A Delta Parallel Robot

Abstract

The present invention discloses a Delta parallel robot, comprising a fixed platform, a moving platform and a connecting mechanism, wherein the connecting mechanism comprises a plurality of driving arms and a driving device, wherein the driving arm comprises an active arm, a driven arm, a first rotating shaft, a first connecting head, a second rotating shaft and a second connecting head, wherein one end of the active arm is connected to the driving device, and the other end is rotatably connected to the first rotating shaft, and the second rotating shaft is rotatably connected to the moving platform, the first connecting head and the second connecting head are respectively mounted on two ends of the driven arm, and the first connecting head is hinged to the first rotating shaft, and the second connecting head is hinged to the second rotating shaft, a rotation plane of the first connecting head relative to the first rotating shaft and a rotation plane of the first rotating shaft relative to the active arm are mutually perpendicular, and a rotation plane of the second connecting head relative to the second rotating shaft and a rotation plane of the second rotating shaft relative to the moving platform are mutually perpendicular; the Delta parallel robot can realize a wider range of movement and is more flexible.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically to a Delta parallel robot. Background Art

[0002] The existing patent application number is CN201510773212.8, and the patent name is the invention patent of Delta parallel robot, which discloses a Delta parallel robot, which includes: a fixed platform, a moving platform, a connecting mechanism connecting the fixed platform and the moving platform, the connecting mechanism includes a branch chain, a driving device fixed on the fixed platform to drive the movement of the branch chain, the branch chain includes an active arm and a driven arm, and one end of the active arm is connected to the output shaft of the driving device, and the other end is connected to the upper end of the driven arm, and the lower end of the driven arm is connected to the moving platform, and the connecting mechanism also includes a driving control module housed in the fixed platform, and the two ends of the driving control module are electrically connected to the power supply and the driving device respectively to control the operation of the driving device. Compared with the prior art, the Delta parallel robot of this invention can not only realize the rapid sorting, packaging, and insertion of light and small materials, but also can perform network communication connection and other operations, and is easy to control.

[0003] However, spherical joint bearings are used at the joints between the active arm and the driven arm, and between the driven arm and the motion platform in the Delta parallel robot. Although the spherical joint bearing can realize rotation in three orthogonal dimensions, there are the following problems: 1) Its rotation range in each dimension is small, generally not exceeding + / -26°. Therefore, the movement range of the motion platform of the Delta parallel robot is limited and cannot be moved over a large range. 2) At the same time, since the spherical joint bearing is a sliding friction bearing, there is a large gap. In actual use, it is necessary to set a tension spring to eliminate the gap of the joint bearing; the tension spring leads to a series of failure risks such as installation accuracy and spring life; 3) The sliding friction characteristics of the spherical joint bearing lead to low transmission efficiency, and when the robot moves at high speed, wear and heat increase sharply. In order to maintain the necessary life and performance, high requirements are placed on the material of the joint bearing. At present, only a limited number of foreign companies such as THK can provide products that meet the requirements. This also leads to high costs. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a Delta parallel robot, which can achieve a larger range of movement and is more flexible.

[0005] To achieve the above purpose, the present invention provides a technical solution similar to a cross coupling, which is as follows:

[0006] A Delta parallel robot comprises a fixed platform, a moving platform and a connecting mechanism arranged between the fixed platform and the moving platform, the connecting mechanism comprises a plurality of driving arms and a driving device, the driving arm comprises an active arm, a driven arm, a first rotating shaft, a first connecting head, a second rotating shaft and a second connecting head, one end of the active arm is connected to the driving device, and the other end is rotatably connected to the first rotating shaft, the second rotating shaft is rotatably connected to the moving platform, the first connecting head and the second connecting head are respectively installed at two ends of the driven arm, and the first connecting head is hinged to the first rotating shaft, and the second connecting head is hinged to the second rotating shaft, the rotation plane of the first connecting head relative to the first rotating shaft is perpendicular to the rotation plane of the first rotating shaft relative to the active arm, and the rotation plane of the second connecting head relative to the second rotating shaft is perpendicular to the rotation plane of the second rotating shaft relative to the moving platform.

[0007] Furthermore, the driven arm includes two driven connecting rods, and two of the first connecting heads and the second connecting heads are respectively provided. The two first connecting heads and the second connecting heads are respectively installed at the two ends of the two driven connecting rods, and the two ends of the first rotating shaft respectively extend to the two sides of the active arm. The two driven connecting rods are respectively located on the two sides of the active arm, and the two first connecting heads are respectively hinged to the two ends of the first rotating shaft, and the two ends of the second rotating shaft respectively extend to the two sides of the moving platform, and the two second connecting heads are respectively hinged to the two ends of the second rotating shaft.

[0008] Furthermore, a first rotating hole is horizontally penetrated at one end of the active arm away from the driving device, and first bearing holes are provided on both sides of the active arm and located at the first rotating hole. Relative first angular contact bearings are respectively provided in the first bearing holes on both sides, the first rotating shaft passes through the first rotating hole, and the first rotating shaft is in contact with the first angular contact bearing, and positioning shoulders and limit sleeves are respectively provided at the two sides of the first rotating shaft located at the active arm.

[0009] Furthermore, first hinge holes are provided at both ends of the first rotating shaft, a first extension groove is provided on the first connecting head, second bearing holes are provided on both sides of the first extension groove, first deep groove ball bearings are provided in the second bearing holes on both sides, the two ends of the first rotating shaft respectively extend into the first extension grooves of the two first connecting heads, a first pin shaft is provided in the first hinge hole, and the two ends of the first pin shaft respectively extend out of the first hinge hole and contact and cooperate with the first deep groove ball bearings on both sides.

[0010] Furthermore, a plurality of fixed seats are arranged on the motion platform, the second rotating shaft is rotationally connected to the fixed seats, and the connection structure between the second rotating shaft and the fixed seats is consistent with the connection structure between the first rotating shaft and the active arm.

[0011] Furthermore, the connection structure between the second connector and the second rotating shaft is consistent with the connection structure between the first connector and the first rotating shaft.

[0012] Furthermore, the first connecting head and the second connecting head are both detachably connected to the driven connecting rod.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] (1) The present invention changes the existing connection between the active arm and the driven arm, and between the driven arm and the motion platform through spherical joint bearings, into a rotational connection with the active arm through a first shaft, a first connecting head is hinged to the first shaft, a second shaft is rotationally connected to the motion platform, and the second connecting head is hinged to the driven arm. The rotation plane of the first connecting head relative to the first shaft and the rotation plane of the first shaft relative to the active arm are mutually perpendicular, and the rotation plane of the second connecting head relative to the second shaft and the rotation plane of the second shaft relative to the motion platform are mutually perpendicular. This allows the driven arm to rotate in all directions relative to the active arm, and the motion platform to rotate relative to the driven arm in three-dimensional space to achieve any angle of rotation. The maximum rotation angle is within the range of ±90°, which is far beyond the existing range of ±23° at the joints. This greatly improves the flexibility of the joints of the Delta parallel robot, increases the range of movement of the motion platform, and enables more functions to be achieved.

[0015] (2) The present invention configures the driven arm into two driven connecting rods, and the two driven connecting rods are located on both sides of the rotation connection between the active arm and the motion platform, so that the rotation center point of the driven arm relative to the active arm and the motion platform is respectively at the middle of the first rotation axis ( Figure 1 Point A in the middle) and the middle of the second axis ( Figure 1 The rotation center points of the slave arms at both ends can be located in the same vertical plane, so that the Delta parallel robot can achieve precise movement without too complicated control methods.

[0016] (3) The present invention arranges a first angular contact bearing between the active arm and the first rotating shaft, arranges a first deep groove ball bearing between the first rotating shaft and the first connecting head, and the connection structure between the second rotating shaft and the motion platform, the second connecting head and the second rotating shaft is consistent with that between the first rotating shaft and the first rotating shaft, and the first connecting head and the first rotating shaft, thereby increasing the load-bearing capacity of the Delta parallel robot and eliminating the tension spring used to eliminate the joint bearing clearance at the connection between the active arm and the driven arm, and the driven arm and the motion platform, thereby simplifying the connection and unloading structure and ensuring that the active arm and the driven arm, and the driven arm and the motion platform can still rotate smoothly when carrying a large weight, thereby improving the flexibility of the Delta parallel robot.

[0017] (4) The present invention uses rolling bearings such as angular contact bearings and deep groove ball bearings to replace spherical joint bearings of sliding friction type, which greatly reduces the friction coefficient, improves transmission efficiency and life, and also improves dustproof and environmental resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0019] Figure 1 A schematic diagram of the structure of a Delta parallel robot Figure 1 ;

[0020] Figure 2 A schematic diagram of the structure of a Delta parallel robot Figure 2 ;

[0021] Figure 3 Sectional view of the connection between the active arm and the driven arm Figure 1 ;

[0022] Figure 4 Sectional view of the connection between the active arm and the driven arm Figure 2 .

[0023] Markings in the figure are: 1. Fixed platform; 2. Moving platform; 3. Active arm; 4. Driven connecting rod; 5. First connecting head; 6. First rotating shaft; 7. Second connecting head; 8. Second rotating shaft; 9. Fixed seat; 10. First angular contact bearing; 11. First rotating hole; 12. First bearing hole; 13. First extension groove; 14. First deep groove ball bearing; 15. First pin shaft; 16. Second bearing hole; 17. Limit sleeve; 18. Positioning shoulder. DETAILED DESCRIPTION

[0024] In the description of the present invention, it should be noted that directional words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of narrating the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific scope of protection of the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features. In the description of the present invention, "several" and "a number" mean two or more, unless otherwise clearly and specifically defined.

[0026] A Delta parallel robot, such as Figure 1-4 As shown, it includes a fixed platform 1, a moving platform 2 and a connecting mechanism arranged between the fixed platform 1 and the moving platform 2, the connecting mechanism includes a plurality of driving arms and a driving device, the driving arm includes an active arm 3, a driven arm, a first rotating shaft 6, a first connecting head 5, a second rotating shaft 8 and a second connecting head 7, one end of the active arm 3 is connected to the driving device, and the other end is rotationally connected to the first rotating shaft 6, the second rotating shaft 8 is rotationally connected to the moving platform 2, the first connecting head 5 and the second connecting head 7 are respectively installed on the two ends of the driven arm, and the first connecting head 5 is hinged to the first rotating shaft 6, the second connecting head 7 is hinged to the second rotating shaft 8, the rotation plane of the first connecting head 5 relative to the first rotating shaft 6 and the rotation plane of the first rotating shaft 6 relative to the active arm 3 are perpendicular to each other, and the rotation plane of the second connecting head 7 relative to the second rotating shaft 8 and the rotation plane of the second rotating shaft 8 relative to the moving platform 2 are perpendicular to each other.

[0027] The present invention changes the existing connection joints between the active arm 3 and the driven arm, and between the driven arm and the motion platform 2, through a rotating shaft and a joint bearing, into a rotational connection with the active arm 3 through a first rotating shaft 6, the first connecting head 5 is hinged to the first rotating shaft 6, the second rotating shaft 8 is rotationally connected to the motion platform 2, the second connecting head 7 is hinged to the driven arm, and the rotation plane of the first connecting head 5 relative to the first rotating shaft 6 and the rotation plane of the first rotating shaft 6 relative to the active arm 3 are mutually perpendicular, and the rotation plane of the second connecting head 7 relative to the second rotating shaft 8 and the rotation plane of the second rotating shaft 8 relative to the motion platform 2 are mutually perpendicular, so that the driven arm can rotate in all directions relative to the active arm 3 and the motion platform 2 can rotate relative to the driven arm in three-dimensional space to achieve any angle of rotation, and the maximum rotation angle is within the range of ±90°, which is far beyond the existing range of ±23° at the joints, greatly improving the flexibility of the joints of the Delta parallel robot, so that the movement range of the motion platform 2 is larger and more functions can be achieved.

[0028] In this embodiment, preferably, Figure 2As shown, the driven arm includes two driven connecting rods 4, two first connecting heads 5 and two second connecting heads 7 are provided, the two first connecting heads 5 and the second connecting heads 7 are respectively installed at the two ends of the two driven connecting rods 4, the two ends of the first rotating shaft 6 are respectively extended to the two sides of the active arm 3, the two driven connecting rods 4 are respectively located on the two sides of the active arm 3, and the two first connecting heads 5 are respectively hinged to the two ends of the first rotating shaft 6, the two ends of the second rotating shaft 8 are respectively extended to the two sides of the motion platform 2, and the two second connecting heads 7 are respectively hinged to the two ends of the second rotating shaft 8;

[0029] Specifically, Figure 1 As shown, the driven arm is configured as two driven connecting rods 4, and the two driven connecting rods 4 are located on both sides of the rotation connection between the active arm 3 and the motion platform 2, so that the rotation center point of the driven arm relative to the active arm 3 and the motion platform 2 is respectively at the middle of the first rotating shaft 6 ( Figure 1 A point in the middle) and the middle of the second rotating shaft 8 ( Figure 1 The rotation center points of the slave arms at both ends can be located on the same vertical plane, so that the Delta parallel robot can achieve precise movement without too complicated control methods.

[0030] In this embodiment, preferably, Figure 2-3 As shown, a first rotating hole 11 is horizontally penetrated at one end of the active arm 3 away from the driving device, and first bearing holes 12 are provided on both sides of the active arm 3 and located at the first rotating hole 11, and first angular contact bearings 10 are provided in the first bearing holes 12 on both sides, respectively. The first rotating shaft 6 passes through the first rotating hole 11, and the first rotating shaft 6 is in contact with the first angular contact bearing 10, so that the first rotating shaft 6 is rotatably connected to the active arm 3, and the first rotating shaft 6 is located on both sides of the active arm 3. Positioning shoulders 18 and limiting sleeves 17 are respectively provided, and the positioning shoulders 18 are fixed to the first rotating shaft 6. The limiting sleeve 17 is detachably connected to the first rotating shaft 6, and the limiting sleeve 17 and the positioning shoulders 18 clamp the first angular contact bearings 10 on both sides of the active arm 3 to achieve axial fixation of the first rotating shaft 6;

[0031] Specifically, by setting the first bearing holes 12 on both sides of the active arm 3 and setting relative first angular contact bearings 10 in the two first bearing holes 12, the first angular contact bearings 10 on both sides of the active arm 3 can automatically balance the forces received, without setting a tension spring at the joint to balance the force on the bearing and maintain the relative position between the two driven connecting rods 4.

[0032] In this embodiment, preferably, Figure 2-4As shown, both ends of the first rotating shaft 6 are provided with first hinge holes, the first connecting head 5 is provided with a first extension groove 13, and the two sides of the first extension groove 13 are respectively provided with second bearing holes 16, and the second bearing holes 16 on both sides are provided with first deep groove ball bearings 14, and the two ends of the first rotating shaft 6 are respectively extended into the first extension grooves 13 of the two first connecting heads 5, and the first hinge hole is provided with a first pin shaft 15, and the two ends of the first pin shaft 15 are respectively extended out of the first hinge hole and contact and cooperate with the first deep groove ball bearings 14 on both sides, so that the two first connecting heads 5 are hinged to the two ends of the first rotating shaft 6, and the setting of the first deep groove ball bearing 14 can ensure that the first connecting head 5 and the first rotating shaft 6 are smoothly hinged and rotated and can increase the weighing weight of the robot.

[0033] In this embodiment, preferably, Figure 1 As shown, a plurality of fixed seats 9 are provided on the motion platform 2, the second rotating shaft 8 is rotatably connected with the fixed seats 9, and both ends of the second rotating shaft 8 extend out of the fixed seats 9, and the connection structure of the second rotating shaft 8 and the fixed seats 9 is consistent with the connection structure of the first rotating shaft 6 and the active arm 3;

[0034] Specifically, the fixed seat 9 is provided with a second rotating hole which passes horizontally therethrough, and third bearing holes are provided on both sides of the fixed seat 9 and located at the second rotating hole, and second angular contact bearings are provided in the third bearing holes on both sides, and the second rotating shaft 8 passes through the second rotating hole, and the second rotating shaft 8 is in contact with the second angular contact bearing, so that the second rotating shaft 8 is rotatably connected to the fixed seat 9, and the second angular contact bearings on both sides of the fixed seat 9 can also automatically balance the forces received, without the need to provide a tension spring to balance the forces on the bearings and maintain the relative position between the two driven connecting rods 4.

[0035] Preferably, in this embodiment, the connection structure between the second connector 7 and the second rotating shaft 8 is consistent with the connection structure between the first connector 5 and the first rotating shaft 6;

[0036] Specifically, second hinge holes are provided at both ends of the second rotating shaft 8, a second extension groove is provided on the second connecting head 7, fourth bearing holes are respectively provided on both sides of the second extension groove, second deep groove ball bearings are provided in the fourth bearing holes on both sides, and the two ends of the second rotating shaft 8 are respectively extended into the second extension grooves of the two second connecting heads 7, and a second pin shaft is provided in the second hinge hole. The two ends of the second pin shaft respectively extend out of the second hinge hole and contact and cooperate with the second deep groove ball bearings on both sides, so that the two second connecting heads 7 are hinged to the two ends of the second rotating shaft 8, and the setting of the second deep groove ball bearing can ensure the smooth hinged rotation of the second connecting head 7 and the second rotating shaft 8 and can increase the weighing weight of the robot.

[0037] Preferably, in this embodiment, the first connector 5 and the second connector 7 are both detachably connected to the driven connecting rod 4, so that the first connector 5 and the second connector 7 can be easily disassembled for maintenance and replacement.

[0038] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A delta parallel robot, comprising a fixed platform, a moving platform and a connecting mechanism arranged between the fixed platform and the moving platform, characterized in that: The connecting mechanism includes a plurality of driving arms and a driving device, the driving arm includes an active arm, a driven arm, a first rotating shaft, a first connecting head, a second rotating shaft, and a second connecting head, one end of the active arm is connected to the driving device, and the other end is rotatably connected to the first rotating shaft, the second rotating shaft is rotatably connected to the motion platform, the first connecting head and the second connecting head are respectively installed at two ends of the driven arm, and the first connecting head is hinged to the first rotating shaft, and the second connecting head is hinged to the second rotating shaft, the rotation plane of the first connecting head relative to the first rotating shaft and the rotation plane of the first rotating shaft relative to the active arm are perpendicular to each other, and the rotation plane of the second connecting head relative to the second rotating shaft and the rotation plane of the second rotating shaft relative to the motion platform are perpendicular to each other; The driven arm comprises two driven connecting rods, the first connecting head and the second connecting head are both provided with two, the two first connecting heads and the second connecting heads are respectively installed at two ends of the two driven connecting rods, the two ends of the first rotating shaft respectively extend to two sides of the active arm, the two driven connecting rods are respectively located at two sides of the active arm, and the two first connecting heads are respectively hinged to two ends of the first rotating shaft, the two ends of the second rotating shaft respectively extend to two sides of the motion platform, and the two second connecting heads are respectively hinged to two ends of the second rotating shaft; A first rotating hole is horizontally penetrated at one end of the active arm away from the driving device, first bearing holes are provided on both sides of the active arm and located at the first rotating hole, and first angular contact bearings are respectively provided in the first bearing holes on both sides, the first rotating shaft passes through the first rotating hole, and the first rotating shaft is in contact with the first angular contact bearing, and the first rotating shaft is located on both sides of the active arm. Positioning shoulders and limit sleeves are respectively provided for positioning and locking the first angular contact bearing and eliminating the bearing clearance of the first angular contact bearing; Both ends of the first rotating shaft are provided with first hinge holes, the first connecting head is provided with a first extension groove, second bearing holes are respectively provided on both sides of the first extension groove, and first deep groove ball bearings are respectively provided in the second bearing holes on both sides. The two ends of the first rotating shaft respectively extend into the first extension grooves of the two first connecting heads, and a first pin shaft is provided in the first hinge hole. Both ends of the first pin shaft respectively extend out of the first hinge hole and contact and cooperate with the first deep groove ball bearings on both sides.

2. A delta parallel robot according to claim 1, characterized in that: A plurality of fixing seats are arranged on the motion platform, the second rotating shaft is rotationally connected to the fixing seats, and the connection structure between the second rotating shaft and the fixing seats is consistent with the connection structure between the first rotating shaft and the active arm.

3. A delta parallel robot according to claim 1, characterized in that: The connection structure between the second connector and the second rotating shaft is consistent with the connection structure between the first connector and the first rotating shaft.

4. A delta parallel robot according to claim 1, characterized in that: The first connecting head and the second connecting head are both detachably connected to the driven connecting rod.

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