Vertically Adjustable Delta Robot Suspension for Expanded Workspace
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Solution Overview
Problem
Current handling systems, such as delta robots, have limited working spaces that restrict their ability to handle articles of varying sizes and orientations efficiently, leading to reduced mobility and increased dimensioning of drive trains, which affects dynamics and efficiency.
Innovation Solution
A delta robot with an upper suspension system mounted in vertically adjustable linear guides, allowing independent actuation of three positioning arms, enabling vertical and angular adjustments to expand the working space without increasing drive train dimensions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the working space of a delta robot is extended to handle articles of varying sizes and orientations, then the manipulator's range of motion is improved, but the drive train dimensions must be increased which affects dynamics and efficiency
Solution Approach 1:
The upper suspension is made vertically adjustable relative to the lower suspension, allowing the system to dynamically adapt its configuration. This enables the delta robot to extend its working space vertically without permanently increasing drive train dimensions, as the adjustment is achieved through movable suspension positioning rather than fixed structural expansion.
Solution Approach 2:
The invention introduces vertical adjustment of the upper suspension relative to the lower suspension, adding a vertical dimension of adjustability to the traditional horizontal working space of delta robots. This allows articles of varying heights to be handled without increasing the horizontal footprint or drive train dimensions.
2Adaptability or versatility
If the upper suspension is made vertically adjustable to expand working space, then adaptability is improved, but device complexity increases
Solution Approach 1:
The vertically adjustable upper suspension serves multiple functions: it enables handling of articles with varying heights, expands the working space vertically, and maintains compatibility with the existing delta robot structure. This multi-functionality justifies the added complexity by providing versatile adaptability without requiring multiple separate systems.
Data Source
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AI summary
The invention relates to a device and a method for handling and/or manipulating articles, groupings, containers, piece goods or the like, comprising an upper suspension (18) on which at least three separately driven positioning arms (20) are secured in an articulated manner. Each of the at least three positioning arms (20) is made of at least two arm sections (22, 24) which can be pivoted relative to each other, and the at least three positioning arms (20) can be actuated independently of one another. The device also comprises a manipulator (16) which comprises one or more means for gripping the articles, groupings, containers, or piece goods and is mechanically coupled to the at least three positioning arms (20) such that a position of the manipulator (16) can be specified by the movement of one or more of the at least three positioning arms (20). The upper suspension (18) can be adjusted vertically together with the attachments of the at least three positioning arms (20) and/or can be brought into an angular position relative to a vertical.