Delta robot and linear delta mechanism

Patent metadata

Field	Value
Publication number	US-9296113-B2
Application number	US-201314046247-A
Country	US
Kind code	B2
Filing date	Oct 4, 2013
Priority date	May 15, 2013
Publication date	Mar 29, 2016
Grant date	Mar 29, 2016

Abstract

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.

First claim

What is claimed is:

1. A linear delta mechanism, comprising:
a base platform, comprising:
a base structure; having a hole at a center location of the base structure; and
a base stand received in the hole, wherein the base stand has an elongated shape extending from beyond a bottom side of the base structure to beyond a top side of the base structure;

a movable platform movable with respect to the base platform; and
a plurality of guide sets connected to the base platform, and configured to drive the movable platform, each of the guide sets comprising:
a linear actuator, wherein the linear actuators of the guide sets are symmetrically fastened on the base stand and are received in the hole; and
an actuating rod having a first end and a second end to the movable platform, wherein when the first end is driven by the linear actuator, and the second end is connected to the movable platform.

2. The linear delta mechanism of claim 1 , further comprising a cover, wherein the cover is disposed over the base structure.

3. A delta robot with a delta mechanism, the delta robot comprising:
a base platform, comprising:
a base structure; and
a base stand disposed at a center location of the base structure, wherein the base stand has an elongated shape extending from beyond a bottom side of the base structure to beyond a top side of the base structure;

a movable platform movable with respect to the base platform and configured to drive a carrier;
a rotating device connected to the movable platform and configured to rotate the carrier; and
a plurality of guide sets connected between the base platform and the movable platform, each guide sets comprising:
a driving source connected to the base stand;
a linear actuator, wherein the linear actuators of the guide sets are symmetrically disposed around the base stand, and the linear actuators are arranged substantially parallel to each other; and
a plurality of actuating rods, each of the plurality of actuating rods comprising:
an upper actuating rod having a first end at the upper side of the upper actuating rod, wherein the first end is connected to and driven by the linear actuator, and a stroke of the upper actuating rod is from beyond a bottom side of the base structure to beyond a top side of the base structure; and
a lower actuating rod pivotally connected to the upper actuating rod, wherein the lower actuating rod has a second end at the lower side of the lower actuating rod, wherein the second end is pivotally connected to and drives the movable platform.

4. The delta robot with delta mechanism of claim 3 , wherein a shifting area of the upper actuating rod driven by the actuator is above the base structure.

5. The delta robot with delta mechanism of claim 3 , wherein each of the lower actuating rods is connected to the movable platform and the upper actuating rod through a ball joint or a universal joint.

6. The delta robot with delta mechanism of claim 3 , wherein each of the upper actuating rods is in bended shape.

7. A delta robot with a delta mechanism, the delta robot comprising:
a base platform, comprising:
a base structure; and
a base stand disposed at a center location of the base structure, wherein the base stand has an elongated shape extending from beyond a bottom side of the base structure to beyond a top side of the base structure;

a movable platform movable with respect to the base platform and configured to drive a carrier;
a rotating device connected to the base platform, and extending from the base platform and rotating the carrier through the movable platform; and
a plurality of guide sets connected between the base platform and the movable platform, each of the guide sets comprising:
an actuator, wherein the actuators of the guide sets are symmetrically disposed around the base stand; and
an actuating rod comprising:
an upper actuating rod having a first end, wherein the first end is connected to and drove by the actuator; and
a lower actuating rod pivotally connected to the upper actuating rod, wherein the lower actuating rod has a second end, wherein the second end is connected to and drives the movable platform.

8. The delta robot with delta mechanism of claim 7 , wherein each of the upper actuating rods is in bended shape.

9. The delta robot with delta mechanism of claim 7 , wherein each of the lower actuating rods is connected to the movable platform and the upper actuating rod through a ball joint or a universal joint.

10. The delta robot with delta mechanism of claim 3 , wherein a shifting area of the upper actuating rod driven by the actuator and that of the lower actuating rod both include above and below the base structure.

11. The delta robot with delta mechanism of claim 3 , wherein a shifting area of the upper actuating rod driven by the actuator and that of a portion of the lower actuating rod both include above the base structure.

12. The delta robot with delta mechanism of claim 3 , wherein a shifting area of a portion of the upper actuating rod driven by the actuator and that of the lower actuating rod both include below the base structure.

Assignees

• Delta Electronics Inc

Inventors

• Peng Chih-Cheng
• Wang Tsao-Hsiang
• Wu Hsin-Hsien
• Yang Ming-Chi

Classifications

• B25J17/0266 Primary

  comprising more than two actuating or connecting rods · CPC title

• B25J9/0051

  with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators · CPC title

• Y10T74/20317

  including electric motor · CPC title