Linear Delta Mechanism with Central Base Stand

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Solution Overview

Problem

Conventional serial-linked robot mechanisms suffer from error accumulation, mechanical weakness, increased inertia leading to difficult control and energy loss, and inability to effectively eliminate thermal deformation, while conventional delta mechanisms waste space and hinder stability due to their structural design.

Innovation Solution

A linear delta mechanism with a base platform, movable platform, and guide sets featuring symmetrically disposed linear actuators and actuating rods, where the base stand is centrally located, allowing for efficient space use and improved stability, with optional cover protection and versatile actuator motion.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Area of moving object

If three actuating sets are disposed surrounding the working platform in conventional delta mechanism, then the driving function is achieved, but the space above and around the working platform cannot be used efficiently and the working area is reduced

Engineering Contradiction:

Improveworking areaVSAvoidstructural arrangement

Core Design Contradiction:

Area of moving objectVSDevice complexity

Solution Approach 1:

The patent inverts the conventional delta mechanism arrangement by moving the actuating sets from surrounding the working platform to being integrated within the base structure. The guide sets extend upward from the base rather than from surrounding stands, fundamentally reversing the spatial organization to maximize working area while maintaining driving function

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The patent merges the actuating sets into the base structure, combining what were previously separate components (base and actuating mechanisms) into an integrated system. This consolidation eliminates the need for separate surrounding stands and maximizes the usable working space

Inventive Principle:

Principle #5Merging (Combining)

2Ease of manufacture

If three actuating sets and fixing structures are disposed surrounding the working platform, then the driving function is achieved, but the total space taken is huge and inconvenient for installing and transporting

Engineering Contradiction:

Improveinstallation and transport convenienceVSAvoidtotal space occupied

Core Design Contradiction:

Ease of manufactureVSVolume of stationary object

Solution Approach 1:

The actuating sets are merged into the base structure, creating a compact integrated unit that reduces the overall volume occupied by the mechanism and simplifies installation and transport by eliminating separate surrounding components

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The base structure serves multiple functions: it provides the foundation for the mechanism and simultaneously houses the actuating sets, eliminating the need for separate fixing structures and reducing the total space required

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Stability of the object's composition

If three actuating sets scattering surrounding the working platform are used, then the driving function is achieved, but the working inertia is spread and it is not easy to be controlled, making it more difficult to tune the stability

Engineering Contradiction:

Improvemechanism stabilityVSAvoidcontrol difficulty

Core Design Contradiction:

Stability of the object's compositionVSDevice complexity

Solution Approach 1:

By merging the actuating sets into the base structure with symmetric arrangement, the patent consolidates the inertia sources into a more centralized and balanced configuration, improving stability and simplifying control compared to the scattered surrounding arrangement

Inventive Principle:

Principle #5Merging (Combining)

4Adaptability or versatility

If serial-linked mechanism is used, then the adjustable posture and angle are achieved, but error accumulation occurs and mechanical strength becomes weaker

Engineering Contradiction:

Improveposture adjustment capabilityVSAvoiderror accumulation

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent transitions from a serial-linked mechanism to a parallel-linked mechanism, inverting the structural approach. This parallel architecture eliminates the cumulative errors inherent in serial connections while maintaining the ability to achieve required postures and angles through coordinated actuator motion

Inventive Principle:

Principle #13The other way round (Inversion)

Data Source

PatentUS9296113B2Delta robot and linear delta mechanism

Publication Date: 2016.03.29 DELTA ELECTRONICS INC(CN)

AI summary

A linear delta mechanism includes a base platform, a movable platform, and a plurality of guide sets. The base platform includes a base structure and a base stand. The base stand is disposed at a center location of the base structure. The movable platform is movable with respect to the base platform. The plurality of guide sets are connected to the base platform and configured to drive the movable platform. Each of the guide sets includes a linear actuator and an actuating rod. The linear actuators of the guide sets are symmetrically disposed around the base stand. Each of the actuating rods has a first end and a second end. The first end is driven by the linear actuator, and the second end is connected to the movable platform.