Delta Robot Linear Actuator Payload and Cycle Rate
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Solution Overview
Problem
Delta robots and tripods have a relatively low payload capacity, especially in extreme positions, and are limited by unfavorable lever and force ratios, which restricts their ability to handle larger masses and results in a slower handling cycle, making them susceptible to damage from collisions.
Innovation Solution
A device with a central coupling element and three driven arms, where each arm has an independent pivot drive, and a controlled linear actuator between the base and coupling element to support the arms and relieve load, allowing for increased payload capacity and improved handling efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If delta robots with three arms and passive lower arms are used, then the device achieves a compact structure and fast positioning, but the payload capacity is limited due to unfavorable lever and force ratios
Solution Approach 1:
The patent converts the static passive lower arm structure into a dynamic actively controlled structure by introducing linear actuators. This allows the system to adapt its mechanical advantages dynamically, achieving both fast positioning and high payload capacity by actively adjusting the arm configurations rather than relying on fixed geometric relationships
Solution Approach 2:
The patent introduces linear actuators as intermediary elements between the base and the coupling element. These actuators serve as force amplifiers that compensate for the unfavorable lever ratios in the arm structure, enabling high payload capacity while maintaining the compact delta robot architecture and fast response characteristics
2Weight of moving object
If the lower arms are designed as passive linkages without intrinsic stability, then the structure remains simple and lightweight, but the payload capacity decreases
Solution Approach 1:
The patent replaces the traditional passive mechanical linkage system with an actively controlled system using linear actuators. This substitution allows the lightweight passive lower arm structure to be maintained while the actuators provide the necessary force amplification to handle heavy payloads, effectively decoupling structure weight from payload capacity
3Adaptability or versatility
If telescopic shafts with cardan joints are used to transmit rotary movements, then the manipulator can be actuated in extreme positions, but the system becomes more complex and heavier
Solution Approach 1:
The patent extracts the rotary transmission mechanism from the traditional cardan joint and telescopic shaft assembly and replaces it with linear actuators that directly provide both positioning and force amplification. This extraction eliminates the complex intermediate transmission components while maintaining the ability to operate in extreme positions through direct actuation
Solution Approach 2:
The linear actuators serve multiple functions simultaneously: they provide positioning control, force amplification, and enable operation in extreme positions. This multi-functionality replaces the need for separate specialized components like cardan joints and telescopic shafts, reducing overall system complexity while maintaining versatility
Data Source
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AI summary
A device (01) for handling articles is described. The device (01) comprises a base (04) and a linkage (05) consisting of at least three driven arms (50) and a central coupling element (06). Each of the driven arms (50) consists of an upper arm (52) rotatably mounted about its own pivot axis (51) located on the base (04) and a lower arm (53) pivotally connected to the upper arm (52) and pivotally connected to the coupling element (06). Furthermore, each of the driven arms has its own drive (54) for individually pivoting the upper arm (52) about its pivot axis (51). Between the base (04) and the coupling element (06) at least one controlled driven linear actuator (09) is arranged, which is articulated with a first end (91) at at least one head point (41) on the base (04) and with a second end (92) articulated at at least one foot point (61) on the coupling element (06).The actuator axis (90) of the linear actuator (09) extends between its first end (91) and second end (92). The movement of the linear actuator (09) along its axis (90) is proportional to a variable distance between the head point (41) and the foot point (61), determined by the position of the arms (50).