CN203171620U - Modified type Delta parallel mechanism robot - Google Patents

Modified type Delta parallel mechanism robot Download PDF

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Publication number
CN203171620U
CN203171620U CN 201320143649 CN201320143649U CN203171620U CN 203171620 U CN203171620 U CN 203171620U CN 201320143649 CN201320143649 CN 201320143649 CN 201320143649 U CN201320143649 U CN 201320143649U CN 203171620 U CN203171620 U CN 203171620U
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CN
China
Prior art keywords
groups
guide rails
linear guide
robot
sets
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Expired - Fee Related
Application number
CN 201320143649
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Chinese (zh)
Inventor
康存锋
冯丹
朱响年
黄旭东
张超
臧纯
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Beijing University of Technology
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Beijing University of Technology
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Publication date
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Priority to CN 201320143649 priority Critical patent/CN203171620U/en
Application granted granted Critical
Publication of CN203171620U publication Critical patent/CN203171620U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides a modified type Delta parallel mechanism robot and belongs to the technical field of parallel robot mechanisms. The included angles of projections of three sets of power-driven linear guide rails on the horizontal plane are all 120 degrees, and the linear guide rails are evenly distributed in the circumferential direction. The included angles of the three sets of guide rails and the horizontal plane are 45 degrees, and the center lines of the three sets of the linear guide rails converge at a point. Three sets of stepped motors are arranged at the bottoms of the linear guide rails respectively, are fixed on a fixed platform, and drive connection pieces on the three sets of linear guide rails to move in the direction of the linear guide rails. One ends of connection rods are respectively hinged to the connection pieces on the three sets of linear guide rails through ball hinges, and the other ends of the connection rods are hinged to the a movable platform through ball hinges to form three sets of parallelogram supporting chains respectively. Compared with a traditional Delta robot, the modified type Delta parallel mechanism robot is safer, higher in reliability and accuracy, larger in work space, more compact in integral structure, smaller in size and lower in weight.

Description

A kind of modified Delta parallel institution robot
Technical field
The utility model belongs to the parallel robot mechanism technical field, relates to the Delta parallel institution, improves on the basis of traditional Delta parallel robot, makes it have better exercise performance.
Background technology
The Delta parallel robot was proposed by R.clavel in 1985 the earliest, because of its base platform and motion platform all shape triangular in shape gain the name.The Delta robot is a kind of as parallel institution, has above-mentioned plurality of advantages and various possible application, is one of robot that commercial application is the most successful at present.Clavel has proposed to contain in the branch Delta parallel robot of spherical four-bar linkage in 1988, be regarded as a milestone of three-freedom mobile parallel connection mechanism, this mechanism comprises 12 ball pairs, 9 revolute pairs and 17 members, because drive motors places on the fixed platform and the use of lightweight connecting bar, Delta mechanism can obtain the acceleration up to 12g, is very suitable for finishing the taking and placing operation of little mass objects.After loading onto suitable end effector at motion platform, the quick assembling that is specially adapted to electronic devices and components is pegged graft.Operation is picked up and placed to packing in light industry, and medical surgery etc. also have more application.
Delta robot being applied in the large-scale field of success and obtained good performance abroad.For example, in Switzerland, chocolatier is thunder not, and the new production line that adopts the packing technique company by Bosch to provide is on this production line, eight Delta robots are put into chocolate in the foam box, foam box is put in the carton again, has reduced the not workload of Thunder God department, most importantly the whole operation system is simple and easy to do, only need revise simply that operating system just can adapt to new packing specification, this simplification makes the new demand in the reply market that the said firm can be quick and calm.
But up to now, the drive system of Delta parallel robot mostly is three motors greatly and drives revolute pair respectively, props up chain mechanism thereby drive three groups of parallelogram, realizes the translation of moving platform, thereby realizes the actions (as Fig. 1) such as quick extracting of robot.But this class Delta parallel robot is subjected to the vibration influence that self produces bigger, for the production of the time need load vibration abatement, perhaps install shockproof properties mounting bracket preferably additional, make the use cost of Delta robot, whole cost mobile, transportation increase greatly.For the user has brought inconvenience.Along with as shown in Figure 2 the Delta robot behind the improved of carrying out has appearred in the development of Delta parallel robot, though be improved aspect mechanism's vibratility with more this structure of Fig. 1, but find through carrying out Workspace Analysis,, fixed platform radius long at bar, the moving platform radius, and under the identical situation of Z-direction movement travel, structure shown in Figure 2 structure more shown in Figure 1 obviously reduces on the working motion scope.
The utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, a kind of modified Delta parallel robot mechanism is provided, three groups of motor-driven line slideways that employing is designed to have with the plane certain angle drive three groups of parallelogram rod members respectively, on the basis that does not change original working space, effectively alleviated the vibrations that produce when equipment is whole to be used industrial production is used the influence that produces, exercise performance is more reliable in use to make equipment.
The utility model is realized by the following technical solutions:
The utility model comprises
A kind of modified Delta parallel robot, its mechanical part comprises three groups of electric linear guide rails, three stepper motors, three groups of parallelogram side chains, moving platform, fixed platform; The projection angle of described three groups of electric linear guide rails on horizontal plane is 120 °, circumferentially evenly arranging.Three groups of guide rails and horizontal plane angle are 45 °, and three groups of electric linear center line of guide rail converge at a bit; Three groups of stepper motors are placed on the bottom of line slideway respectively, are fixed on the fixed platform, drive three groups of connectors on the line slideway respectively connector is moved along the direction of line slideway; One end of connecting rod respectively with respectively with three groups of line slideways on connector be hinged by ball pivot, the other end and moving platform are hinged by ball pivot, form three groups of parallelogram side chains respectively, at connector during along guide rail movement, drive parallelogram and prop up chain movement, thereby drive the moving platform motion.
Described a kind of modified Delta parallel robot, it also comprises control section; Described control section comprises a times good fortune 2521-0024 high-speed motion control module, and three stepper motor drivers that link to each other with described control module are the power supply of described control module and stepper motor power supply; Described three stepper motor drivers link to each other with described three groups of stepper motors respectively.
Times good fortune 2521-0024 high-speed motion control module adopts the EtherCat bus to carry out communication by Ethernet.
A kind of modified Delta of the utility model parallel robot is compared with traditional Delta parallel robot, has following remarkable advantages and beneficial effect:
The projection three group electric linear guide rail angle of a kind of modified Delta parallel robot of the present utility model on horizontal plane is 120 °, three groups of line slideways of projection in the front view face are 45 ° with horizontal plane angle all, the stability when this structure has guaranteed the integral device operation.Drive moving platform owing to adopt moving sets to drive the parallelogram rod member, make that comparing motor with original Delta parallel robot can grasp heavier object under the situation of loss equal-wattage, the extracting precision is improved, and has prolonged the service life of integral device.Compact equipment, volume mass reduces.
Description of drawings
Fig. 1: be the structure chart one of traditional Delta parallel robot;
Fig. 2: be the structure chart two of traditional Delta parallel robot:
Fig. 3: be the structure chart of control system of the present utility model;
Fig. 4: be structure control figure of the present utility model;
Fig. 5 is frame for movement schematic diagram of the present utility model.
Among the figure: 1, line slideway, 2, connect rod member, 3, ball pivot, 4, moving platform, 5, fixed platform.
The specific embodiment
Further specific embodiment of the utility model is described below in conjunction with accompanying drawing.
A kind of modified Delta parallel institution robot, its structure is as follows:
Mechanical part: three groups on electric linear guide rail, stepper motor, parallelogram side chain, ball pivot, moving platform, aluminium section bar.The electric linear guide rail adopts German Fei Situo electric linear guide rail, and stroke is 300mm.Stepper motor adopts Sanyo's stepper motor,
Control section (as Fig. 3): high-speed motion control module, stepper motor driver, power supply.
A kind of modified Delta of the utility model parallel robot adopts three times of good fortune high-speed motion control module EL2521-0024 and input module EL1088, adopts Sanyo's stepper motor driver.
A kind of modified Delta of the utility model parallel robot is when work, soft PLC software CoDeSys by host computer writes control program, carry out communication by the EtherCat bus, control high-speed motion control module and stepper motor driver make stepper motor work, realize the motion of moving sets, thereby drive three groups of parallelogram rod members, make moving platform arrive assigned address.
As shown in Figure 5, modified Delta parallel robot of the present utility model is by rod member 2 and guide-rail coupling member, and moving platform connects by ball pivot and forms three groups of parallelogram side chains respectively.Electric linear guide rail 1 is driven by three stepper motors respectively at work, props up chain movement thereby drive three groups of parallelogram, at the volley moving platform all the time with the horizontal plane keeping parallelism.Can be according to the equipment application scenario, according to client's needs installation manipulator pawl, sucker or welding gun etc. on moving platform.As seen from Figure 5, in the projection in the equipment level face, the angle between three groups of line slideways is 120 °, and the space angle of three groups of guide rails and horizontal plane was 45 ° when equipment was placed, and this makes the equipment resistance to overturning be greatly improved.Modified Delta parallel robot is compared with traditional Delta robot, and under identical movement velocity, vibratility reduces in the motion process, and kinematic accuracy improves.

Claims (3)

1. modified Delta parallel robot, it is characterized in that: its mechanical part comprises three groups of electric linear guide rails, three stepper motors, three groups of parallelogram side chains, moving platform, fixed platform; The projection angle of described three groups of electric linear guide rails on horizontal plane is 120 °, circumferentially evenly arranging, three groups of guide rails and horizontal plane angle are 45 °, and three groups of electric linear center line of guide rail converge at a bit; Three groups of stepper motors are placed on the bottom of line slideway respectively, are fixed on the fixed platform, drive three groups of connectors on the line slideway respectively connector is moved along the direction of line slideway; One end of connecting rod respectively with respectively with three groups of line slideways on connector be hinged by ball pivot, the other end and moving platform are hinged by ball pivot, form three groups of parallelogram side chains respectively, at connector during along guide rail movement, drive parallelogram and prop up chain movement, thereby drive the moving platform motion.
2. a kind of modified Delta parallel robot according to claim 1, it is characterized in that: it also comprises control section; Described control section comprises a times good fortune 2521-0024 high-speed motion control module, and three stepper motor drivers that link to each other with described control module are the power supply of described control module and stepper motor power supply; Described three stepper motor drivers link to each other with described three groups of stepper motors respectively.
3. a kind of modified Delta parallel robot according to claim 2 is characterized in that: times good fortune 2521-0024 high-speed motion control module adopts the EtherCat bus to carry out communication by Ethernet.
CN 201320143649 2013-03-27 2013-03-27 Modified type Delta parallel mechanism robot Expired - Fee Related CN203171620U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320143649 CN203171620U (en) 2013-03-27 2013-03-27 Modified type Delta parallel mechanism robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201320143649 CN203171620U (en) 2013-03-27 2013-03-27 Modified type Delta parallel mechanism robot

Publications (1)

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CN203171620U true CN203171620U (en) 2013-09-04

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CN 201320143649 Expired - Fee Related CN203171620U (en) 2013-03-27 2013-03-27 Modified type Delta parallel mechanism robot

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103192364A (en) * 2013-03-27 2013-07-10 北京工业大学 Improved Delta parallel mechanism robot
CN107756217A (en) * 2016-08-22 2018-03-06 香港理工大学 A kind of vertical connection in series-parallel burnishing machine
CN108487012A (en) * 2016-06-23 2018-09-04 吴彬 A kind of road surface of high degree of automation ground brick masonry Work robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103192364A (en) * 2013-03-27 2013-07-10 北京工业大学 Improved Delta parallel mechanism robot
CN108487012A (en) * 2016-06-23 2018-09-04 吴彬 A kind of road surface of high degree of automation ground brick masonry Work robot
CN108487012B (en) * 2016-06-23 2019-12-20 吴彬 Automatic change high road surface ceramic tile of degree and build operation robot by laying bricks or stones
CN107756217A (en) * 2016-08-22 2018-03-06 香港理工大学 A kind of vertical connection in series-parallel burnishing machine

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C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130904

Termination date: 20140327