CN103192364A - Improved Delta parallel mechanism robot - Google Patents
Improved Delta parallel mechanism robot Download PDFInfo
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- CN103192364A CN103192364A CN2013101015118A CN201310101511A CN103192364A CN 103192364 A CN103192364 A CN 103192364A CN 2013101015118 A CN2013101015118 A CN 2013101015118A CN 201310101511 A CN201310101511 A CN 201310101511A CN 103192364 A CN103192364 A CN 103192364A
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Abstract
The invention relates to an improved Delta parallel mechanism robot and belongs to the technical field of parallel robot mechanisms. Projection included angles of three groups of electric linear guide rails on the horizontal plane are 120 degrees, and the three groups of electric linear guide rails are evenly arranged circumferentially. The three groups of guide rails and three groups of electric linear guide rail center lines with horizontal plane included angles of 45 degrees are converged at one point. Three groups of stepping motors are placed at the bottoms of the linear guide rails respectively, are fixed on a fixed platform and respectively drive connecting pieces on the three groups of linear guide rails to enable the connecting pieces to move along the direction of the linear guide rails. One ends of connecting rods are hinged to the connecting pieces on the three groups of linear guide rails respectively through spherical hinges, the other ends of the connecting rods are hinged to a movable platform through spherical hinges, and three groups of parallelogram branched chains are formed respectively. Compared with a traditional Delta robot, the improved Delta parallel mechanism robot is safe, high in reliability and precision, large in work space, compact in overall structure and small in volume mass.
Description
Technical field
The invention belongs to the parallel robot mechanism technical field, relate to the Delta parallel institution, improve on the basis of traditional Delta parallel robot, make it have better exercise performance.
Background technology
The Delta parallel robot was proposed by R.clavel in 1985 the earliest, because of its base platform and motion platform all shape triangular in shape gain the name.The Delta robot is a kind of as parallel institution, has above-mentioned plurality of advantages and various possible application, is one of robot that commercial application is the most successful at present.Clavel has proposed to contain in the branch Delta parallel robot of spherical four-bar linkage in 1988, be regarded as a milestone of three-freedom mobile parallel connection mechanism, this mechanism comprises 12 ball pairs, 9 revolute pairs and 17 members, because drive motors places on the fixed platform and the use of lightweight connecting bar, Delta mechanism can obtain the acceleration up to 12g, is very suitable for finishing the taking and placing operation of little mass objects.After loading onto suitable end effector at motion platform, the quick assembling that is specially adapted to electronic devices and components is pegged graft.Operation is picked up and placed to packing in light industry, and medical surgery etc. also have more application.
Delta robot being applied in the large-scale field of success and obtained good performance abroad.For example, in Switzerland, chocolatier is thunder not, and the new production line that adopts the packing technique company by Bosch to provide is on this production line, eight Delta robots are put into chocolate in the foam box, foam box is put in the carton again, has reduced the not workload of Thunder God department, most importantly the whole operation system is simple and easy to do, only need revise simply that operating system just can adapt to new packing specification, this simplification makes the new demand in the reply market that the said firm can be quick and calm.
But up to now, the drive system of Delta parallel robot mostly is three motors greatly and drives revolute pair respectively, props up chain mechanism thereby drive three groups of parallelogram, realizes the translation of moving platform, thereby realizes the actions (as Fig. 1) such as quick extracting of robot.But this class Delta parallel robot is subjected to the vibration influence that self produces bigger, for the production of the time need load vibration abatement, perhaps install shockproof properties mounting bracket preferably additional, make the use cost of Delta robot, whole cost mobile, transportation increase greatly.For the user has brought inconvenience.Along with as shown in Figure 2 the Delta robot behind the improved of carrying out has appearred in the development of Delta parallel robot, though be improved aspect mechanism's vibratility with more this structure of Fig. 1, but find through carrying out Workspace Analysis,, fixed platform radius long at bar, the moving platform radius, and under the identical situation of Z-direction movement travel, structure shown in Figure 2 structure more shown in Figure 1 obviously reduces on the working motion scope.
Summary of the invention
The objective of the invention is to overcome above-mentioned the deficiencies in the prior art, a kind of modified Delta parallel robot mechanism is provided, three groups of motor-driven line slideways that employing is designed to have with the plane certain angle drive three groups of parallelogram rod members respectively, on the basis that does not change original working space, effectively alleviated the vibrations that produce when equipment is whole to be used industrial production is used the influence that produces, exercise performance is more reliable in use to make equipment.
The present invention realizes by the following technical solutions:
The present invention includes
A kind of modified Delta parallel robot, its mechanical part comprises three groups of electric linear guide rails, three stepper motors, three groups of parallelogram side chains, moving platform, fixed platform; The projection angle of described three groups of electric linear guide rails on horizontal plane is 120 °, circumferentially evenly arranging.Three groups of guide rails and horizontal plane angle are that 45 ° of three groups of electric linear center line of guide rail converge at a bit; Three groups of stepper motors are placed on the bottom of line slideway respectively, are fixed on the fixed platform, drive three groups of connectors on the line slideway respectively connector is moved along the direction of line slideway; One end of connecting rod respectively with respectively with three groups of line slideways on connector be hinged by ball pivot, the other end and moving platform are hinged by ball pivot, form three groups of parallelogram side chains respectively, at connector during along guide rail movement, drive parallelogram and prop up chain movement, thereby drive the moving platform motion.
Described a kind of modified Delta parallel robot, it also comprises control section; Described control section comprises a times good fortune 2521-0024 high-speed motion control module, and three stepper motor drivers that link to each other with described control module are the power supply of described control module and stepper motor power supply; Described three stepper motor drivers link to each other with described three groups of stepper motors respectively.
Times good fortune 2521-0024 high-speed motion control module adopts the EtherCat bus to carry out communication by Ethernet.
A kind of modified Delta of the present invention parallel robot is compared with traditional Delta parallel robot, has following remarkable advantages and beneficial effect:
The projection three group electric linear guide rail angle of a kind of modified Delta parallel robot of the present invention on horizontal plane is 120 °, three groups of line slideways of projection in the front view face are 45 ° with horizontal plane angle all, the stability when this structure has guaranteed the integral device operation.Drive moving platform owing to adopt moving sets to drive the parallelogram rod member, make that comparing motor with original Delta parallel robot can grasp heavier object under the situation of loss equal-wattage, the extracting precision is improved, and has prolonged the service life of integral device.Compact equipment, volume mass reduces.
Description of drawings
Fig. 1: be the structure chart one of traditional Delta parallel robot;
Fig. 2: be the structure chart two of traditional Delta parallel robot:
Fig. 3: be the structure chart of control system of the present invention;
Fig. 4: be structure control figure of the present invention;
Fig. 5 is frame for movement schematic diagram of the present invention.
Among the figure: 1, line slideway, 2, connect rod member, 3, ball pivot, 4, moving platform, 5, fixed platform.
The specific embodiment
Further specific embodiments of the invention are described below in conjunction with accompanying drawing.
A kind of modified Delta parallel institution robot, its structure is as follows:
Mechanical part: three groups on electric linear guide rail, stepper motor, parallelogram side chain, ball pivot, moving platform, aluminium section bar.The electric linear guide rail adopts German Fei Situo electric linear guide rail, and stroke is 300mm.Stepper motor adopts Sanyo's stepper motor,
Control section (as Fig. 3): high-speed motion control module, stepper motor driver, power supply.
A kind of modified Delta of the present invention parallel robot adopts three times of good fortune high-speed motion control module EL2521-0024 and input module EL1088, adopts Sanyo's stepper motor driver.
A kind of modified Delta of the present invention parallel robot is when work, soft PLC software CoDeSys by host computer writes control program, carry out communication by the EtherCat bus, control high-speed motion control module and stepper motor driver make stepper motor work, realize the motion of moving sets, thereby drive three groups of parallelogram rod members, make moving platform arrive assigned address.
As shown in Figure 5, modified Delta parallel robot of the present invention is by rod member 2 and guide-rail coupling member, and moving platform connects by ball pivot and forms three groups of parallelogram side chains respectively.Electric linear guide rail 1 is driven by three stepper motors respectively at work, props up chain movement thereby drive three groups of parallelogram, at the volley moving platform all the time with the horizontal plane keeping parallelism.Can be according to the equipment application scenario, according to client's needs installation manipulator pawl, sucker or welding gun etc. on moving platform.As seen from Figure 5, in the projection in the equipment level face, the angle between three groups of line slideways is 120 °, and the space angle of three groups of guide rails and horizontal plane was 45 ° when equipment was placed, and this makes the equipment resistance to overturning be greatly improved.Modified Delta parallel robot is compared with traditional Delta robot, and under identical movement velocity, vibratility reduces in the motion process, and kinematic accuracy improves.
Claims (3)
1. modified Delta parallel robot, it is characterized in that: its mechanical part comprises three groups of electric linear guide rails, three stepper motors, three groups of parallelogram side chains, moving platform, fixed platform; The projection angle of described three groups of electric linear guide rails on horizontal plane is 120 °, circumferentially evenly arranging.Three groups of guide rails and horizontal plane angle are that 45 ° of three groups of electric linear center line of guide rail converge at a bit; Three groups of stepper motors are placed on the bottom of line slideway respectively, are fixed on the fixed platform, drive three groups of connectors on the line slideway respectively connector is moved along the direction of line slideway; One end of connecting rod respectively with respectively with three groups of line slideways on connector be hinged by ball pivot, the other end and moving platform are hinged by ball pivot, form three groups of parallelogram side chains respectively, at connector during along guide rail movement, drive parallelogram and prop up chain movement, thereby drive the moving platform motion.
2. a kind of modified Delta parallel robot according to claim 1, it is characterized in that: it also comprises control section; Described control section comprises a times good fortune 2521-0024 high-speed motion control module, and three stepper motor drivers that link to each other with described control module are the power supply of described control module and stepper motor power supply; Described three stepper motor drivers link to each other with described three groups of stepper motors respectively.
3. a kind of modified Delta parallel robot according to claim 2 is characterized in that: times good fortune 2521-0024 high-speed motion control module adopts the EtherCat bus to carry out communication by Ethernet.
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| CN2013101015118A CN103192364A (en) | 2013-03-27 | 2013-03-27 | Improved Delta parallel mechanism robot |
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| CN2013101015118A CN103192364A (en) | 2013-03-27 | 2013-03-27 | Improved Delta parallel mechanism robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260093A (en) * | 2014-07-30 | 2015-01-07 | 华南理工大学 | Delta parallel-connection manipulator control system |
| CN104483898A (en) * | 2014-10-29 | 2015-04-01 | 西南科技大学 | Method for searching Delta robot inscribed cylinder expected work space |
| CN105291084A (en) * | 2015-11-03 | 2016-02-03 | 三峡大学 | Leap motion parallel mechanical arm based on Leap Motion and operation method and control system of leap motion parallel mechanical arm |
| CN105513455A (en) * | 2016-02-15 | 2016-04-20 | 苏州哈工海渡工业机器人有限公司 | Modular Delta parallel robot practical training platform |
| CN105773580A (en) * | 2016-03-28 | 2016-07-20 | 沈阳众拓机器人设备有限公司 | Parallel robot and linear-axle big arm applied to same |
| CN105796307A (en) * | 2016-05-18 | 2016-07-27 | 虞田乐 | Full-automatic armpit massage health care instrument based on delta parallel mechanisms |
| CN105881504A (en) * | 2016-05-11 | 2016-08-24 | 武汉菲仕运动控制***有限公司 | Delta robot control system with traction visual teaching function |
| CN105966607A (en) * | 2016-05-19 | 2016-09-28 | 郑琳琳 | Delta parallel mechanism-based unmanned aerial vehicle damping platform |
| CN106378457A (en) * | 2016-10-27 | 2017-02-08 | 上海建桥学院 | Extruding and stacking efficient forming device |
| CN107756217A (en) * | 2016-08-22 | 2018-03-06 | 香港理工大学 | A kind of vertical connection in series-parallel burnishing machine |
| CN109019020A (en) * | 2018-08-31 | 2018-12-18 | 网易（杭州）网络有限公司 | A kind of article mobile device |
| CN109746147A (en) * | 2017-11-06 | 2019-05-14 | 义乌市易开盖实业公司 | Cover automation spray painting apparatus and method |
| CN110421545A (en) * | 2019-08-20 | 2019-11-08 | 四川建筑职业技术学院 | A kind of parallel mechanical arm grabbing device of pyramidal structure |
| CN110774271A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Multi-angle grabbing manipulator for industrial robot |
| CN114148429A (en) * | 2021-12-13 | 2022-03-08 | 哈尔滨工业大学 | Wearable parallel connection structure biped robot capable of assisting in walking |
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| CA2736660A1 (en) * | 2011-04-11 | 2012-10-11 | Dany Gagnon-Lachance | Parallel manipulator with 3 legs and 6 degrees of freedom |
| CN203171620U (en) * | 2013-03-27 | 2013-09-04 | 北京工业大学 | Modified type Delta parallel mechanism robot |
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| CN101417423A (en) * | 2008-11-22 | 2009-04-29 | 燕山大学 | 3-2-1 structure three-dimensional mobile industrial robot |
| CN201579789U (en) * | 2009-12-15 | 2010-09-15 | 汕头大学 | Three-rotational DOF parallel-connection robot |
| CA2736660A1 (en) * | 2011-04-11 | 2012-10-11 | Dany Gagnon-Lachance | Parallel manipulator with 3 legs and 6 degrees of freedom |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260093A (en) * | 2014-07-30 | 2015-01-07 | 华南理工大学 | Delta parallel-connection manipulator control system |
| CN104483898A (en) * | 2014-10-29 | 2015-04-01 | 西南科技大学 | Method for searching Delta robot inscribed cylinder expected work space |
| CN105291084A (en) * | 2015-11-03 | 2016-02-03 | 三峡大学 | Leap motion parallel mechanical arm based on Leap Motion and operation method and control system of leap motion parallel mechanical arm |
| CN105513455A (en) * | 2016-02-15 | 2016-04-20 | 苏州哈工海渡工业机器人有限公司 | Modular Delta parallel robot practical training platform |
| CN105773580A (en) * | 2016-03-28 | 2016-07-20 | 沈阳众拓机器人设备有限公司 | Parallel robot and linear-axle big arm applied to same |
| CN105881504B (en) * | 2016-05-11 | 2020-06-19 | 武汉菲仕运动控制***有限公司 | Delta robot control system with traction visual teaching function |
| CN105881504A (en) * | 2016-05-11 | 2016-08-24 | 武汉菲仕运动控制***有限公司 | Delta robot control system with traction visual teaching function |
| CN105796307A (en) * | 2016-05-18 | 2016-07-27 | 虞田乐 | Full-automatic armpit massage health care instrument based on delta parallel mechanisms |
| CN105796307B (en) * | 2016-05-18 | 2017-11-07 | 吴丽敏 | A kind of full-automatic armpit health care massage instrument based on delta parallel institutions |
| CN105966607A (en) * | 2016-05-19 | 2016-09-28 | 郑琳琳 | Delta parallel mechanism-based unmanned aerial vehicle damping platform |
| CN107756217A (en) * | 2016-08-22 | 2018-03-06 | 香港理工大学 | A kind of vertical connection in series-parallel burnishing machine |
| CN106378457A (en) * | 2016-10-27 | 2017-02-08 | 上海建桥学院 | Extruding and stacking efficient forming device |
| CN109746147A (en) * | 2017-11-06 | 2019-05-14 | 义乌市易开盖实业公司 | Cover automation spray painting apparatus and method |
| CN109019020A (en) * | 2018-08-31 | 2018-12-18 | 网易（杭州）网络有限公司 | A kind of article mobile device |
| CN110421545A (en) * | 2019-08-20 | 2019-11-08 | 四川建筑职业技术学院 | A kind of parallel mechanical arm grabbing device of pyramidal structure |
| CN110774271A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Multi-angle grabbing manipulator for industrial robot |
| CN114148429A (en) * | 2021-12-13 | 2022-03-08 | 哈尔滨工业大学 | Wearable parallel connection structure biped robot capable of assisting in walking |
| CN114148429B (en) * | 2021-12-13 | 2022-09-09 | 哈尔滨工业大学 | Wearable parallel connection structure biped robot capable of assisting in walking |
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Application publication date: 20130710 |