Driving-improved three-degree-of-freedom Delta parallel robot

Abstract

The invention relates to a driving improved type three-degree-of-freedom Delta parallel robot. The driving improved type three-degree-of-freedom Delta parallel robot is characterized by comprising a base (1), three groups of parallel driving parts (2), three groups of parallel constraint parts (3) and a movable platform (4), wherein the three groups of parallel driving components (2) and parallel restraining components (3) are uniformly distributed in a crossed manner and are connected between the movable platform (4) and the base (1); the invention provides a drive-improved Delta parallel robot which mainly aims at solving the problem that in the high-speed running process of a traditional Delta parallel robot, inertia force borne by a robot driving arm influences a system, and therefore motion precision is reduced. According to the driving improved Delta robot, on the basis that original high-speed operation is kept, the problem of system vibration caused by the driving arm is solved, meanwhile, the inertia force of a robot mechanism is reduced, the characteristics of large rigidity, high precision, good stability and the like of a parallel mechanism are reserved, and the driving improved Delta robot has wide scientific research and application prospects.

Description

Technical Field

[0001] The invention relates to the field of robot engineering technology, and in particular to a drive-improved three-degree-of-freedom Delta parallel robot in a high-speed parallel robot device. Background Art

[0002] Industrial robots can be divided into two categories: serial robots and parallel robots. Among them, parallel robots have received extensive attention in recent years due to their unique structural design and performance advantages. Parallel robots consist of a base, an end moving platform, and two or more independent motion branches connecting the two. Each branch forms a closed-loop structure in parallel. This design enables multiple branches to work together, thereby significantly improving the overall performance of the robot.

[0003] In the packaging and sorting process of goods in light production lines, serial mechanisms are usually used to complete complex process operations. Compared with serial robots, parallel robots have many advantages: their compact structure, small footprint, and more efficient use of the working area; at the same time, their closed-loop structure provides excellent rigidity, allowing them to maintain stability under high loads. In addition, parallel robots have extremely high repeatability and can meet the needs of operations with strict precision requirements; and their good dynamic performance enables them to achieve high-speed and stable operation. Therefore, parallel robots have shown great potential in industrial applications that require high precision, high rigidity, and efficient operation, and have gradually become the focus of research and application in the field of industrial automation. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The existing parallel mechanism has the following disadvantages:

[0006] 1. Delta robots have a large horizontal workspace, but their vertical working range is relatively limited, making it difficult to meet certain application scenarios that require large vertical movements.

[0007] 2.Due to the lightweight design of its moving platform and branch chain, the Delta robot is more suitable for handling light objects. In high-load operations, its performance and stability may be limited.

[0008] 3. Delta robots are more suitable for fast, light-load operation tasks, such as food packaging or small parts assembly, but they perform poorly in scenarios that require high rigidity, heavy loads or more flexible movements, and their application range is relatively limited.

[0009] 4. During high-speed operation, when the acceleration of the robot drive arm changes frequently, the motor motion control is prone to overshoot due to the constant change of input state, causing the entire system to vibrate. At the same time, during high-speed operation, the inertial force of the robot will also affect the system, thereby affecting the robot's motion accuracy.

[0010] Therefore, in view of the above shortcomings in the prior art, a drive-improved Delta parallel robot is proposed. The robot should have excellent dynamic performance and compact structural design while retaining the original three-degree-of-freedom motion characteristics, while achieving flexible and non-strange motion performance. Its rigidity, precision and stability are further improved, and the rotation workspace is significantly expanded, so as to meet higher performance and diversified industrial needs.

[0011] (II) Technical solution

[0012] The present invention aims to solve at least one of the technical problems existing in the prior art, and provides a drive-improved Delta parallel robot. The robot has excellent dynamic performance, compact structural design, can achieve flexible and non-strange movement, has high rigidity, precision and stability, and significantly improves its rotation workspace, showing many advantages.

[0013] To solve the above technical problems, the present invention adopts the following technical solutions:

[0014] A drive-improved three-DOF Delta parallel robot is characterized by: a base, three groups of parallel drive components, three groups of parallel constraint components, and a moving platform; wherein the three groups of parallel drive components and the parallel constraint components are evenly cross-distributed and connected between the moving platform and the base.

[0015] Preferably, the base as a whole adopts a three-leaf geometric design, each blade area is circular and interconnected, forming a compact and coordinated structural layout; a circular hole is provided in the center of each blade area to provide necessary space for the swing of the parallel drive component, thereby ensuring that the robot can achieve flexible motion performance, and two threaded holes are provided at the root of the blade for firmly connecting the parallel constraint component to enhance the structural stability and motion reliability of the system; the material of the base is cast iron, which is made by a casting process and has an appropriate thickness to provide sufficient load-bearing capacity and structural strength; the central connecting part adopts an optimized rigid design, which can improve the overall stability and deformation resistance of the three-leaf structure while ensuring the overall strength.

[0016] Preferably, the main components of each group of parallel drive components include a magnetic axis linear motor, an extended connecting rod, a fisheye ball joint, a motor seat and a vertical Hooke's joint; specifically, the front end of the extended connecting rod is flexibly connected to the moving platform through a fisheye ball joint, and the rear end is connected to the driving telescopic rod of the magnetic axis linear motor, thereby realizing high-precision linear drive and motion transmission; the magnetic axis linear motor is firmly fixed to the motor seat through the threaded hole at its bottom, and at the same time, the bottom end of the motor seat is fixed to the rotating sub-plane of the vertical Hooke's joint by bolts to form a stable mechanical support and efficient transmission structure; the three groups of drive components are evenly distributed between the base and the moving platform, and spatial symmetry and mechanical balance are achieved through precise arrangement; the specific connection method is: the tail of the vertical Hooke's joint at the end of each group of drive components is respectively fixed to the three bases set on the base, and each group of bases is fixed with six bolts to ensure structural rigidity and reliability, and the front end of the drive component is connected to the moving platform through a fisheye ball joint; the three groups of drive components are connected to the base and the moving platform, and in the absence of a constraint mechanism, the six-degree-of-freedom movement of the moving platform in space can be realized.

[0017] 1. Preferably, each group of parallel constraint components includes a slewing mechanism and two connecting rods; wherein each connecting rod is made of a carbonized rod, and its head and tail ends are respectively connected to two fisheye ball joints to achieve flexible joint movement and precise constraint function; the core structure of the slewing mechanism is composed of a square bracket and two groups of symmetrical long rods, each group of long rods is further divided into an outer rod and an inner rod, and the two are tightly connected by shafts and bolts to form a strong and flexible slewing structure; a transverse mounting hole is provided on the surface of the square bracket for fixing the semicircular shaft; bearings are installed in the grooves on both sides of the bracket to reduce rotational friction and ensure that the long rods rotate smoothly around the square bracket; the front ends of the two parallel long rods are fixedly connected to the square bracket through their semicircular holes, specifically in the following way: the semicircular hole is embedded in the semicircular shaft, and the stability and rotation accuracy of the connection are ensured by close fit, and the bottom end is fixedly connected to the square bracket through the semicircular hole. The connecting shaft is fixed with fasteners, and grooves for installing bearings are provided on the inner rods on both sides to improve the stability and flexibility of rotation. In terms of connection details, the first section of the fastener is threaded with the connecting shaft to clamp the long rods on both sides, and the tail end is connected to the connecting rod through a fisheye ball joint, and the final fixation is completed with a bolt cap. Through this design, the slewing mechanism as a whole can realize the efficient rotation of the long rod around the horizontal mounting hole of the square bracket, providing reliable support and precise constraint for the system movement. The square bracket in the parallel constraint component is firmly connected to the root of the three-leaf structure of the base through two bolts, and the two connecting rods are flexibly connected to the moving platform through a fisheye ball joint. The overall design can improve the dynamic performance and movement flexibility of the system while ensuring high rigidity. Three groups of constraint components constitute the constraint mechanism, and the constraint robot enables the moving platform to perform high-precision movement with three degrees of freedom.

[0018] Preferably, the moving platform includes a central structure as a core component, six long connecting bolts and three short connecting bolts, and its connection structure has high rigidity and precision; the roots of the six long connecting bolts are respectively fixed on both sides of the triangular area of ​​the central structure, and the head ends are connected to the connecting rod in the constraint component through a fisheye ball pair, and the fixation is completed by tightening the bolt caps; the roots of the three short connecting bolts are installed on the inner ring of the central structure, and the head ends are connected to the driving component through a fisheye ball pair, and the stability is ensured by tightening the bolt caps; the moving platform is connected to the ball joints in the driving component and the constraint component to ensure the structural stability and transmission accuracy of the moving platform in three-degree-of-freedom motion.

[0019] Preferably, the drive-improved Delta parallel robot consists of three groups of parallel drive components and three groups of parallel constraint components; wherein, the core of the three groups of parallel drive mechanisms is composed of three magnetic axis linear motors, which work together through the precise extension and retraction of their drive rods to achieve smooth movement and high-precision positioning of the moving platform.

[0020] (II) Beneficial Effects of the Invention

[0021] The present invention proposes a drive-improved Delta parallel robot with excellent dynamic performance and compact structural design. Its unique design realizes flexible and non-strange motion characteristics, while also having high rigidity, high precision and excellent stability. On this basis, the robot significantly improves the range of the rotation workspace, effectively improves the stability of the input end, and significantly reduces the impact of the inertial force of the drive arm on the system performance, showing significant advantages in complex application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure is an overall schematic diagram of a three-DOF Delta parallel robot with improved drive according to the present invention;

[0023] Figure 2 This is a schematic diagram of the base structure of the three-DOF Delta parallel robot with improved drive according to the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of the parallel drive components in the three-DOF Delta parallel robot with improved drive according to the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the parallel constraint components in the drive-improved three-DOF Delta parallel robot of the present invention;

[0026] Figure 5 It is a schematic diagram of the explosion and decomposition of the rotary mechanism in the parallel constraint component of the three-degree-of-freedom Delta parallel robot with improved drive according to the present invention;

[0027] Figure 6It is a schematic diagram of explosion decomposition of the mid-moving platform of the three-degree-of-freedom Delta parallel robot with improved drive according to the present invention; DETAILED DESCRIPTION

[0028] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0031] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0032] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0033] The present invention relates to a drive-improved three-degree-of-freedom Delta parallel robot, which is designed to solve the problem of decreased motion accuracy caused by the inertia force of the driving arm during the high-speed operation of the traditional Delta parallel robot. By proposing a drive-improved robot, the system vibration problem caused by the inertia of the driving arm is optimized in a targeted manner, and the inertia force during the operation of the robot can be reduced. On the basis of maintaining the high-speed operation capability of the Delta parallel robot, the improved robot can enhance the dynamic performance of the system and improve the motion accuracy. In addition, the robot continues the advantages of the traditional parallel mechanism, has high rigidity, high precision and good stability, adapts to complex working environments, and shows broad scientific research value and application potential, providing a new solution for the development of high-performance robot technology.

[0034] like Figure 1 As shown, a drive-improved three-DOF Delta parallel robot is composed of a base 1, a six-DOF parallel drive component 2, a three-DOF parallel constraint component 3 and a moving platform 4. The parallel drive component 2 and the parallel constraint component 3 are respectively connected between the moving platform 4 and the base 1 to form a highly integrated mechanical system. The robot base is fixed, and the three groups of magnetic axis linear motors 2-1 in the parallel drive component 2 drive the moving platform 4 to move at high speed by jointly driving the moving platform 4. The three groups of drive mechanisms are typical six-DOF 3-UPS parallel mechanisms, where U represents Hooke's pair, P represents the moving pair, and S represents the ball pair. The overall parallel drive component 2 has three drive motors, three ball pairs and three Hooke's joints, and the drive mechanism has no degree of freedom restriction. The parallel constraint component 3 is the original Delta robot mechanism, but the difference is that the rotating pair driven by the original Delta robot does not provide power and only acts as a constraint mechanism. Each set of parallel constraint components 3 can be divided into a slewing mechanism 3-1 and a parallelogram closed-loop mechanism, wherein the parallelogram closed-loop mechanism is composed of a moving platform 4, two connecting rods 3-2 and the end of the slewing mechanism 3-1. The design of the three parallelogram closed-loop mechanisms ensures that the moving platform 4 always remains parallel to the base 1 during the movement process, thereby eliminating the rotation of the moving platform, so that it can only move in three directions in space. The robot as a whole coordinates with the constraint mechanism and the drive mechanism to achieve flexible and high-speed movement of the robot.

[0035] like Figure 2As shown, the base 1 adopts a three-leaf design and consists of three interconnected circular blade areas. A circular hole is set in the center of each blade area to provide the necessary swing space for the parallel drive component 2. A raised base is set on the outside of the circular hole to support and fix the parallel drive component 2. The root of the blade is equipped with two threaded holes for connecting the parallel constraint component 3. The reasonable position can ensure the firmness of the connection of the components and will not affect the overall rigid structure of the base. The base 1 is mainly cast in cast iron with a certain thickness to ensure that it can withstand a certain load and provide sufficient structural strength. The central connection part is designed with high rigidity to ensure the stability of the three-leaf structure.

[0036] like Figure 3 As shown, each group of parallel drive components 2 is composed of a magnetic axis linear motor 2-1, an extended connecting rod 2-2, a fisheye ball joint 2-3, a motor seat 2-4 and a vertical Hooke's joint 2-5. Specifically, the front end of the extended connecting rod 2-2 is flexibly connected to the moving platform 4 through the fisheye ball joint 2-3, and the rear end is connected to the driving telescopic rod 2-1-1 of the magnetic axis linear motor 2-1, thereby realizing high-precision linear drive and motion transmission. The magnetic axis linear motor 2-1 is fixed to the motor seat 2-4 through its bottom threaded hole, and the end of the motor seat 2-4 is connected to the rotating sub-plane of the vertical Hooke's joint 2-5 by bolts, forming a stable mechanical support structure and ensuring efficient motion transmission. The three groups of drive components are evenly distributed between the base 1 and the moving platform 4, and their spatial arrangement can achieve structural symmetry and mechanical balance. The specific connection method is as follows: the tail end of the vertical Hooke's joint 2-5 of each set of driving components is connected to the three fixed bases set on the base 1 by bolts, and each base is fixed with six bolts to enhance the structural rigidity and reliability; the front end of the driving component is connected to the moving platform 4 through the fisheye ball joint 2-3. The three sets of driving components can realize the six-degree-of-freedom movement of the moving platform in space without a constraint mechanism. This design not only realizes high-rigidity and high-precision linear drive through the magnetic shaft linear motor 2-1, but also provides good flexibility and dynamic response performance through the fisheye ball joint 2-3 and the vertical Hooke's joint 2-5. The uniform layout of the three sets of driving components can ensure the mechanical balance of the overall system and can improve the reliability and adaptability of the parallel drive system in complex industrial scenarios. This design can fully meet the needs of high-performance parallel drive and has broad potential in high-precision and high-dynamic response applications.

[0037] like Figure 4 , Figure 5As shown, each set of parallel constraint components 3 consists of a slewing mechanism 3-1 and two connecting rods 3-2. The connecting rod 3-2 is made of carbonized material and has excellent strength and rigidity. Its two ends are flexibly connected to other components through fisheye ball joints, which can achieve precise joint movement and efficient constraint functions. The core structure of the slewing mechanism 3-1 consists of a square bracket 3-1-1 and two groups of symmetrically arranged long bars. Each group of long bars consists of an outer rod 3-1-4 and an inner rod 3-1-5, which are tightly connected by shafts and bolts to form a sturdy and flexible slewing structure. The surface of the square bracket 3-1-1 is provided with a transverse mounting hole for installing the semicircular shaft 3-1-2; the bearings 3-1-3 are embedded in the grooves on both sides of the bracket to effectively reduce the rotational friction, thereby ensuring that the long bars can rotate smoothly around the square bracket. The front end of the long bar is fixed to the square bracket 3-1-1 through its semicircular hole. The specific method is as follows: the semicircular hole is nested in the semicircular shaft 3-1-2, and the stability and rotation accuracy of the connection are improved through precise matching; the bottom end is fixed through the connecting shaft 3-1-9 and the fastener 3-1-7. The grooves 3-1-8 on both sides of the inner rod 3-1-5 are installed with bearings to further enhance the rotation stability and flexibility of the long bar. In the specific connection, the front end of the fastener 3-1-7 is connected to the connecting shaft 3-1-9 through a thread to clamp the long bars on both sides, and the rear end is connected to the connecting rod 3-2 through a fisheye ball joint, and finally fixed with the bolt cap 3-1-6, thereby ensuring the reliability and flexibility of the overall connection. The square bracket 3-1-1 of the slewing mechanism 3-1 is firmly connected to the root of the three-leaf structure of the base 1 through two bolts, and the two connecting rods 3-2 are flexibly connected to the moving platform 4 through the fisheye ball joint. This design, through optimized geometric structure and tight connection, enables the slewing mechanism to efficiently realize the smooth rotation of the long rod around the transverse mounting hole of the square bracket, providing reliable support and precise constraints for the movement of the system. At the same time, the square bracket design of the parallel constraint component 3 ensures the high rigidity of the overall structure, while the flexibility of the connecting rod 3-2 can enhance the dynamic performance of the system. The three sets of parallel constraint components together constitute a constraint mechanism, providing precise motion constraints for the moving platform 4, enabling it to achieve high-precision motion within three degrees of freedom, thereby meeting the requirements of complex industrial scenarios for the performance of parallel mechanisms.

[0038] like Figure 6As shown, the moving platform 4 takes the central structure 4-1 as the core component, and its connection structure has high rigidity and high precision to meet the requirements of complex movement. Six connecting bolts 4-2 are evenly distributed on both sides of the triangular area of ​​the central structure 4-1, and their roots are firmly fixed on the central structure. The head end is flexibly connected to the connecting rod 3-2 in the constraint component 3 through a fisheye ball joint, and the reliability and stability of the connection are ensured by tightening the bolt cap 4-4. Three connecting bolts 4-3 are arranged in the inner circle position of the central structure 4-1, and their roots are fixed on the moving platform. The head end is connected to the driving component 2 through a fisheye ball joint 2-3, and is also precisely fixed by the bolt cap 4-4. This mechanism can realize efficient connection between the moving platform and the constraint component and the driving component, and ensure the structural stability and motion accuracy of the moving platform in six-degree-of-freedom motion. The high-rigidity central structure combined with the precise bolt connection provides reliable motion for the high-precision motion of the entire mechanism, ensuring its operational reliability and adaptability in complex industrial applications.

[0039] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A three-degree-of-freedom Delta parallel robot with improved drive, characterized in that: A base (1), three groups of parallel driving components (2), three groups of parallel restraining components (3), and a moving platform (4); wherein the three groups of parallel driving components (2) and the parallel restraining components (3) are evenly cross-distributed and connected between the moving platform (4) and the base (1).

2. The drive-improved three-DOF Delta parallel robot according to claim 1, characterized in that: The base (1) adopts a three-leaf geometric design as a whole, and each blade area is circular and interconnected to form a compact and coordinated structural layout; a circular hole is provided in the center of each blade area to provide necessary space for the swing of the parallel drive component (2), thereby ensuring that the robot can achieve flexible movement performance, and two threaded holes are provided at the root of the blade for firmly connecting the parallel constraint component (3) to enhance the structural stability and movement reliability of the system; the material of the base (1) is cast iron, which is made by a casting process and has an appropriate thickness to provide sufficient load-bearing capacity and structural strength; the central connecting part adopts an optimized rigidity design, which can improve the overall stability and deformation resistance of the three-leaf structure while ensuring the overall strength.

3. The drive-improved three-DOF Delta parallel robot according to claim 1, characterized in that: Each group of parallel drive components (2) comprises a magnetic axis linear motor (2-1), an extended connecting rod (2-2), a fisheye ball joint (2-3), a motor seat (2-4) and a vertical Hooke's joint (2-5); the front end of the extended connecting rod (2-2) is flexibly connected to the moving platform through the fisheye ball joint (2-3), and the rear end is connected to the driving telescopic rod (2-1-1) of the magnetic axis linear motor (2-1), thereby realizing high-precision linear drive and motion transmission; the magnetic axis linear motor (2-1) is firmly fixed to the motor seat (2-4) through the threaded hole at the bottom thereof, and at the same time, the bottom end of the motor seat (2-4) and the rotational sub-plane of the vertical Hooke's joint (2-5) are connected. Through bolt fixation, a stable mechanical support and efficient transmission structure are formed; three groups of driving components are evenly distributed between the base (1) and the moving platform (4), and spatial symmetry and mechanical balance are achieved through precise arrangement; the specific connection method is as follows: the tail of the vertical Hooke's hinge (2-5) at the end of each group of driving components is respectively fixed to three bases arranged on the base (1), and each group of bases is fixed with six bolts to ensure structural rigidity and reliability, and the front end of the driving component is connected to the moving platform (4) through a fisheye ball hinge (2-3); the three groups of driving components are connected to the base (1) and the moving platform (4), and in the absence of a constraint mechanism, the six-degree-of-freedom movement of the moving platform in space can be achieved.

4. The drive-improved three-DOF Delta parallel robot according to claim 1, characterized in that: Each group of parallel constraint components (3) comprises a slewing mechanism (3-1) and two connecting rods (3-2); wherein each connecting rod (3-2) is made of a carbonized rod, and its head and tail ends are respectively connected to two fish eye ball joints to achieve flexible joint movement and precise constraint function; the core structure of the slewing mechanism (3-1) is composed of a square bracket (3-1-1) and two groups of symmetrical long rods, each group of long rods is further divided into an outer rod (3-1-4) and an inner rod (3-1-5), and the two are tightly connected by a shaft and bolts to form A sturdy and flexible rotating structure; a transverse mounting hole is provided on the surface of a square bracket (3-1-1) for fixing a semicircular shaft (3-1-2); bearings (3-1-3) are installed in the grooves on both sides of the bracket to reduce rotational friction and ensure that the long bars rotate smoothly around the square bracket; the front ends of the two parallel long bars are fixedly connected to the square bracket (3-1-1) through their semicircular holes, specifically in the following manner: the semicircular holes are embedded in the semicircular shaft (3-1-2), and the stability and rotation accuracy of the connection are ensured by close fit; the bottom ends are connected through the connecting shaft (3- 1-9) and fasteners (3-1-7), and grooves (3-1-8) for installing bearings are provided on the inner rods (3-1-5) on both sides to improve the stability and flexibility of rotation; in terms of connection details, the first section of the fastener (3-1-7) is threadedly matched with the connecting shaft (3-1-9) to clamp the long bars on both sides, and the tail end is connected to the connecting rod (3-2) through a fisheye ball joint, and the final fixation is completed by a bolt cap (3-1-6); through this design, the slewing mechanism as a whole can realize the long bar around the square bracket (3-1 -1) The efficient rotation of the transverse mounting hole provides reliable support and precise constraint for the system movement; the square bracket (3-1-1) in the parallel constraint component (3) is firmly connected to the root of the three-leaf structure of the base (1) by two bolts, and the two connecting rods (3-2) are flexibly connected to the moving platform (4) by fisheye ball joints; the overall design can improve the dynamic performance and movement flexibility of the system while ensuring high rigidity. The three groups of constraint components constitute the constraint mechanism, which constrains the robot so that the moving platform (4) can move with high precision in three degrees of freedom.

5. The drive-improved three-DOF Delta parallel robot according to claim 1, characterized in that: The moving platform (4) comprises a central structure (4-1) as a core component, six long connecting bolts (4-2) and three short connecting bolts (4-3), and its connection structure has high rigidity and precision; the roots of the six long connecting bolts (4-2) are respectively fixed to the two sides of the triangular area of ​​the central structure (4-1), and the head ends are connected to the connecting rod (3-2) in the constraint component (3) through a fisheye ball pair, and the bolt caps (4-4) are tightened to complete the fixation; the roots of the three short connecting bolts (4-3) are installed in the inner ring of the central structure (4-1), and the head ends are connected to the driving component (2) through a fisheye ball pair (2-3), and the stability is ensured by tightening the bolt caps (4-4); the moving platform (4) is connected to the ball joints in the driving component (2) and the constraint component (3), so as to ensure the structural stability and transmission accuracy of the moving platform in three-degree-of-freedom motion.

6. The drive-improved three-DOF Delta parallel robot according to claim 1, characterized in that: The drive-improved Delta parallel robot comprises three groups of parallel drive components (2) and three groups of parallel constraint components (3); the core of the three groups of parallel drive mechanisms is composed of three magnetic axis linear motors (2-1), and through the precise extension and retraction of their drive rods (2-1-1), the smooth movement and high-precision positioning of the moving platform (4) can be achieved.

Images