Dual linear delta assemblies, linear delta systems, and related methods

Patent metadata

Field	Value
Publication number	US-10821599-B2
Application number	US-201816191093-A
Country	US
Kind code	B2
Filing date	Nov 14, 2018
Priority date	Nov 14, 2018
Publication date	Nov 3, 2020
Grant date	Nov 3, 2020

Abstract

A dual linear delta assembly includes a frame, a first linear delta system, and a second linear delta system concentric with the first linear delta system. Each of the first linear delta system and the second linear delta system may include rails mounted to the frame, linear actuators, each linear actuator coupled to a respective rail of the rails and configured to translate along a longitudinal length of the respective rail, pairs of parallel rods each operably coupled to a respective linear actuator of the linear actuators, and a platform coupled to a longitudinal end of each of the pairs of parallel rods opposite the respective linear actuator of the linear actuators.

First claim

What is claimed is:

1. A dual linear delta assembly, comprising:
a frame;
a first linear delta system, comprising:
first rails mounted to the frame;
first linear actuators, each first linear actuator coupled to a first respective rail of the first rails and configured to translate along a longitudinal length of the first respective rail;
first pairs of parallel rods each operably coupled to a first respective linear actuator of the first linear actuators; and
a first platform coupled to a longitudinal end of each of the first pairs of parallel rods opposite the respective linear actuator of the first linear actuators; and

a second linear delta system, comprising:
second rails mounted to the frame, wherein each rail of the second rails is disposed between adjacent rails of the first rails;
second linear actuators, each second linear actuator coupled to a second respective rail of the second rails and configured to translate along a longitudinal length of the second respective rail;
second pairs of parallel rods each operably coupled to a second respective linear actuator of the second linear actuators; and
a second platform coupled to a longitudinal end of each of the second pairs of parallel rods opposite the respective linear actuator of the second linear actuators.

2. The dual linear delta assembly of claim 1 , wherein a first working surface of the first platform faces a first direction, and wherein a second working surface of the second platform faces a second direction at least substantially opposite to the first direction.

3. The dual linear delta assembly of claim 1 , wherein rails of the second rails are angularly separated from rails of the first rails by about 60° about a center longitudinal axis of the dual linear delta assembly.

4. The dual linear delta assembly of claim 1 , wherein the second platform and the second pairs of parallel rods are disposed axially above the first platform and first pairs of parallel rods along a center longitudinal axis of the dual linear delta assembly.

5. The dual linear delta assembly of claim 1 , further comprising an object coupled to at least one of the first platform or the second platform.

6. The dual linear delta assembly of claim 5 , wherein the object is coupled to both the first platform and the second platform.

7. The dual linear delta assembly of claim 1 , further comprising:
first drive units operably coupled to the first linear actuators; and
second drive units operably coupled to the second linear actuators.

8. The dual linear delta assembly of claim 7 , further comprising a controller operably coupled to the first drive units and the second drive units.

9. The dual linear delta assembly of claim 1 , wherein a combination of the first linear delta system and the second linear delta system exhibits a relative workspace between the first linear delta system and the second linear delta system that is at least four times greater in volume than a workspace exhibited by only the first linear delta system.

10. A dual linear delta assembly, comprising:
a frame;
a first linear delta system mounted to the frame; and
a second linear delta system mounted to the frame and concentric to the first linear delta system.

11. The dual linear delta assembly of claim 10 , wherein the first linear delta system comprises:
first rails mounted to the frame;
first linear actuators, each first linear actuator coupled to a first respective rail of the first rails and configured to translate along a longitudinal length of the first respective rail;
first pairs of parallel rods each operably coupled to a first respective linear actuator of the first linear actuators; and
a first platform coupled to a longitudinal end of each of the first pairs of parallel rods opposite the first respective linear actuator of the first linear actuators.

12. The dual linear delta assembly of claim 11 , wherein the second linear delta system comprises:
second rails mounted to the frame, wherein each rail of the second rails is disposed between adjacent rails of the first rails;
second linear actuators, each second linear actuator coupled to a second respective rail of the second rails and configured to translate along a longitudinal length of the second respective rail;
second pairs of parallel rods each operably coupled to a second respective linear actuator of the second linear actuators; and
a second platform coupled to a longitudinal end of each of the second pairs of parallel rods opposite the second respective linear actuator of the second linear actuators.

13. The dual linear delta assembly of claim 12 , wherein the second platform and the second pairs of parallel rods are disposed axially above the first platform and first pairs of parallel rods along a center longitudinal axis of the dual linear delta assembly.

14. The dual linear delta assembly of claim 12 , further comprising an object coupled to at least one of the first platform or the second platform.

15. The dual linear delta assembly of claim 14 , wherein the object is coupled to both the first platform and the second platform.

16. The dual linear delta assembly of claim 10 , wherein a combination of the first linear delta system and the second linear delta system exhibits a relative workspace between the first linear delta system and the second linear delta system that is at least four times greater in volume than a workspace exhibited by only the first linear delta system.

17. A method of forming a dual linear delta assembly, the method comprising:
mounting first rails to a frame;
mounting second rails to the frame such that each rail of the second rails is disposed between adjacent rails of the first rails;
coupling first linear actuators to the first rails;
coupling second linear actuators to the second rails;
coupling first pairs of parallel rods to each linear actuator of the first linear actuators;
coupling second pairs of parallel rods to each linear actuator of the second linear actuators;
coupling a first platform to the first pairs of parallel rods; and
coupling a second platform to the second pairs of parallel rods.

18. The method of claim 17 , further comprising coupling an object to both of the first platform and the second platform.

19. The method of claim 17 , wherein coupling the second linear actuators to the second rails comprises mounting the second linear actuators at an axial location above an axial location of the first linear actuators along a center longitudinal axis of the dual linear delta assembly.

20. The method of claim 17 , further comprising:
coupling first drive units to the first linear actuators;
coupling second drive units to the second linear actuators; and
coupling a controller to the first drive units and the second drive units.

21. A method of operating a dual linear delta assembly, the method comprising:
coupling an object to a first platform of a first linear delta system coupled to a common frame of a dual linear delta assembly;
coupling the object to a second platform of a second linear delta system coupled to the common frame of the dual linear delta assembly;
manipulating the object with the first platform by translating at least one first linear actuator along a first rail; and
manipulating the object with the second platform by translating at least one second linear actuator along a second rail.

22. The method of claim 21 ,
wherein manipulating the object with the first platform comprises moving

Assignees

• Battelle Energy Alliance Llc

Inventors

• Crawford Anthony L

Classifications

• B25J9/0048

  with kinematics chains of the type rotary-rotary-rotary · CPC title

• B25J9/0039 Primary

  with kinematics chains of the type prismatic-spherical-spherical · CPC title

• B25J9/009 Primary

  being mechanically linked with one another at their distal ends · CPC title

• F16H25/20

  Screw mechanisms (with automatic reversal F16H25/12) · CPC title

• B25J9/0084

  comprising a plurality of manipulators · CPC title