Delta Robot Input-Controlled Brakes for Manual Positioning
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Solution Overview
Problem
Existing delta robots are not easily adjustable in manual mode, limiting their flexibility and usability.
Innovation Solution
Incorporating a motor-driven parallelogram joint assembly with integrated brakes and a manual input device on the end effector carrier, allowing for manual adjustment and precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motor-driven parallelogram joint assemblies with brakes are used for automatic positioning, then positioning precision is improved, but manual adjustability deteriorates
Solution Approach 1:
The brake mechanism is designed to be dynamically switchable between locked and released states. The input means (manual release device) allows the operator to temporarily release the brake engagement, enabling manual adjustment of the parallelogram joint assembly, after which the brake automatically or manually re-engages to maintain precise positioning. This dynamic state change resolves the contradiction by allowing both automatic precision positioning and manual adjustability at different operational phases.
2Stability of the object's composition
If brakes are integrated into each motor for automatic stopping and holding, then positioning stability is improved, but device complexity increases
Solution Approach 1:
The brake mechanism is merged with the motor assembly, sharing common structural elements such as the motor housing, mounting flanges, and control circuitry. The brake is positioned to utilize the motor's rotational axis and housing space, eliminating the need for separate mounting structures. This merging approach reduces overall device complexity while maintaining positioning stability through integrated brake functionality.
3Ease of operation
If input means is added to end effector carrier for manual release, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The input means (manual release device) is designed with multi-functionality to reduce overall device complexity. It serves multiple purposes: releasing the brake engagement, providing tactile feedback to the operator, and potentially serving as a safety interlock or mode selection mechanism. By consolidating multiple functions into a single input device, the overall complexity increase is minimized while maximizing ease of operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables easy and intuitive manual adjustment of the end effector carrier, enhancing the robot's flexibility and precision in operation.
Implementation Method 1
each motor can be braked by means of a brake to automatically stop the end effector carrier and/or to hold the end effector carrier in its current position
Data Source
Figure 1
Figure 2~3
AI summary
The invention relates to a delta robot comprising a robot base, an end effector carrier that can be positioned in space, and three parallelogram articulated couplings which connect the end effector carrier to the robot base and are designed to connect the end effector carrier in a displaceable manner while maintaining its orientation in space relative to the robot base, wherein each parallelogram articulated coupling can be displaced, driven by a motor, in order to automatically move the end effector carrier, wherein each motor can be braked by means of a brake in order to automatically stop the end effector carrier and/or to hold the end effector carrier in its actual position, and wherein the end effector carrier has at least one input means which is connected to the brakes in terms of control technology and is designed to release the brakes in an actuated switching state of the input means in such a way that the end effector carrier is manually displaceable.