profile rack stand columns are fixedly connected together by aluminum profile rack supporting rods between the aluminum profile rack stand columns through cast right angles to form a unified whole, the aluminum profile stand columns are used for mounting bases of guide rail sliding block assemblies, a guide rail sliding block assembly is respectively mounted on three stand columns of each rack, the guide rail sliding block assemblies and the actuating mechanism are fixedly connected together by carbon fiber parallel arm rods, and when the guide rail sliding block assemblies move, the actuating mechanism fixing pieces can move; the guide rail sliding block component comprises a guide rail and a guide rail sliding block; the fisheye ball head bearing assembly comprises a fisheye bearing, a fisheye bearing bracket and a synchronous belt fixing piece; the support bottom plate is provided with a first servo motor, a second servo motor and a third servo motor which respectively control the first kinematic chain, the second kinematic chain and the third kinematic chain to enable the corresponding guide rail sliding block assemblies to realize the movement of 3 translational degrees of freedom along the aluminum profile rack, thereby completing the transformation of the space position of the actuating mechanism arranged on the actuating mechanism fixing piece; the first kinematic chain comprises a first servo motor, 5 pairs of synchronous wheels, a synchronous belt transmission device, a bearing seat and a transmission shaft, wherein the synchronous wheels are respectively arranged above and below the supporting bottom plate, the synchronous belts penetrate through the positioning holes of the supporting bottom plate, an output shaft of the first servo motor drives the transmission shaft fixed below the supporting bottom plate to rotate through 1 pair of synchronous wheels, 2 pairs of synchronous wheel transmission mechanisms are additionally arranged on the transmission shaft below the supporting bottom plate, and 2 pairs of synchronous belt transmission devices connected through the transmission shaft fixed above the base drive the guide rail sliding block assembly to realize the translational freedom degree of the guide rail sliding block assembly along the aluminum profile rack; the second kinematic chain comprises a second servo motor, a coupler, a transmission shaft, a driving bevel gear, a driven bevel gear, a synchronizing wheel and a synchronous belt transmission device, 2 pairs of synchronizing wheels, the synchronous belt transmission device, a bearing seat and a transmission shaft are respectively arranged above the supporting bottom plate, an output shaft of the second servo motor is connected with the transmission shaft through the coupler, the transmission shaft is fixedly arranged above the supporting bottom plate through the bearing seat, 2 driving bevel gears are arranged on the transmission shaft, the driven bevel gears meshed with the driving bevel gears change the transmission direction of the transmission shaft, and 2 pairs of synchronous belt transmission devices connected with the output shaft of the driven bevel gears drive the guide rail sliding block assembly to realize the translational freedom degree of the guide rail sliding; the third kinematic chain contain third servo motor, the shaft coupling, the transmission shaft, initiative bevel gear, driven bevel gear, the synchronizing wheel, synchronous belt drive, 2 pairs of synchronizing wheels, synchronous belt drive, bearing and bearing frame, the transmission shaft is arranged respectively in the top of supporting baseplate, third servo motor's output shaft is connected with the transmission shaft through the shaft coupling, the transmission shaft passes through bearing frame fixed mounting in the supporting baseplate top, install 2 initiative bevel gears on the transmission shaft, the direction of transfer of transmission shaft has been changed rather than the driven bevel gear of meshing, 2 pairs of synchronous belt drive that driven bevel gear output shaft links to each other drive guide rail sliding block assembly and realize its along aluminium alloy frame translation degree of freedom.

The carbon fiber parallel arm rod comprises a carbon fiber parallel arm first connecting rod, a carbon fiber parallel arm second connecting rod, a carbon fiber parallel arm third connecting rod, a carbon fiber parallel arm fourth connecting rod, a carbon fiber parallel arm fifth connecting rod and a carbon fiber parallel arm sixth connecting rod; the first connecting rod of the carbon fiber parallel arm and the second connecting rod of the carbon fiber parallel arm are not crossed and are not contacted with each other, and the position positioning is realized through the tension spring; the carbon fiber parallel arm third connecting rod and the carbon fiber parallel arm fourth connecting rod are not crossed and are not contacted with each other, and the position positioning is realized through a tension spring; the fifth connecting rod of the carbon fiber parallel arm and the sixth connecting rod of the carbon fiber parallel arm are not crossed and are not contacted with each other, and the position positioning is realized through a tension spring; one end of the carbon fiber parallel arm first connecting rod and one end of the carbon fiber parallel arm second connecting rod are fixedly arranged on the left side and the right side of the corresponding guide rail sliding block component through fisheye bearing components respectively, and the other ends of the carbon fiber parallel arm first connecting rod and the carbon fiber parallel arm second connecting rod are also fixedly arranged on the actuator fixing component adjacently through the fisheye bearing components; one end of the carbon fiber parallel arm third connecting rod and one end of the carbon fiber parallel arm fourth connecting rod are fixedly arranged on the left side and the right side of the corresponding guide rail sliding block component through fisheye bearing components respectively, and the other ends of the carbon fiber parallel arm third connecting rod and the carbon fiber parallel arm fourth connecting rod are also fixedly arranged on the actuator fixing component adjacently through the fisheye bearing components; one end of the carbon fiber parallel arm fifth connecting rod and one end of the carbon fiber parallel arm sixth connecting rod are fixedly arranged on the left side and the right side of the corresponding guide rail sliding block component through fisheye bearing components respectively, and the other ends of the carbon fiber parallel arm fifth connecting rod and the carbon fiber parallel arm sixth connecting rod are also fixedly arranged on the actuator fixing component adjacently through the fisheye bearing components; when the first kinematic chain, the second kinematic chain and the third kinematic chain respectively drive the guide rail sliding block assemblies which are respectively connected with the first kinematic chain, the second kinematic chain and the third kinematic chain to do translational motion, the spatial position of a working device arranged on the actuating mechanism fixing piece is changed, and the actuating mechanism fixing piece is kept in a horizontal state all the time.

The executing mechanism, namely the 4 th shaft, drives the pneumatic sucker to rotate by installing the motor and the coupler on the executing mechanism fixing piece so as to realize the rotation and the alignment control of the operating object.

The limit switch is fixed on the upper portion of the fixed pulley fixed shaft on the inner side wall of the aluminum profile rack stand column and used for detecting the limit position of the guide rail sliding block component.

The photoelectric switch is fixedly arranged on the actuating mechanism fixing piece, and the lower plane of the photoelectric switch and the lower plane of the actuating mechanism fixing piece are on the same horizontal plane and used for detecting the limit position of the actuating mechanism fixing piece during operation.

The industrial double-Delta parallel robot control system comprises a start control key signal processing circuit, a photoelectric switch signal processing circuit, a limit switch signal processing circuit, a stop control key signal processing circuit, an STC single chip microcomputer controller, a signal input end photoelectric isolation circuit, a motor displacement acquisition circuit, a signal output end photoelectric isolation circuit, a motor pulse, a direction driving circuit and an encoder; when a start control key is pressed, a start control key signal is generated, the start control key signal enters an STC single chip microcomputer controller after passing through a signal input end photoelectric isolation circuit, the STC single chip microcomputer controller performs kinematic calculation, the displacement of 3 servo motors is obtained according to a target position, then a pulse is sent out, a direction control signal passes through a signal output end photoelectric isolation circuit, a motor pulse and a direction driving circuit, so that a first servo motor, a second servo motor and a third servo motor drive respective guide rail sliding blocks to drive an executing mechanism to move to the target position through respective transmission chains, in order to accurately achieve the control position of the executing mechanism, the first servo motor, the second servo motor and the third servo motor respectively utilize respective encoders to achieve position feedback, and the accurate control of the double-Delta parallel robot is achieved according to PID adjustment; when the double-Delta parallel robot touches the limit switch, a limit switch signal is generated to prevent the double-Delta parallel robot from being damaged; meanwhile, the photoelectric switch 14 fixedly mounted on the actuating mechanism fixing part 11 generates a photoelectric switch signal when the distance between the assembly of the actuating mechanism and the supporting bottom plate is within a set range, and the assembly of the actuating mechanism is prevented from being damaged due to the fact that the assembly of the double-Delta parallel robot actuating mechanism touches the lower platform after being processed by the STC single-chip microcomputer controller; when the stop control key is pressed down, a stop control key signal is generated, and the double Delta parallel robot stops working after the stop control key signal is processed by the STC single chip microcomputer controller.

The invention has the beneficial effects that: due to the adoption of the technical scheme, compared with the prior art, the double Delta parallel robots are connected in series through the first kinematic chain, the second kinematic chain and the third kinematic chain to work, the defects that the existing Delta parallel robots work singly or two single Delta parallel robots work independently, the efficiency is low, the cost is high, the working space is small and the like are overcome, the execution mechanism is used as the 4 th shaft, the pneumatic suction disc can be driven to rotate through the installation of the motor and the coupler, the rotation and swing control of an operation object can be realized according to the actual working requirement, corresponding tools can be installed on the fixed part of the execution mechanism of the double Delta parallel robots to adapt to different working requirements, the operation adaptability is strong, and the adaptability is wide.

Drawings

For the purpose of promoting an understanding of the invention, the principles and features of the invention are further described below in conjunction with the following examples and the accompanying drawings, which are set forth to illustrate, but are not to be construed as limiting the scope of the invention.

FIG. 1 is a schematic diagram of an industrial double delta parallel robot according to the present invention;

FIG. 2 is a schematic view of an aluminum profile base of an industrial double delta parallel robot according to the present invention;

FIG. 3 is a schematic structural diagram of a support base plate of an industrial double delta parallel robot according to the present invention;

FIG. 4 is a schematic diagram of the first, second and third transmission chain structures of the industrial double delta parallel robot of the present invention;

FIG. 5 is a schematic top view of a support base and motor drive configuration for an industrial double delta parallel robot in accordance with the present invention;

FIG. 6 is a schematic bottom view of the supporting base plate and motor transmission structure of the industrial double delta parallel robot of the present invention;

FIG. 7 is a schematic view of a transmission shaft of a first servo motor of the industrial double delta parallel robot according to the present invention;

FIG. 8 is a schematic structural diagram of a guide rail slider assembly, a fisheye ball bearing assembly and a parallel arm of an industrial double delta parallel robot according to the present invention;

FIG. 9 is a schematic diagram of an actuator of an industrial double delta parallel robot according to the present invention;

FIG. 10 is a schematic diagram of a control system of an industrial double Delta parallel robot according to the present invention.

In the figure: 1. the device comprises an aluminum profile base, 2, a supporting base plate, 3, an aluminum profile frame, 4, a bearing and bearing seat, 5, a first kinematic chain, 6, a second kinematic chain, 7, a third kinematic chain, 8, a guide rail sliding block assembly, 9, a fisheye ball head bearing assembly, 10, a carbon fiber parallel arm rod, 11, an actuating mechanism fixing piece, 12, an actuating mechanism, 13, a limit switch, 14 and a photoelectric switch; 101. 102, 103 and 104 aluminum profiles I, II, III and IV; 201. 202, support floor I, II; 301. 302, 303 aluminum section frame upright posts I, II and III; 304. an aluminum profile frame support rod; 401. 402, 403, 404, 405, 406, 407, 408, 409, 411, 412, 413, 414, 415 bearing and bearing seats I, II, III, IV, V, VI, VII, VIII, IX, X, XI, XII, XIII, XIV, XV; 501. a first servo motor; 502 a first servo motor mount; 503. a first servo motor seat positioning hole; 504. 505, 507, 509, 511, 513, 515, 517 synchronous wheels I, II, III, IV, V, VI, VII, VIII; 506. 510, 514 small synchronous belts I, II, III; 508. 516 small drive shaft I, II; 512. a large transmission shaft I; 518. 519 big synchronous belt I, II; 520. 521 fixed pulley I, II; 522. 523 fixed pulley fixed shaft I, II; 601. a second servo motor; 602. a second servo motor base; 603. a coupler I; 604. 609 small transmission shafts III and IV; 606. 611 drive bevel gear I, II; 605. 610 driven bevel gears I, II; 607. 612 synchronizing wheels IX, X; 608. 613 large synchronous belts III and IV; 614. a large transmission shaft II; 615. 616 fixed pulleys III, IV; 617. 618 fixed axis III, IV of the fixed pulley; 701. a third servo motor; 702. a third servo motor base; 703. a coupler II; 706. 711 small transmission shaft V, VI; 705. 710 drive bevel gears III, IV; 704. 709 driven bevel gears III, IV; 707. 712 synchronizing wheels XI, XII; 708. 713 large timing belts V, VI; 714. a large transmission shaft III; 715. 716 a fixed pulley V, VI; 717. 718, a fixed pulley shaft V, VI; 801. 803, 805 guide rail sliders I, II, III; 802. 804, 806 guide rails I, II, III; 901. 902, 903, 904, 905, 906 fisheye bearings I, II, III, IV, V, VI; 907. 908, 909, fisheye bearing supports I, II, III; 910. 911, 912, synchronous belt fixing pieces I, II and III; 1001. a carbon fiber parallel arm first connecting rod; 1002. a carbon fiber parallel arm second connecting rod; 1003. a carbon fiber parallel arm third connecting rod; 1004. a carbon fiber parallel arm fourth connecting rod; 1005. a fifth connecting rod of the carbon fiber parallel arm; 1006 carbon fiber parallel arm sixth connecting rod; 1007. a tension spring; 1201. A stepping motor IV; 1202. a coupling; 1203. a suction cup; 1204. a vent hole; 1501. a photoelectric switch signal processing circuit; 1502. a limit switch signal processing circuit; 1503. stopping the control key signal processing circuit; 1504. starting to control the key signal processing circuit; 1505. a signal input end photoelectric isolation circuit; 1506. STC single chip controller; 1507. a kinematic calculation module; 1508. a signal output end photoelectric isolation circuit; 1509. a motor pulse and direction driving circuit; 1510. an encoder.

Detailed Description

An industrial double-Delta parallel robot structure and a control system adopt 2 Delta parallel robots connected in series, and simultaneously complete the same work under the action of an STC single chip microcomputer control system, thereby improving the working efficiency of the system.

Referring to fig. 1, an industrial double-Delta parallel robot structure and control system mainly comprises an aluminum profile base (1), a supporting base plate (2), an aluminum profile frame (3), a bearing and bearing seat (4), a first moving chain (5), a second moving chain (6), a third moving chain (7), a guide rail sliding block assembly (8), a fisheye ball head bearing assembly (9), a parallel arm rod (10), an actuating mechanism fixing piece (11), an actuating mechanism (12), a limit switch (13), a photoelectric switch (14) and a control system.

With reference to fig. 2, 3, 4, 5, 6 and 7, an industrial double Delta parallel robot structure and control system, wherein an aluminum profile base (1) is formed by fixedly connecting aluminum profiles I, II, III and IV (101, 102, 103 and 104) into a rectangular structure through casting at right angles, so as to ensure convenience in maintenance and installation; the supporting base plate (2) is divided into 2 independent parts which are respectively supporting base plates I, II (201, 202), a first servo motor (501), a second servo motor (601) and a third servo motor (701) are fixedly installed on the supporting base plate I (201) and provide power for a first kinematic chain (5), a second kinematic chain (6) and a third kinematic chain (7); the aluminum profile frame 3 comprises aluminum profile frame upright posts I, II and III (301, 302 and 303) and aluminum profile frame supporting rods (304), wherein the aluminum profile frame upright posts I, II and III (301, 302 and 303) are 120^°The aluminum profile frame supporting rods (304) are parallel to the supporting bottom plate II (202) so as to ensure the verticality of the aluminum profile frame upright posts I, II and III (301, 302 and 303); the upper parts of the inner side walls of aluminum section frame upright columns I, II and III (301, 302 and 303) of the aluminum section frame (3) are respectively and fixedly provided with fixed pulley fixing shafts I, II, III, IV, V and VI (522, 523, 617, 618, 717 and 718), fixed pulley fixing shafts I, II, III, IV, V and VI (522, 523, 617, 618, 717 and 717),718) The driven wheel is used for fixing fixed pulleys I, II, III, IV, V and VI (520, 521, 615, 616, 715 and 716), and is used as power when the fixed pulleys I, II, III, IV, V and VI (520, 521, 615, 616, 715 and 716) are fixed; the supporting bottom plate II (202) is also fixedly provided with bearings and bearing seats I, II, III, IV, V, VI, VII, VIII, IX, X, XI, XII, XIII, XIV, XV (401, 402, 403, 404, 405, 406, 407, 408, 409, 411, 412, 413, 414, 415) through bolts, and is used for supporting a large transmission shaft I, II, III (512, 614, 714), a small transmission shaft I, II, III, IV, V, VI (508, 516, 604, 609, 706, 711), wherein the bearings and bearing seats I, II, III, IV, V, VI, VII, VIII, IX, X, XI, XII (401, 402, 403, 404, 405, 406, 407, 408, 409, 411, 412) are arranged above the supporting bottom plate II (202), and the bearings and bearing seats XIII, XIV, XV (413, 414, 415) are fixedly arranged below the supporting bottom plate II (202) through bolts; the large transmission shaft I (512) sequentially penetrates through bearings and bearing seats XV, XIV and XIII (415, 414 and 413) fixed below the supporting base plate II (202) to transmit the power of the first servo motor (501); the large transmission shaft II (614) sequentially penetrates through the bearing and the bearing seats I, IV and IX (401, 404 and 409) fixed on the supporting base plate II (202) to transmit the power of the second servo motor (601); the large transmission shaft III (714) sequentially penetrates through the bearing fixed on the supporting bottom plate II (202) and the bearing seats II, V and XII (402, 405 and 412) to transmit the power of the third servo motor (701).

Referring to fig. 8, an industrial double Delta parallel robot structure and control system, the guide rail slide block assembly (8) includes 2 guide rails I, II, III (802, 804, 806), each of which has 2 guide rail slides I, II, III (801, 803, 805); the fisheye ball bearing assembly (9) comprises fisheye bearings I, II, III, IV, V, VI (901, 902, 903, 904, 905, 906), fisheye bearing supports I, II, III (907, 908, 909), synchronous belt fasteners I, II, III (910, 911, 912); the carbon fiber parallel arm rod (10) comprises a carbon fiber parallel arm first connecting rod (1001), a carbon fiber parallel arm second connecting rod (1002), a carbon fiber parallel arm third connecting rod (1003), a carbon fiber parallel arm fourth connecting rod (1004), a carbon fiber parallel arm fifth connecting rod (1005) and a carbon fiber parallel arm sixth connecting rod (1006); the guide rails I, II and III (802, 804 and 806) are respectively arranged on the inner side walls of aluminum profile frame columns I, II and III (301, 302 and 303) through screws, 2 guide rail sliding blocks I, II and III (801, 803 and 805) are respectively arranged on the guide rails I, II and III (802, 804 and 806), a fisheye bearing support I (907) arranged on the guide rail sliding block I (801) is fixedly connected with a fisheye bearing I (901), a carbon fiber parallel arm third connecting rod (1003) and a carbon fiber parallel arm fourth connecting rod (1004), a fisheye bearing support II (908) arranged on the guide rail sliding block II (803) is fixedly connected with a fisheye bearing VI (906), a carbon fiber parallel arm first connecting rod (1001) and a carbon fiber parallel arm second connecting rod (1002), and a fisheye bearing support III (909) arranged on the guide rail sliding block III (805) is fixedly connected with a fisheye bearing III (903), The carbon fiber parallel arm fifth connecting rod (1005) and the carbon fiber parallel arm sixth connecting rod (1006) are fixedly connected together, the other ends of the carbon fiber parallel arm first connecting rod (1001), the carbon fiber parallel arm second connecting rod (1002), the carbon fiber parallel arm third connecting rod (1003), the carbon fiber parallel arm fourth connecting rod (1004), the carbon fiber parallel arm fifth connecting rod (1005) and the carbon fiber parallel arm sixth connecting rod (1006) are connected together through fisheye bearings II, V, IV (902, 904, 905), and the parallelism of the carbon fiber parallel arm first connecting rod (1001) and the carbon fiber parallel arm second connecting rod (1002), the carbon fiber parallel arm third connecting rod (1003) and the carbon fiber parallel arm fourth connecting rod (1004), and the carbon fiber parallel arm fifth connecting rod (1005) and the carbon fiber parallel arm sixth connecting rod (1006) are respectively ensured between the carbon fiber parallel arm first connecting rod (1001) and the carbon fiber parallel arm second connecting rod (1002), and a tension spring (1007) is respectively arranged between the carbon fiber parallel arm third connecting rod (1003) and the carbon fiber parallel arm fourth connecting rod (1004) and between the carbon fiber parallel arm fifth connecting rod (1005) and the carbon fiber parallel arm sixth connecting rod (1006).

Referring to fig. 9, an industrial double Delta parallel robot structure and control system is provided, wherein the actuating mechanism (12) comprises a stepping motor IV (1201), a coupler (1202), a suction cup (1203) and a vent hole (1204), and the combination of the two is fixedly mounted on the actuating mechanism fixing member (11).

With reference to fig. 2, 3, 4, 5, 6, 7, 8, and 9, the power of the first kinematic chain (5) of the double Delta parallel robot is provided by a first servo motor (501), a synchronizing wheel I (504) is installed on the output shaft of the first servo motor (501), a large transmission shaft I (512) sequentially passes through bearings and bearing blocks XV, XIV, XIII (415, 414, 413) fixed under a supporting base plate II (202), and is sequentially installed with synchronizing wheels II, IV, VI (505, 509, 513), a small transmission shaft I, II (508, 516) is respectively fixedly installed on the bearings and bearing blocks III, VIII (403, 408) fixed on the supporting base plate II (202), and synchronizing wheels III, V (507, 511) are respectively installed at two ends of the small transmission shaft I (508), and the synchronizing wheels III, V (507, 511) are distributed at two sides of the bearings and bearing blocks III (403), synchronous wheels VII and VIII (515 and 517) are respectively installed at two ends of a small transmission shaft II (516), the synchronous wheels VII and VIII (515 and 517) are distributed on two sides of a bearing and a bearing seat VIII (408), a small synchronous belt I (506) is installed between a synchronous wheel I (504) and a synchronous wheel II (505), a small synchronous belt II (510) is installed between a synchronous wheel IV (509) and a synchronous wheel V (511), and a small synchronous belt III (514) is installed between a synchronous wheel VI (513) and a synchronous wheel VII (515); a large synchronous belt I (518) is arranged between the synchronous wheel III (507) and the fixed pulley I (520), a large synchronous belt II (519) is arranged between the synchronous wheel VIII (517) and the fixed pulley II (521), a synchronous belt fixing piece I (910) is used for clamping the large synchronous belts I, II (518, 519), and a torsion spring is used for tensioning the large synchronous belts I, II (518, 519); further, a first servo motor (501) of the first kinematic chain (5) can drive the guide rail slide block I (801) to move up and down along the guide rail I (802) through the transmission of a synchronous belt; the power of a second kinematic chain (6) of the double-Delta parallel robot is provided by a second servo motor (601), a coupling I (603) is installed on an output shaft of the second servo motor (601), a large transmission shaft II (614) sequentially penetrates through a bearing and bearing seats I, IV and IX (401, 404 and 409) fixed below a supporting base plate II (202), and a driving bevel gear I, II (606, 611) is arranged on the large transmission shaft II (614), small transmission shafts III, IV (604, 609) are respectively and fixedly arranged on the bearing and bearing seats VI, X (406, 410) which are fixed on the supporting bottom plate II (202), a synchronizing wheel IX (607) and a driven bevel gear I (605) are respectively arranged at two ends of the small transmission shaft III (604), the synchronizing wheel IX (607) and the driven bevel gear I (605) are distributed at two sides of a bearing and a bearing seat VI (406), and the driven bevel gear I (605) is meshed with the driving bevel gear I (606); a synchronizing wheel X (612) and a bevel gear driven wheel II (610) are respectively arranged at two ends of a small transmission shaft IV (609), the synchronizing wheel X (612) and the driven bevel gear II (610) are distributed at two sides of a bearing and a bearing seat X (410), and the driven bevel gear II (610) is meshed with a driving bevel gear II (611); the driven bevel gear I (605) is meshed with the driving bevel gear I (606), the driven bevel gear II (610) is meshed with the driving bevel gear II (611), and the power from the large transmission shaft II (614) is transmitted through a bevel gear transmission device; a large synchronous belt III (608) is arranged between the synchronous wheel IX (607) and the fixed pulley III (617), a large synchronous belt IV (613) is arranged between the synchronous wheel X (612) and the fixed pulley IV (618), a synchronous belt fixing piece III (912) is adopted to clamp the large synchronous belts III, IV (608, 618), and torsion springs are used to tension the large synchronous belts III, IV (608, 618); further, a second servo motor (601) of the second kinematic chain (6) can drive the guide rail sliding block III (805) to move up and down along the guide rail III (806) through bevel gear pair transmission; the power of a third kinematic chain (7) of the double-Delta parallel robot is provided by a third servo motor (701), an output shaft of the third servo motor (701) is provided with a coupler II (703), a large transmission shaft III (714) sequentially passes through a bearing fixed below a supporting base plate II (202) and bearing seats II, V and XIII (402, 405 and 412), and the drive bevel gears III and IV (705 and 710) are arranged on the large transmission shaft III (714), the bearings and bearing seats VII and XI (407 and 411) fixed on the supporting base plate II (202) are respectively and fixedly provided with small transmission shafts V, VI (706 and 711), a synchronizing wheel XI (707) and a driven bevel gear III (704) are respectively arranged at two ends of a small transmission shaft V (706), the synchronizing wheel XI (707) and the driven bevel gear III (704) are distributed at two sides of a bearing and a bearing seat VII (407), and the driven bevel gear III (704) is meshed with the driving bevel gear III (705); a synchronizing wheel XII (712) and a driven bevel gear IV (709) are respectively arranged at two ends of a small transmission shaft VI (711), the synchronizing wheel XII (712) and the driven bevel gear IV (709) are distributed at two sides of a bearing and a bearing seat X I (411), and the driven bevel gear IV (709) is meshed with the driving bevel gear IV (710); the driven bevel gear IV (709) and the driving bevel gear IV (710) are mutually meshed, and the power from the large transmission shaft III (714) is transmitted through a bevel gear transmission device; a large synchronous belt V (708) is arranged between the synchronous wheel XI (707) and the fixed pulley V (715), a large synchronous belt VI (713) is arranged between the synchronous wheel XII (712) and the fixed pulley VI (716), a synchronous belt fixing piece II (911) is adopted to clamp the large synchronous belts III and IV (608 and 618), and a torsion spring is used to tension the large synchronous belts V, VI (708 and 713); further, a third servo motor (701) of the third kinematic chain (7) can drive the guide rail sliding block II (803) to move up and down along the guide rail II (804) through bevel gear pair transmission; when the power of a first servo motor (501) of the first kinematic chain (5) enables a guide rail slide block I (801) to move up and down along a guide rail I (802), the power of a second servo motor (601) of the second kinematic chain (6) enables a guide rail slide block III (805) to move up and down along a guide rail III (806), and the power of a third kinematic chain (7) enables a third servo motor (701) to synchronize the displacement of the guide rail slide block II (803) to move up and down along the guide rail II (804), an execution mechanism assembly consisting of a stepping motor IV (1201), a coupler (1202), a suction cup (1203) and a vent hole (1204) to synchronously move along the vertical direction of aluminum profile rack upright columns I, II, III (301, 302, 303), so that the working height of the execution mechanism assembly is improved; when the power of the first servo motor (501) of the first kinematic chain (5) enables the guide rail slide block I (801) to move up and down along the guide rail I (802), the power of the second servo motor (601) of the second kinematic chain (6) enables the guide rail slide block III (805) to move up and down along the guide rail III (806) and the power of the third servo motor (701) of the third kinematic chain (7) enables the guide rail slide block II (803) to move up and down along the guide rail II (804) asynchronously, a combination body formed by the stepping motor IV (1201), the coupler (1202), the suction cup (1203) and the vent hole (1204) forms a larger working space, and the defects of low efficiency, high cost and small working space of the existing equipment are effectively improved.

Referring to fig. 1, the limit switch 13 is fixed on the upper portion of the fixed axis I, II, III, IV, V, VI (522, 523, 617, 618, 717, 718) of the fixed axis I, II, III, IV, V, VI (301, 302, 303) on the inner side wall of the aluminum profile frame column I, II, III, for detecting the limit position of the guide rail slider assembly.

Referring to fig. 1, the photoelectric switch (14) is fixedly installed on the actuator fixing member (11), and the lower plane of the photoelectric switch and the lower plane of the actuator fixing member (11) are in the same horizontal plane, and are used for detecting the limit position of the distance between the actuator fixing member (11) and the lower platform when the actuator fixing member (11) operates.

With reference to fig. 10, the industrial double Delta parallel robot control system includes a start control button signal processing circuit (1504), an optoelectronic switch signal processing circuit (1501), a limit switch signal processing circuit (1502), a stop control button signal processing circuit (1503), an STC single-chip microcomputer controller (1506), a signal input end optoelectronic isolation circuit (1505), a kinematics calculation module (1507), a signal output end optoelectronic isolation circuit (1508), a motor pulse, a direction driving circuit (1509), and an encoder (1510); when a start control key is pressed down, a start control key signal is generated by a start control key signal processing circuit (1504) and enters an STC single chip microcomputer controller (1506) after passing through a signal input end photoelectric isolation circuit (1505), the STC single chip microcomputer controller (1506) starts the double-Delta parallel robot after processing, the STC single chip microcomputer controller (1506) performs kinematic calculation through a kinematic calculation module (1507), the displacement of 3 servo motors is obtained according to a target position, and then 3 pulses are sent out, a direction control signal passes through a signal output end photoelectric isolation circuit (1508), a motor pulse and a direction driving circuit (1509) to enable a first servo motor (501), a second servo motor (601) and a third servo motor (701) to drive a guide rail sliding block I (801) to move up and down along a guide rail I (802) through respective transmission chains, and a guide rail sliding block III (805) to move up and down along a guide rail III (806), The guide rail sliding block II (803) moves up and down along the guide rail II (804) to further drive the actuating mechanism (12) to move to a target position, in order to accurately achieve the control position of the actuating mechanism (12), the first servo motor (501), the second servo motor (601) and the third servo motor (701) respectively utilize respective encoders to achieve position feedback, accurate control of the double-Delta parallel robot is achieved according to PID regulation, and the control position is accurately achieved; when the limit switch (13) is touched, a limit switch signal (1502) is generated to prevent the double Delta parallel robot from being damaged; meanwhile, an optoelectronic switch (14) is fixedly mounted on an actuating mechanism fixing part (11), when an actuating mechanism assembly formed by a stepping motor IV (1201), a coupler (1202), a sucker (1203) and a vent hole (1204) generates an optoelectronic switch signal, and the optoelectronic switch signal is processed by an STC single chip microcomputer controller (1506) to prevent the assembly of the double Delta parallel robot actuating mechanism from touching a lower platform to cause damage to the assembly of the actuating mechanism; when the stop control button is pressed, a stop control button signal (1503) is generated, and the double Delta parallel robot stops working after the processing of the STC single chip microcomputer controller (1506).

The above embodiments are merely illustrative of the technical solutions of the present invention, and not restrictive, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the present invention.

Claims (2)

1. An industrial double-Delta parallel robot structure is characterized by comprising an aluminum profile base (1), a supporting base plate (2), an aluminum profile frame (3), a bearing and bearing seat (4), a first moving chain (5), a second moving chain (6), a third moving chain (7), a guide rail sliding block assembly (8), a fisheye ball head bearing assembly (9), a carbon fiber parallel arm rod (10), an actuating mechanism fixing piece (11), an actuating mechanism (12), a limit switch (13), a photoelectric switch (14) and a control system;

the power of the first kinematic chain (5) is provided by a first servo motor (501), and a guide rail sliding block I (801) is driven by a 5-pair synchronous belt transmission device to move up and down along a guide rail I (802); the 5 pairs of synchronous belt transmission devices are respectively characterized in that a first servo motor (501) is provided with a small synchronous belt I (506) between a synchronous wheel I (504) and a synchronous wheel II (505), a small synchronous belt II (510) is arranged between a synchronous wheel IV (509) and a synchronous wheel V (511), a small synchronous belt III (514) is arranged between a synchronous wheel VI (513) and a synchronous wheel VII (515), a large synchronous belt I (518) is arranged between the synchronous wheel III (507) and a fixed pulley I (520), a large synchronous belt II (519) is arranged between the synchronous wheel VIII (517) and a fixed pulley II (521), a synchronous belt fixing piece I (910) is adopted to clamp the large synchronous belts I, II (518 and 519), and a torsion spring is used to tension the large synchronous belts I, II (518 and 519); the synchronous wheels II, IV and VI (505, 509 and 513) are fixed on a large transmission shaft I (512), and the synchronous wheels III and V (507 and 511) are fixed on small transmission shafts I, II (508 and 516);

the power of a second kinematic chain (6) of the double-Delta parallel robot is provided by a second servo motor (601), and a guide rail slide block III (805) is driven by a 2-pair bevel gear transmission mechanism and a 2-pair synchronous belt transmission device to move up and down along a guide rail III (806); the 2 pairs of bevel gear transmission mechanisms are that a driven bevel gear I (605) is meshed with a driving bevel gear I (606), and a driven bevel gear II (610) is meshed with a driving bevel gear II (611); the 2 pairs of synchronous belt transmission devices are respectively characterized in that a large synchronous belt III (608) is arranged between a synchronous wheel IX (607) and a fixed pulley III (617), a large synchronous belt IV (613) is arranged between a synchronous wheel X (612) and a fixed pulley IV (618), a synchronous belt fixing piece III (912) is adopted to clamp the large synchronous belts III (608) and IV (618), and torsional springs are used to tension the large synchronous belts III (608) and IV (618); the driving bevel gears I, II (606, 611) are installed on a large transmission shaft II (614), and the driven bevel gears I (605) and II (610) are respectively installed on small transmission shafts III and IV (604, 609);

the power of a third kinematic chain (7) of the double-Delta parallel robot is provided by a third servo motor (701), and a guide rail sliding block II (803) is driven by a 2-pair bevel gear transmission mechanism and a 2-pair synchronous belt transmission device to move up and down along a guide rail II (804); the 2 pairs of bevel gear transmission mechanisms are that a driven bevel gear III (704) is meshed with a driving bevel gear III (705), and a driven bevel gear IV (709) is meshed with a driving bevel gear IV (710); the 2 pairs of synchronous belt transmission devices are respectively characterized in that a large synchronous belt V (708) is arranged between a synchronous wheel XI (707) and a fixed pulley V (715), a large synchronous belt VI (713) is arranged between a synchronous wheel XII (712) and a fixed pulley VI (716), a synchronous belt fixing piece II (911) is adopted to clamp the large synchronous belts III (608) and IV (618), and torsion springs are used to tension the large synchronous belts V (708) and VI (713); the driving bevel gears III and IV (705 and 710) are arranged on a large transmission shaft III (714), and the driven bevel gear III (704) and the driven bevel gear IV (709) are respectively arranged on a small transmission shaft V, VI (706 and 711);

after a start control key is pressed down, an STC single chip microcomputer controller (1506) starts the double-Delta parallel robot after processing, the STC single chip microcomputer controller (1506) performs kinematic calculation through a kinematic calculation module (1507) and sends 3 paths of pulse and direction control signals to enable a first servo motor (501), a second servo motor (601) and a third servo motor (701) to move to target positions, in order to realize that the first servo motor (501), the second servo motor (601) and the third servo motor (701) drive a guide rail slide block I (801) to move up and down along a guide rail I (802), the guide rail slide block III (805) to move up and down along a guide rail III (806) and the guide rail slide block II (803) to move up and down along a guide rail II (804) through respective transmission chains, an execution mechanism (12) is further driven to move to the target positions, position feedback is realized by utilizing respective encoders, and the precise control of the double-Delta parallel robot is realized according to PID regulation, so that the control position is accurately reached; when the limit switch (13) is touched, a limit switch signal (1502) is generated to prevent the double Delta parallel robot from being damaged; meanwhile, an optoelectronic switch (14) is fixedly arranged on an actuating mechanism fixing piece (11), a combination body of the actuating mechanism can generate an optoelectronic switch signal, and the optoelectronic switch signal is processed by an optoelectronic signal processing circuit (1501) and an STC single chip microcomputer controller (1506) to prevent the combination body of the double Delta parallel robot actuating mechanism from touching a lower platform to cause the damage of the combination body of the actuating mechanism (12); when the stop control button is pressed, a stop control button signal (1503) is generated, and the double Delta parallel robot stops working after the processing of the STC single chip microcomputer controller (1506).

2. The industrial double Delta parallel robot structure of claim 1, characterized in that: when the displacement of the guide rail slide block I (801) moving up and down along the guide rail I (802), the displacement of the guide rail slide block III (805) moving up and down along the guide rail III (806) and the displacement of the guide rail slide block II (803) moving up and down along the guide rail II (804) are synchronous, an actuating mechanism assembly consisting of a stepping motor IV (1201), a coupler (1202), a sucking disc (1203) and a vent hole (1204) moves synchronously along the vertical direction of aluminum profile frame upright columns I, II and III (301, 302 and 303), so that the working height of the actuating mechanism assembly is improved; when the displacement of the guide rail slide block I (801) moving up and down along the guide rail I (802), the displacement of the guide rail slide block III (805) moving up and down along the guide rail III (806) and the displacement of the guide rail slide block II (803) moving up and down along the guide rail II (804) are asynchronous, an actuator assembly consisting of the stepping motor IV (1201), the coupler (1202), the sucking disc (1203) and the vent hole (1204) forms a larger working space; the actuating mechanism (12) comprises a stepping motor IV (1201), a coupler (1202), a sucking disc (1203) and a vent hole (1204), and the combined body of the actuating mechanism (12) is fixedly arranged on the actuating mechanism fixing piece (11) to realize the rotation and the alignment control of an operating object; the actuating mechanism fixing part (11) can also be used in the actual operating environment and needs to be replaced, so that the market demand is met;

the limit switch (13) is fixed on the upper parts of fixed pulley fixed shafts I, II, III, IV, V and VI (522, 523, 617, 618, 717 and 718) on the inner side walls of upright columns I, II and III (301, 302 and 303) of the aluminum profile frame and is used for detecting the limit position of the guide rail sliding block component;

the photoelectric switch (14) is fixedly arranged on the actuating mechanism fixing piece (11), and the lower plane of the photoelectric switch and the lower plane of the actuating mechanism fixing piece (11) are in the same horizontal plane and used for detecting the limit position of the actuating mechanism fixing piece (11) away from the lower platform when the actuating mechanism fixing piece (11) runs.

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