CN205166926U - Delta parallel robot - Google Patents
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- CN205166926U CN205166926U CN201520902073.XU CN201520902073U CN205166926U CN 205166926 U CN205166926 U CN 205166926U CN 201520902073 U CN201520902073 U CN 201520902073U CN 205166926 U CN205166926 U CN 205166926U
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Abstract
The utility model provides a delta parallel robot, it includes: fixed platform, motion platform, connection fixed platform and motion platform's actuating mechanism, actuating mechanism includes the side chain, fixes fixed platform is last with the drive the drive arrangement of side chain motion, the side chain includes master arm and slave arm, just the one end of master arm with drive arrangement's output shaft links to each other, the other end and the upper end of slave arm links to each other, the lower extreme of slave arm with motion platform links to each other, actuating mechanism is still including acceping drive control module in the fixed platform, drive control module's both ends respectively with power and drive arrangement electric connection, with control drive arrangement work. Compared with the prior art, the utility model discloses a delta parallel robot not only can realize operations such as the quick letter sorting of light little material, encapsulation, cartridges, can also carry out operations such as network communication connection simultaneously, and control is convenient.
Description
Technical field
The utility model relates to a kind of Delta parallel robot, belongs to intelligent machine apparatus field.
Background technology
Along with electronics, food, medicine and other fields product improve constantly production efficiency and quality requirement, also just the automation transmission equipment in product line is had higher requirement.Four-degree-of-freedom high speed parallel robot is a kind of important form of automation transmission equipment, and it can be arranged product high speed, steady, clean pickup and classification between different production line.This robot needs three translational degree of freedom to realize the transmission of product in space, also should have a rotary freedom to realize the pickup to different attitude product simultaneously.
In the prior art, Delta parallel robot is a kind of high speed parallel robot with three translational degree of freedom, and its three-dimensional movement structure was proposed in 1985 by Clavel.Owing to adopting close loop mechanism, working space is relatively little, add that again its rigidity is large, precision is high, constitutionally stable feature, Delta parallel robot can complete the operation such as rapid sorting, encapsulation, plug-in mounting to slight small item material, is mainly used in the Product processing of the industries such as medicine, food and electronics, assembling.Along with the development of microelectronics and computer technology, parallel robot obtains applying more and more widely, can say that Delta parallel robot is one of the most successful parallel robot of current business application.
For Delta parallel robot some specific operations to slight small item material, the utility model has carried out innovative design to the structure of Delta parallel robot.
Utility model content
The purpose of this utility model is to provide a kind of novel Delta parallel robot, the alternative manual operation of this Delta parallel robot, play the efficient advantage of the duplication of labour, and it is with low cost, compact conformation, easy installation and maintenance, workable.
For realizing above-mentioned utility model object, the utility model provides a kind of Delta parallel robot, comprise: fixed platform, motion platform, connect the executing agency of described fixed platform and motion platform, described executing agency comprises side chain, be fixed in described fixed platform to drive the drive unit of a described chain movement, described side chain comprises master arm and slave arm, and one end of described master arm is connected with the output shaft of described drive unit, the other end is connected with the upper end of described slave arm, the lower end of described slave arm is connected with described motion platform, wherein, described executing agency also comprises the drive control module be housed in described fixed platform, the two ends of described drive control module are electrically connected with power supply and drive unit respectively, to control described drive unit work.
As further improvement of the utility model, described drive control module comprises circuit circuit board and external panel, is integrated with WIFI module and/or bluetooth module in described circuit circuit board, to carry out wireless connections with human-computer interactive control end; Described external panel comprises power interface and translation interface, and described translation interface comprises Ethernet interface, to carry out wired connection with human-computer interactive control end.
As further improvement of the utility model, described fixed platform comprises base fixing plate, fixedly mounts three impeller of described drive unit and the pedestal stationary magazine creel between described base fixing plate and three impeller, described circuit circuit board is housed in described pedestal stationary magazine creel, and the two ends of described circuit circuit board are electrically connected with power supply and drive unit respectively, the side of described pedestal stationary magazine creel offers the opening for placing described external panel.
As further improvement of the utility model, described drive unit comprises for driving described motion platform at the first drive unit of three-dimensional translation and the second drive unit for driving described motion platform one dimension to rotate, and one end of described master arm is connected with the output shaft of described first drive unit.
As further improvement of the utility model, described master arm, slave arm and the first drive unit are respectively arranged with three, and aforementioned three master arms, slave arm and the first drive unit correspondence composition three executing agency's groups, each executing agency group is separated by 120 degree around the circumference of described fixed platform and motion platform and is uniformly distributed.
As further improvement of the utility model, described three impeller have equally distributed three blades, three described first drive units are fixedly mounted on the below of three blades of described three impeller respectively, the side away from described master arm of each described first drive unit is provided with fan, and the outside mask of described fan and described first drive unit is provided with guard shield.
As further improvement of the utility model, described slave arm comprises two pull bars arranged in parallel and is arranged on the oscillating bearing at these two pull bar two ends, and the oscillating bearing of wherein one end of every bar pull bar and described master arm is connected, the oscillating bearing of the other end and described motion platform in mating connection.
As further improvement of the utility model, described motion platform comprise to be connected with the lower end of described slave arm with the rob support of fixing slave arm lower end, in the below of described rob support in order to install workpiece gripping tool mount pad and between described rob support and described mount pad with the tool fixing plate of fixing described mount pad.
For realizing above-mentioned utility model object, the utility model additionally provides a kind of Delta parallel robot, comprise: fixed platform, motion platform, connect the executing agency of described fixed platform and motion platform, described executing agency comprises side chain, be fixed in described fixed platform to drive the drive unit of a described chain movement, described side chain comprises master arm and slave arm, and one end of described master arm is connected with the output shaft of described drive unit, the other end is connected with the upper end of described slave arm, the lower end of described slave arm is connected with described motion platform, wherein, described executing agency also to comprise between described fixed platform and described motion platform and drives the axis that described motion platform one dimension rotates.
As further improvement of the utility model, described axis comprises central siphon that inner hollow arranges and to be connected with described central siphon and one end is housed in the ball spline in described central siphon, one end of described central siphon is provided with shaft clip, the other end is connected by universal joint with described motion platform, and one end of described ball spline is housed in described central siphon by described shaft clip, the other end is connected by universal joint with described fixed platform.
As further improvement of the utility model, described drive unit comprises for driving described motion platform at the first drive unit of three-dimensional translation and the second drive unit for driving described motion platform one dimension to rotate, one end of described master arm is connected with the output shaft of described first drive unit, and the other end of described ball spline is connected with described second drive unit by universal joint.
As further improvement of the utility model, described master arm, slave arm and the first drive unit are respectively arranged with three, and aforementioned three master arms, slave arm and the first drive unit correspondence composition three executing agency's groups, each executing agency group is separated by 120 degree around the circumference of described fixed platform and motion platform and is uniformly distributed.
As further improvement of the utility model, described fixed platform comprises three impeller, described three impeller have equally distributed three blades, three described first drive units are fixedly mounted on the below of three blades of described three impeller respectively, the side away from described master arm of each described first drive unit is provided with fan, and the outside mask of described fan and described first drive unit is provided with guard shield.
As further improvement of the utility model, described slave arm comprises two pull bars arranged in parallel and is arranged on the oscillating bearing at these two pull bar two ends, and the oscillating bearing of wherein one end of every bar pull bar and described master arm is connected, the oscillating bearing of the other end and described motion platform in mating connection.
As further improvement of the utility model, described motion platform comprise to be connected with the lower end of described slave arm with the rob support of fixing slave arm lower end, in the below of described rob support in order to install workpiece gripping tool mount pad and between described rob support and described mount pad with the tool fixing plate of fixing described mount pad.
The beneficial effects of the utility model are: Delta parallel robot of the present utility model by arranging drive control module in fixed platform, and this drive control module is set to two ends and is electrically connected with power supply and drive unit respectively, not only reduce wiring link, make compact conformation, can also carry out being energized simultaneously, the operation such as network service connection, it is convenient to control.
Accompanying drawing explanation
Fig. 1 is the perspective view of the utility model Delta parallel robot.
Fig. 2 is the decomposing schematic representation of the parallel robot of Delta shown in Fig. 1.
Fig. 3 is the generalized section of the parallel robot of Delta shown in Fig. 2.
Fig. 4 is the electrical control system structure schematic diagram of the utility model Delta parallel robot.
In figure: I-fixed platform, II-executing agency, III-motion platform 1-base fixing plate 2-pedestal stationary magazine creel 4-second drive unit 5-tri-impeller 6-second guard shield 7-first drive unit 8-first guard shield 9-fan 10-master arm 11-oscillating bearing 12-pull bar 13-central siphon 14-ball spline 15-universal joint 16-shaft clip 17-rob support 18-tool fixing plate 19-mount pad 20-workpiece grabbing instrument 21-circuit circuit board 22-cover plate 23-translation interface 24-user terminal 25-slave arm 26-inner support post 27-turning cylinder 28-bearing plate 51-blade 52-through hole 53-first screwed hole 54-second screwed hole 55-groove.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Refer to shown in Fig. 1 to Fig. 4, the utility model discloses a kind of Delta parallel robot, this Delta parallel robot has three-dimensional translating and one-dimensional rotation four frees degree, the operations such as the rapid sorting to slight small item material, encapsulation, plug-in mounting can be realized, there is the advantages such as compact conformation, good integrity, rigidity are strong, stable, low cost.
Described Delta parallel robot comprises: fixed platform I, motion platform III, connect the executing agency II of described fixed platform I and motion platform III, and described executing agency II comprises side chain, is fixed in described fixed platform I to drive the drive unit of a described chain movement.Described drive unit comprises for driving described motion platform III at the first drive unit 7 of three-dimensional translation and the second drive unit 4 for driving described motion platform III one dimension to rotate.Described side chain comprises master arm 10 and slave arm 25, and one end of described master arm 10 is connected with the output shaft of described first drive unit 7, the other end is connected with the upper end of described slave arm 25, and the lower end of described slave arm 25 is connected with described motion platform III.Described executing agency II also to comprise between described fixed platform I and described motion platform III and drives the axis that described motion platform III one dimension rotates.
Described fixed platform I comprises base fixing plate 1, fixedly mounts three impeller 5 of described first drive unit 7 and the pedestal stationary magazine creel 2 between described base fixing plate 1 and three impeller 5.Described executing agency II also comprises the drive control module for controlling described first drive unit 7 and the work of the second drive unit 4, and the two ends of described drive control module are connected with described first drive unit 7, second drive unit 4 with power supply respectively.Described drive control module comprises circuit circuit board 21 and external panel, is integrated with WIFI module and/or bluetooth module in described circuit circuit board 21, to carry out wireless connections with human-computer interactive control end (i.e. user terminal 24); Described external panel comprises power interface and translation interface 23, and described translation interface 23 comprises Ethernet interface, to carry out wired connection with human-computer interactive control end (i.e. user terminal 24).Described translation interface 23 also comprises input I/O interface and exports I/O interface.In the present embodiment, described circuit circuit board 21 is housed in described fixed platform I, and the two ends of described circuit circuit board 21 are connected with the first drive unit 7, second drive unit 4 with power supply respectively, thus control the energising, network service etc. of described first drive unit 7 and the second drive unit 4 by this circuit circuit board 21.
In the present embodiment, described second drive unit 4 and described circuit circuit board 21 are all housed in described pedestal stationary magazine creel 2, and described circuit circuit board 21 is compared described second drive unit 4 and arranged closer to described base fixing plate 1.Such purpose of design is: be convenient to circuit circuit board 21 on the one hand and implement to control to the first drive unit 7 and the second drive unit 4 simultaneously, reduce route arrangement, compact conformation; On the other hand, be convenient to described second drive unit 4 and drive described axis, thus drive described motion platform III one dimension to rotate.
Described pedestal stationary magazine creel 2 is arranged on the below of described base fixing plate 1, and between base fixing plate 1 and three impeller 5.The two ends up and down of described pedestal stationary magazine creel 2 respectively offer 6 screwed holes, are fixedly connected respectively by pedestal stationary magazine creel 2 through screwed hole for screw with described base fixing plate 1 and three impeller 5.The side of described pedestal stationary magazine creel 2 offers the opening (not shown) of rectangle, for the described external panel of placement.
Described master arm 10, slave arm 25 and the first drive unit 7 are respectively arranged with three, and aforementioned three master arms 10, slave arm 25 and the first drive unit 7 correspondence composition three executing agency's groups, each executing agency group is separated by 120 degree around the circumference of described fixed platform I and motion platform III and is uniformly distributed.Described three impeller 5 have equally distributed three blades 51, three described first drive units 7 are fixedly mounted on the below of three blades 51 of described three impeller 5 respectively, the side away from described master arm 10 of each described first drive unit 7 is provided with fan 9, to realize heat radiation when the first drive unit 7 works to the first drive unit 7, described fan 9 is provided with the first guard shield 8 with the outside mask of described first drive unit 7.
The outside mask of described second drive unit 4 is provided with the second guard shield 6, and this second guard shield 6 is fixedly connected with described three impeller 5.The center position of described three impeller 5 offers a circular through hole 52, and this through hole 52 is for placing the second drive unit 4.At outer 6 first screwed holes 53 be provided with along circular trace distribution that make a circle of described through hole 52, the second guard shield 6 is fixedly connected with three impeller 5 through these 6 the first screwed holes 53 for screw.In a distance, outside of aforementioned 6 the first screwed holes 53, be also provided with 6 the second screwed holes 54 along circular trace distribution, through these 6 the second screwed holes 54, pedestal stationary magazine creel 2 be fixedly connected with three impeller 5 for screw.Three blades 51 of described three impeller 5 are provided with the groove 55 extended outside blade 51 from through hole 52, this groove 55 is for placing the electric wire of the first drive unit 7.
Described axis comprises central siphon 13 that inner hollow arranges and to be connected with described central siphon 13 and one end is housed in the ball spline 14 in described central siphon 13.Described central siphon 13 is made up of carbon fibre material, and one end of described central siphon 13 is provided with shaft clip 16, the other end is connected by universal joint 15 with described motion platform III; One end of described ball spline 14 is housed in described central siphon 13 by described shaft clip 16, the other end is connected by universal joint 15 with described second drive unit 4.With the universal joint 15 of described ball spline 14 other end, the universal joint 15 of described central siphon 13 other end can ensure that described axis realizes axial stretching and radial rotary function in Delta parallel robot range of movement, and utilize carbon fibre material to make central siphon 13, central siphon 13 axial strength and modulus can be made to improve, thus the precision added in operation and efficiency.
Can realize axial stretching and radial rotary afterwards because described central siphon 13 and described ball spline 14 are combined, thus, the distance between the central point of described three impeller 5 and motion platform III central point is set to 700mm ~ 1050mm; Certainly, this distance also can be adjusted accordingly according to the actual size of Delta parallel robot, will not limit in this.In addition, the axial line of described central siphon 13 is equal to the distance of the center line of three described slave arms 25, ensures with this rotation that Delta parallel robot can be stable, improves stability.
Described first drive unit 7 is made up of reductor, stepper motor, encoder, high performance modular event driven and motion controller, and this kind of high performance modular event driven and motion controller can drive and control step motor reaches more than 3000rpm speed.Certainly, in other embodiments, described stepper motor also can be substituted by the motor of other type, does not lose its versatility.
Described master arm 10 is connected with the harmonic speed reducer of described first drive unit 7, thus the Power output of the first drive unit 7 is sent to described master arm 10 by harmonic speed reducer, then drives described master arm 10 to swing up and down.Described master arm 10 is arranged in the form of a ring, and its width reduces towards slave arm 25 side gradually from the output shaft side of described first drive unit 7, thus to alleviate the weight of master arm 10, then reduces the load of the first drive unit 7.The hollow part of described master arm 10 is provided with two inner support posts 26, to strengthen the rigidity of master arm 10.The side near the first drive unit 7 output shaft of described master arm 10 is provided with cover plate 22, and the side of slave arm 25 is provided with turning cylinder 27, and the outside projection in the two ends of this turning cylinder 27.
Described slave arm 25 comprises two pull bars 12 arranged in parallel and is arranged on the oscillating bearing 11 at these two pull bar 12 two ends, and the oscillating bearing 11 of wherein one end of every bar pull bar 12 oscillating bearing 11 in mating connection with the turning cylinder 27 of described master arm 10, the other end is in mating connection with described motion platform III.In the present embodiment, on three described master arms 10 from the center of circle of the first drive unit 7 output shaft to equal with the distance the center of circle of the oscillating bearing 11 that master arm 10 free end is connected, certainly, this distance can be made adjustment according to actual needs.
Described motion platform III comprise the universal joint 15 for fixing central siphon 13 bottom bearing plate 28, to be connected in the below of bearing plate 28 and with the oscillating bearing 11 of described slave arm 25 lower end with the rob support 17 of steady brace 12, in the below of described rob support 17 in order to install workpiece gripping tool 20 mount pad 19 and between described rob support 17 and described mount pad 19 with the tool fixing plate 18 of fixing described mount pad 19.Described bearing plate 28 is embedded in described rob support 17, described workpiece grabbing instrument 20 can be the gripping tools such as sucker, pneumatic gripping device, electric gripper, also can be spot welding, instrument such as some glue, cutting etc., to be used for capturing or absorption slight small item body, specifically, in the present embodiment, described workpiece grabbing instrument 20 is sucker.In the present embodiment, the turning cylinder 27 of described master arm 10 is rotationally connected with the oscillating bearing 11 of described slave arm 25 upper end, the oscillating bearing 11 of described slave arm 25 lower end is fixedly connected with described rob support 17, thus when the first drive unit 7 drives described master arm 10 to swing up and down, described master arm 10 can drive described slave arm 25 to move along three-dimensional, and then drives described motion platform III along three-dimensional translation.
When three described master arms 10 are all horizontal, suppose that the horizontal plane residing for described workpiece grabbing instrument 20 is datum level, on this datum level with workpiece grabbing instrument 20 now point for the center of circle, the distance farthest from the center of circle that workpiece grabbing instrument 20 can be walked on this datum level is as radius, and the movement locus that so workpiece grabbing instrument 20 is formed on this datum level is exactly a circle; And along with central siphon 13 and the axial stretching of ball spline 14, the diameter of the movement locus that workpiece grabbing instrument 20 is formed on datum level also can reduce thereupon, as can be seen here, the movement locus of the motion platform III of Delta parallel robot is substantially in funnel-form.
In the present embodiment, the motion controller of described first drive unit 7 have employed dcs (DCS), this dcs instead of the mode that traditional DC servo motor adds central controller, thus eliminates regulator cubicle and the electric-control board of traditional SCARA robot.This dcs comprises all motion controls and stepping servo precisely runs necessary hardware and software, can accept and stored user programming; And the main control computer in this system is only responsible for coordinating flow process and user interface, thus there is advantages such as easily building, reliability is high, development and maintenance cost is low.
Refer to shown in Fig. 4, Delta parallel robot of the present utility model adopts four-wire system bus marco, all modularization stepping servos and control assembly are all controlled by four wire series connection, and this four wire comprises two power lines and two CAN signal lines, greatly simplify the mode of connection; In addition, also can be connected with human-computer interactive control end (i.e. user terminal 24) is wired or wireless via Ethernet, WIFI or bluetooth approach by the translation interface 23 of external panel, human-computer interactive control end (i.e. user terminal 24) be had and manyly to select flexibly; Moreover, except carrying out programming Control by traditional industrial computer, also carry out programming Control by intelligent mobile terminal (as individual is dull and stereotyped, mobile phone etc.).
Compared to prior art, Delta parallel robot of the present utility model, on the one hand by installing drive control module in fixed platform I, not only reduce wiring link, make compact conformation, also by this drive control module, Delta parallel robot is energized simultaneously, the operation such as network service connection, it is convenient to control; On the other hand, the blade 51 of three impeller 5 is designed to match with the profile of the first drive unit 7, makes structure lucid and lively, be easy to install; Again on the one hand, the interpolation of Ethernet, WIFI or bluetooth approach, makes human-computer interactive control end have and manyly to select flexibly, achieve low cost, easy care, easily use.
Above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not depart from the spirit and scope of technical solutions of the utility model.
Claims (15)
1. a Delta parallel robot, comprise: fixed platform, motion platform, connect the executing agency of described fixed platform and motion platform, described executing agency comprises side chain, be fixed in described fixed platform to drive the drive unit of a described chain movement, described side chain comprises master arm and slave arm, and one end of described master arm is connected with the output shaft of described drive unit, the other end is connected with the upper end of described slave arm, the lower end of described slave arm is connected with described motion platform, it is characterized in that: described executing agency also comprises the drive control module be housed in described fixed platform, the two ends of described drive control module are electrically connected with power supply and drive unit respectively, to control described drive unit work.
2. Delta parallel robot according to claim 1, it is characterized in that: described drive control module comprises circuit circuit board and external panel, WIFI module and/or bluetooth module is integrated with, to carry out wireless connections with human-computer interactive control end in described circuit circuit board; Described external panel comprises power interface and translation interface, and described translation interface comprises Ethernet interface, to carry out wired connection with human-computer interactive control end.
3. Delta parallel robot according to claim 2, it is characterized in that: described fixed platform comprises base fixing plate, fixedly mounts three impeller of described drive unit and the pedestal stationary magazine creel between described base fixing plate and three impeller, described circuit circuit board is housed in described pedestal stationary magazine creel, and the two ends of described circuit circuit board are electrically connected with power supply and drive unit respectively, the side of described pedestal stationary magazine creel offers the opening for placing described external panel.
4. Delta parallel robot according to claim 3, it is characterized in that: described drive unit comprises for driving described motion platform at the first drive unit of three-dimensional translation and the second drive unit for driving described motion platform one dimension to rotate, and one end of described master arm is connected with the output shaft of described first drive unit.
5. Delta parallel robot according to claim 4, it is characterized in that: described master arm, slave arm and the first drive unit are respectively arranged with three, and aforementioned three master arms, slave arm and the first drive unit correspondence composition three executing agency's groups, each executing agency group is separated by 120 degree around the circumference of described fixed platform and motion platform and is uniformly distributed.
6. Delta parallel robot according to claim 5, it is characterized in that: described three impeller have equally distributed three blades, three described first drive units are fixedly mounted on the below of three blades of described three impeller respectively, the side away from described master arm of each described first drive unit is provided with fan, and the outside mask of described fan and described first drive unit is provided with guard shield.
7. Delta parallel robot according to claim 1, it is characterized in that: described slave arm comprises two pull bars arranged in parallel and is arranged on the oscillating bearing at these two pull bar two ends, and the oscillating bearing of wherein one end of every bar pull bar and described master arm is connected, the oscillating bearing of the other end and described motion platform in mating connection.
8. Delta parallel robot according to claim 1, is characterized in that: described motion platform comprise to be connected with the lower end of described slave arm with the rob support of fixing slave arm lower end, in the below of described rob support in order to install workpiece gripping tool mount pad and between described rob support and described mount pad with the tool fixing plate of fixing described mount pad.
9. a Delta parallel robot, comprise: fixed platform, motion platform, connect the executing agency of described fixed platform and motion platform, described executing agency comprises side chain, be fixed in described fixed platform to drive the drive unit of a described chain movement, described side chain comprises master arm and slave arm, and one end of described master arm is connected with the output shaft of described drive unit, the other end is connected with the upper end of described slave arm, the lower end of described slave arm is connected with described motion platform, it is characterized in that: described executing agency also to comprise between described fixed platform and described motion platform and drives the axis that described motion platform one dimension rotates.
10. Delta parallel robot according to claim 9, it is characterized in that: described axis comprises central siphon that inner hollow arranges and to be connected with described central siphon and one end is housed in the ball spline in described central siphon, one end of described central siphon is provided with shaft clip, the other end is connected by universal joint with described motion platform, and one end of described ball spline is housed in described central siphon by described shaft clip, the other end is connected by universal joint with described fixed platform.
11. Delta parallel robots according to claim 10, it is characterized in that: described drive unit comprises for driving described motion platform at the first drive unit of three-dimensional translation and the second drive unit for driving described motion platform one dimension to rotate, one end of described master arm is connected with the output shaft of described first drive unit, and the other end of described ball spline is connected with described second drive unit by universal joint.
12. Delta parallel robots according to claim 11, it is characterized in that: described master arm, slave arm and the first drive unit are respectively arranged with three, and aforementioned three master arms, slave arm and the first drive unit correspondence composition three executing agency's groups, each executing agency group is separated by 120 degree around the circumference of described fixed platform and motion platform and is uniformly distributed.
13. Delta parallel robots according to claim 12, it is characterized in that: described fixed platform comprises three impeller, described three impeller have equally distributed three blades, three described first drive units are fixedly mounted on the below of three blades of described three impeller respectively, the side away from described master arm of each described first drive unit is provided with fan, and the outside mask of described fan and described first drive unit is provided with guard shield.
14. Delta parallel robots according to claim 9, it is characterized in that: described slave arm comprises two pull bars arranged in parallel and is arranged on the oscillating bearing at these two pull bar two ends, and the oscillating bearing of wherein one end of every bar pull bar and described master arm is connected, the oscillating bearing of the other end and described motion platform in mating connection.
15. Delta parallel robot according to claim 9, is characterized in that: described motion platform comprise to be connected with the lower end of described slave arm with the rob support of fixing slave arm lower end, in the below of described rob support in order to install workpiece gripping tool mount pad and between described rob support and described mount pad with the tool fixing plate of fixing described mount pad.
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| CN201520902073.XU CN205166926U (en) | 2015-11-13 | 2015-11-13 | Delta parallel robot |
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| CN201520902073.XU CN205166926U (en) | 2015-11-13 | 2015-11-13 | Delta parallel robot |
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| CN106272344A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There is the Hex Delta robot of three two turns of five degree of freedom of shifting |
| CN106272347A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There is the X Delta sorting machine people of three two turns of five degree of freedom of shifting |
| CN106423916A (en) * | 2016-12-12 | 2017-02-22 | 燕山大学 | Machine-vision-based DELTA sorting manipulator |
| CN106695752A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Delta parallel robot |
| CN106956694A (en) * | 2017-05-05 | 2017-07-18 | 宁波领智机械科技有限公司 | Use for laboratory automatic main unit is more changed trains |
| CN109821763A (en) * | 2019-02-25 | 2019-05-31 | 山东大学 | A kind of fruit sorting system and its image-recognizing method based on machine vision |
| CN110140705A (en) * | 2019-05-25 | 2019-08-20 | 塞伯睿机器人技术（长沙）有限公司 | Sprinkling agricultural robot device |
| CN110404820A (en) * | 2019-07-22 | 2019-11-05 | 潍坊学院 | A kind of parallel connection type connecting rod robotic arm apparatus of earphone speaker shell sorting |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106695752A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Delta parallel robot |
| CN106272344A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There is the Hex Delta robot of three two turns of five degree of freedom of shifting |
| CN106272347A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There is the X Delta sorting machine people of three two turns of five degree of freedom of shifting |
| CN106423916A (en) * | 2016-12-12 | 2017-02-22 | 燕山大学 | Machine-vision-based DELTA sorting manipulator |
| CN106956694A (en) * | 2017-05-05 | 2017-07-18 | 宁波领智机械科技有限公司 | Use for laboratory automatic main unit is more changed trains |
| CN109821763A (en) * | 2019-02-25 | 2019-05-31 | 山东大学 | A kind of fruit sorting system and its image-recognizing method based on machine vision |
| CN109821763B (en) * | 2019-02-25 | 2020-05-22 | 山东大学 | Fruit sorting system based on machine vision and image identification method thereof |
| CN110140705A (en) * | 2019-05-25 | 2019-08-20 | 塞伯睿机器人技术（长沙）有限公司 | Sprinkling agricultural robot device |
| CN110404820A (en) * | 2019-07-22 | 2019-11-05 | 潍坊学院 | A kind of parallel connection type connecting rod robotic arm apparatus of earphone speaker shell sorting |
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Address after: 201203, Shanghai, Pudong New Area Liang Xiu Road No. 112, block Y2, Room 202 and 203 Patentee after: Shanghai United Intelligence Robotics Inc. Address before: 201315 room A1006, No. 2388, Sau Pu Road, Pudong New Area, Shanghai Patentee before: United Intelligence Robot Technology, LLC |
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