CN209936903U - Delta Robot - Google Patents

Abstract

The utility model discloses a Delta robot. The Delta robot includes: a fixed platform and a moving platform; a plurality of driving arms, each of which includes a plurality of four-bar linkages connected in sequence, and the two pivot shafts of the two adjacent four-bar linkages are connected; a plurality of first and second driving members, a plurality of first and second driving members are arranged on the fixed platform, a plurality of first and second driving members and the first link of the first four-bar linkage mechanism of the plurality of driving arms connected with the second link, wherein the first link and the second link are hinged; and a plurality of follower arms, and the plurality of follower arms correspond to the last four-bar linkage of the plurality of driving arms one-to-one connected, each follower arm is connected with the moving platform. The Delta robot according to the embodiment of the present invention has the advantages of low weight, high running speed, strong bearing capacity, simple and reliable structure, easy assembly, stable movement of the moving platform, wide range of use, etc., and can be used in working spaces of different sizes.

Description

Delta Robot

technical field

The utility model relates to the field of robots, in particular to a Delta robot.

Background technique

The Delta robot is the most successful commercialized parallel device with few degrees of freedom, and has been widely used in food packaging, medical equipment, electronic packaging, tactile sensors and other industries. According to the different driving methods, Delta robots are divided into rotary-driven Delta robots and linear-driven Delta robots. Among them, the linear drive type Delta robot drives the motion of the screw nut pair by the motor, or directly drives the motion of the active slider by the linear motor, so as to convert the rotation of the motor into the linear movement of the slider along the guide rail to realize the three functions of the motion platform. Pan motion.

The working space of the existing Delta robot is related to the size of its rod and the angle of the driving rotation pair, so the existing Delta robot can only be used in a certain working space.

Utility model content

The utility model aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the utility model proposes a Delta robot.

The Delta robot according to the present invention includes: a fixed platform and a moving platform; a plurality of driving arms, each of the driving arms includes a plurality of four-bar linkages connected in sequence, one of the adjacent two four-bar linkages One pivot shaft of the one is connected with one pivot shaft of the other one of the two adjacent four-bar linkage mechanisms; a plurality of first driving members are arranged on the fixed platform, A plurality of the first driving members are connected with the first link of the first four-bar linkage mechanism of the plurality of the driving arms in a one-to-one correspondence to drive the first link to pivot; a plurality of The second driving member, a plurality of the second driving members are arranged on the fixed platform, and the plurality of the second driving members are in a one-to-one correspondence with the first four-bar linkage mechanism of the plurality of the driving arms The second link is connected to drive the second link to pivot, wherein the first link and the second link are hinged; and a plurality of follower arms, a plurality of the follower The arms are connected to the last four-bar linkage mechanism of the plurality of driving arms in a one-to-one correspondence, and each of the driven arms is connected to the moving platform.

The Delta robot according to the present invention can be used in working spaces of different sizes.

In addition, the above-mentioned Delta robot according to the present utility model can also have the following additional technical features:

A plurality of the driving arms are arranged at equal intervals along the circumferential direction of the fixed platform.

One pivot shaft of one of the two adjacent four-bar linkage mechanisms and one pivot shaft of the other of the two adjacent four-bar linkage mechanisms are the same pivot shaft.

Each of the drive arms includes a plurality of sub-drive arms, and each of the sub-drive arms includes a plurality of four-bar linkage mechanisms connected in sequence, and a pivot shaft of one of the adjacent two of the four-bar linkage mechanisms is connected to a corresponding one of the four-bar linkage mechanisms. A pivot axis adjacent to the other of the two four-bar linkage mechanisms is the same pivot axis, the links of the plurality of sub-driving arms correspond one-to-one, and the plurality of the plurality of sub-driving arms are in one-to-one correspondence. The pivot shafts are connected in a one-to-one correspondence, preferably, a plurality of the sub-drive arms of each of the drive arms are parallel to each other, wherein the driven arm and the corresponding sub-drive arm of the drive arm The last one of the four-bar linkages is connected.

A plurality of the first driving members are connected with the first link of the four-bar linkage mechanism of the first one of the sub-driving arms of the plurality of driving arms in a one-to-one correspondence, and a plurality of the second driving members The driving member is connected with the second link of the four-bar linkage mechanism of the first one of the other sub-driving arms of the plurality of driving arms in a one-to-one correspondence, and the first one of the sub-driving arms is connected to the second link of the four-bar linkage mechanism. The first link of the four-link mechanism and the second link of the first four-link mechanism of the other sub-drive arm are connected to the same pivot shaft.

The first driving member is a first motor, the motor shaft of the first motor is connected with the first connecting rod of the corresponding driving arm, and the rotation axis of the motor shaft of the first motor is connected to the corresponding first link. The central axis of the pivot shaft connected to the first link is coincident; the first driving member is a second motor, and the Delta robot further comprises a first gear and a second gear, the first gear and the second gear The motor is connected to the motor, the second gear is meshed with the first gear, wherein the second gear is connected with the corresponding second link of the driving arm, and the rotation axis of the second gear is connected to the The central axes of the pivot shafts connected to the second link are coincident.

The motor shaft of the first motor is connected with the corresponding first link of the drive arm through a coupling, the rotation axis of the coupling and the pivot shaft connected with the first link The central axes of the first gears are coincident, the number of teeth of the first gear is equal to the number of teeth of the second gear, and the modulus of the first gear is equal to the modulus of the second gear.

Each of the follower arms is a parallelogram mechanism, and the third link and the fourth link of the parallelogram mechanism are parallel to each other, wherein the third links of the plurality of follower arms are in one-to-one correspondence with The last one of the plurality of driving arms is connected with the four-bar linkage mechanism, and the fourth link of each of the driven arms is connected with the moving platform.

The third link of the follower arm is a pivot axis of the corresponding drive arm.

The Delta robot further includes a plurality of nuts, which are arranged on the moving platform, wherein the plurality of nuts are sleeved on the fourth links of the driven arms in a one-to-one correspondence. superior.

Description of drawings

1 is a schematic structural diagram of a Delta robot according to an embodiment of the present invention;

2 is a schematic diagram of a partial structure of a Delta robot according to an embodiment of the present invention;

3 is a schematic diagram of a partial structure of a Delta robot according to an embodiment of the present invention;

4 is a schematic structural diagram of a drive arm of a Delta robot according to an embodiment of the present invention;

5 is a schematic structural diagram of a drive arm of a Delta robot according to an embodiment of the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present invention, but should not be construed as a limitation of the present invention.

The Delta robot 1 according to the embodiment of the present invention will be described below with reference to the accompanying drawings. As shown in FIGS. 1-5 , the Delta robot 1 according to the embodiment of the present invention includes a fixed platform 210 , a movable platform 220 , a plurality of driving arms 10 , a plurality of first driving members 310 , a plurality of second driving members 320 and A plurality of follower arms 40 .

Each driving arm 10 includes a plurality of four-bar linkage mechanisms 110, and the plurality of four-bar linkage mechanisms 110 are connected in sequence. A pivot shaft 111 of one of the two adjacent four-bar linkage mechanisms 110 is connected to a pivot shaft 111 of the other of the two adjacent four-bar linkage mechanisms 110 , and the two adjacent four-bar linkage mechanisms 110 is two adjacent four-bar linkage mechanisms 110 of the same driving arm 10 .

A plurality of first driving members 310 are arranged on the fixed platform 210, and the plurality of first driving members 310 are connected with the first links 112 of the first four-bar linkage mechanisms 110a of the plurality of driving arms 10 in a one-to-one correspondence, so that The first link 112 that drives the plurality of drive arms 10 pivots. A plurality of second driving members 320 are arranged on the fixed platform 210, and the plurality of second driving members 320 are connected with the second link 113 of the first four-bar linkage mechanism 110a of the plurality of driving arms 10 in one-to-one correspondence, so as to The second link 113 that drives the plurality of drive arms 10 to pivot. The first link 112 and the second link 113 are hinged. That is, the first link 112 and the second link 113 of the first four-bar linkage 110a of each driving arm 10 are hinged.

In other words, the number of the first driving members 310 , the number of the second driving members 320 and the number of the driving arms 10 may be equal to each other, and the first link 112 of the first four-bar linkage 110 a of each driving arm 10 and one The first driving member 310 is connected, and the second link 113 of the first four-bar linkage mechanism 110a of each driving arm 10 is connected with a second driving member 320 .

The plurality of driven arms 40 are connected to the last four-bar linkage mechanism 110 b of the plurality of driving arms 10 in a one-to-one correspondence, and each of the driven arms 40 is connected to the moving platform 220 . In other words, the number of driven arms 40 is equal to the number of driving arms 10 , and the last four-bar linkage 110 b of each driving arm 10 is connected to one driven arm 40 .

The first four-bar linkage mechanism 110a refers to the four-bar linkage mechanism 110 of the driving arm 10 closest to the fixed platform 210, and the last four-bar linkage mechanism 110b refers to the four-bar linkage mechanism 110 of the driving arm 10 closest to the movable platform 220 . The first link 112 and the second link 113 refer to the two links 114 of the first four-bar linkage 110a that are closest to the fixed platform 210 .

When the first driving member 310 and the second driving member 320 respectively drive the first link 112 and the second link 113 to pivot (rotate) synchronously, the length L of the driving arm 10 does not change (as shown in FIG. 4 ) (shown), the driving arm 10 can drive the moving platform 220 through the driven arm 40 to achieve three translational movements.

When the first driving member 310 and the second driving member 320 drive the first link 112 and the second link 113 to pivot (rotate) asynchronously, respectively, the first link 112 and the second link 113 The included angle α between them changes (changes), thereby causing the length L of the drive arm 10 to change (as shown in FIG. 5 ).

Therefore, in the actual use process, the angle α between the first link 112 and the second link 113 can be changed according to different needs and working spaces of different sizes, so that the Delta robot 1 can be It can be used in different sized workspaces so that the range of use of Delta Robot 1 can be expanded.

Moreover, since the length of the drive arm of the existing Delta robot is fixed, and there is a certain error (ie not an absolute precise position) when assembling the drive arm, the moving platform of the existing Delta robot is moving In the process of (translation), some rotational motions occur, that is, the moving platform of the existing Delta robot translates and rotates at the same time.

Therefore, the existing Delta robot is greatly affected by the vibration generated by itself, and it is necessary to install an anti-vibration device or a mounting bracket with better anti-vibration performance, which greatly increases the manufacturing cost of the existing Delta robot, and the overall movement and transportation costs have increased significantly.

The Delta robot 1 according to the embodiment of the present invention can make the length of the drive arm 10 changeable (adjustable), so as to compensate for the error generated by the drive arm 10 during the assembly process, thereby avoiding the moving platform 220 during the translation process, accompanied by Rotation happens. Therefore, the Delta robot 1 according to the embodiment of the present invention only performs translation and does not perform rotation.

Therefore, the Delta robot 1 according to the embodiment of the present invention does not vibrate itself, and there is no need to install a shock-proof device or a mounting bracket with better shock-proof performance, thereby reducing the manufacturing cost of the Delta robot 1 and reducing the overall movement of the Delta robot 1. the cost of shipping.

In addition, since the driving arm 102 of the Delta robot 1 according to the embodiment of the present invention is a simply supported beam type driving arm 10, the driving arm 10 not only has the advantages of simple and reliable structure, convenient assembly, strong bearing capacity, low weight, fast response speed, and flexibility It has the advantages of high speed and can make the moving platform 220 move smoothly.

The source of the large vibration of the Delta robot is that the weight of the drive arm is too large. Since the weight of the simply supported beam type driving arm 10 of the Delta robot 1 according to the embodiment of the present invention is much smaller than the weight of the driving arm of the existing Delta robot, the Delta robot 1 according to the embodiment of the present invention has the advantage of less vibration .

Therefore, the Delta robot 1 according to the embodiment of the present invention has the advantages of low weight, high running speed, strong bearing capacity, simple and reliable structure, easy assembly, smooth movement of the movable platform 220, low manufacturing cost, low overall transportation cost, small vibration, and a range of use. Wide and other advantages, can be used in different sizes of work space.

Preferably, the plurality of driving arms 10 are arranged at equal intervals along the circumferential direction of the fixed platform 210 . Therefore, the structure of the Delta robot 1 can be made more reasonable.

As shown in FIGS. 1-5 , for the same driving arm 10 , one pivot shaft 111 of one of the two adjacent four-bar linkage mechanisms 110 is connected to the other one of the two adjacent four-bar linkage mechanisms 110 . One of the pivot shafts 111 is the same pivot shaft 111 . In other words, two adjacent four-bar linkage mechanisms 110 may share one pivot shaft 111 .

In an embodiment of the present invention, as shown in FIG. 1 to FIG. 3 , the first driving member 310 is a first motor 310 a , and the motor shaft of the first motor 310 a and the corresponding first four-link of the driving arm 10 The first link 112 of the mechanism 110a is connected, and the rotation axis of the motor shaft of the first motor 310a coincides with the central axis of the pivot shaft 111 connected with the first link 112, so that the first motor 310a can drive the first link. The lever 112 is rotated about the pivot shaft 111 .

The first driving member 310 is a second motor 320 a, and the Delta robot 1 further includes a first gear 510 and a second gear 520 . The first gear 510 is connected to the second motor 320 a, and the second gear 520 is meshed with the first gear 510 . Wherein, the second gear 520 is connected with the second link 113 of the first four-bar linkage 110a of the corresponding driving arm 10 , and the rotation axis of the second gear 520 is connected with the pivot shaft 111 connected with the second link 113 . The central axes of the two are coincident, so that the second motor 320a can drive the second link 113 to rotate around the pivot shaft 111 . In other words, the rotation axis of the second gear 520 coincides with the rotation axis of the motor shaft of the first motor 310a.

Preferably, the motor shaft of the first motor 310a is connected with the first link 112 of the first four-bar linkage 110a of the corresponding drive arm 10 through a coupling, and the rotation axis of the coupling and the first link The central axes of the pivot shafts 111 to which the links 112 are connected are coincident. Therefore, the structure of the Delta robot 1 can be made more reasonable.

The number of teeth of the first gear 510 is equal to the number of teeth of the second gear 520 , and the module of the first gear 510 is equal to the module of the second gear 520 . Therefore, the structure of the Delta robot 1 can be made more reasonable. The second gear 520 may be welded on the second link 113 of the first four-bar linkage 110 a of the corresponding driving arm 10 .

As shown in FIGS. 1-3 , in a specific example of the present invention, each driving arm 10 includes a plurality of sub-driving arms 10a, and each sub-driving arm 10a includes a plurality of four-bar linkage mechanisms 110 connected in sequence. For each sub-drive arm 10a, one pivot shaft 111 of one of the two adjacent four-bar linkage mechanisms 110 and one pivot shaft 111 of the other of the two adjacent four-bar linkage mechanisms 110 are the same The pivot shaft 111 , that is, two adjacent four-bar linkage mechanisms 110 share one pivot shaft 111 .

The plurality of links of the plurality of sub-driving arms 10a are in one-to-one correspondence, and the plurality of pivot shafts 111 of the plurality of sub-driving arms 10a are connected in a one-to-one correspondence. Specifically, the plurality of sub-drive arms 10a may share a plurality of pivot shafts 111 , the plurality of pivot shafts 111 are parallel to each other, and the plurality of links of the plurality of sub-drive arms 10a face each other in the extending direction of the pivot shafts 111 .

Wherein, the driven arm 40 is connected with the last four-bar linkage mechanism 110b of each sub-drive arm 10a of the corresponding drive arm 10 (the drive arm 10 connected with the driven arm 40). Therefore, the first driving member 310 and the second driving member 320 can drive the driven arm 40 to move through the plurality of sub-driving arms 10a, thereby driving the moving platform 220 to move.

Preferably, the plurality of sub-driving arms 10a of each driving arm 10 are parallel to each other, and two adjacent sub-driving arms 10a of each driving arm 10 are symmetrically arranged. Therefore, the structure of the Delta robot 1 can be made more reasonable.

The plurality of first driving members 310 are connected to the first link 112 of the first four-bar linkage mechanism 110a of one sub-driving arm 10a of the plurality of driving arms 10 in one-to-one correspondence, and the plurality of second driving members 320 are one-to-one Correspondingly, it is connected with the second link 113 of the first four-bar linkage mechanism 110a of another sub-drive arm 10a of the plurality of drive arms 10 . In other words, the first driving member 310 and the second driving member 320 are connected to different sub-driving arms 10a.

The first link 112 of the first four-link mechanism 110a of the one sub-driving arm 10a and the second link 113 of the first four-link mechanism 110a of the other sub-driving arm 10a are connected to the same pivot The rotating shaft 111 is connected.

As shown in FIGS. 1-3 , in some examples of the present invention, each driven arm 40 is a parallelogram mechanism, and the third link 410 and the fourth link 420 of the parallelogram mechanism are parallel to each other. Wherein, the third links 410 of the plurality of driven arms 40 are connected to the last four-link mechanism 110b of the plurality of driving arms 10 in a one-to-one correspondence, and the fourth link 420 of each driven arm 40 is connected to the moving platform 220 connected. Therefore, the structure of the Delta robot 1 can be made more reasonable.

Preferably, as shown in FIGS. 1-3 , the third link 410 of the driven arm 40 is a pivot shaft 111 of the corresponding driving arm 10 . The corresponding drive arm 10 refers to the drive arm 10 connected to the driven arm 40 . That is, both the two links 114 of the last four-bar linkage 110b of the driving arm 10 can be hinged on the third link 410 . In other words, both the two links 114 of the last four-bar linkage mechanism 110b of the driving arm 10 can be rotatably sleeved on the third link 410 . As a result, the structure of the Delta robot 1 can be further simplified.

As shown in FIG. 1 , in an example of the present invention, the Delta robot 1 further includes a plurality of nuts 60 , and the plurality of nuts 60 are arranged on the movable platform 220 . Preferably, each nut 60 can be welded on the moving platform 220 . The plurality of nuts 60 are sleeved on the fourth connecting rods 420 of the plurality of driven arms 40 in a one-to-one correspondence, that is, the plurality of fourth connecting rods 420 pass through the plurality of nuts 60 in a one-to-one correspondence. Therefore, the fourth link 420 (the driven arm 40 ) can be connected with the moving platform 220 more conveniently and easily.

The Delta robot 1 according to the embodiment of the present invention has at least the following advantages:

(1) The structure is simple and reliable, the assembly is easy, the movement of the moving platform is stable, the movement accompanying the movement is effectively avoided, and the flexibility is high.

(2) Light weight, high running speed, robustness and good bearing capacity.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axial" The orientation or positional relationship indicated by , "radial direction", "circumferential direction", etc. are based on the orientation or positional relationship shown in the accompanying drawings, which are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying the indicated device. Or the elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present utility model, unless otherwise expressly specified and limited, the terms "installation", "connection", "connection", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integration; it can be mechanical connection, electrical connection or communication with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication between two elements or the interaction relationship between the two elements , unless otherwise expressly qualified. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and defined, a first feature "on" or "under" a second feature may be in direct contact with the first and second features, or the first and second features through an intermediary indirect contact. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations of the present invention, and those of ordinary skill in the art are within the scope of the present invention Variations, modifications, substitutions and variations can be made to the above-described embodiments.

Claims (11)

1. A Delta robot, comprising:

a fixed platform and a movable platform;

the driving arms each comprise a plurality of four-bar linkage mechanisms which are connected in sequence, and one pivot shaft of one of two adjacent four-bar linkage mechanisms is connected with one pivot shaft of the other of two adjacent four-bar linkage mechanisms;

the first driving parts are arranged on the fixed platform, and are connected with a first connecting rod of a first four-bar linkage mechanism of the driving arms in a one-to-one correspondence mode so as to drive the first connecting rod to pivot;

the second driving parts are arranged on the fixed platform, the second driving parts are connected with a second connecting rod of a first four-bar linkage mechanism of the driving arms in a one-to-one correspondence mode so as to drive the second connecting rod to pivot, and the first connecting rod and the second connecting rod are hinged; and

the driven arms are connected with the last four-bar linkage of the driving arms in a one-to-one correspondence mode, and each driven arm is connected with the movable platform.

2. The Delta robot of claim 1, wherein a plurality of said drive arms are equally spaced circumferentially along said fixed platform.

3. The Delta robot of claim 1, wherein one pivot axis of one of two adjacent four-bar linkages is the same pivot axis as one pivot axis of the other of two adjacent four-bar linkages.

4. The Delta robot as recited in claim 1, wherein each drive arm comprises a plurality of sub-drive arms, each sub-drive arm comprises a plurality of four-bar linkages connected in sequence, one pivot axis of one of two adjacent four-bar linkages is the same pivot axis as one pivot axis of the other of two adjacent four-bar linkages, the plurality of sub-drive arms have a one-to-one correspondence with links thereof, and the plurality of sub-drive arms have a one-to-one correspondence with pivot axes thereof.

5. The Delta robot of claim 4, wherein a plurality of said first drive members are connected in a one-to-one correspondence with a first link of a first of said four-bar linkages of one of said plurality of said drive arms, a plurality of said second drive members are connected in a one-to-one correspondence with a second link of a first of said four-bar linkages of another of said plurality of said drive arms, and the first link of the first of said four-bar linkages of one of said drive arms and the second link of the first of said four-bar linkages of another of said drive arms are connected to a common pivot axis.

6. Delta robot as recited in claim 1 wherein,

the first driving part is a first motor, a motor shaft of the first motor is connected with the first connecting rod of the corresponding driving arm, and the rotation axis of the motor shaft of the first motor is superposed with the central axis of the pivot shaft connected with the first connecting rod;

the first driving part is a second motor, the Delta robot further comprises a first gear and a second gear, the first gear is connected with the second motor, the second gear is meshed with the first gear, the second gear is connected with the second connecting rod of the corresponding driving arm, and the rotation axis of the second gear is coincident with the central axis of a pivot shaft connected with the second connecting rod.

7. The Delta robot of claim 6, wherein a motor shaft of said first motor is coupled to said first link of a respective said drive arm by a coupling, a rotational axis of said coupling coinciding with a central axis of a pivot shaft coupled to said first link, a number of teeth of said first gear being equal to a number of teeth of said second gear, a module of said first gear being equal to a module of said second gear.

8. The Delta robot of claim 1, wherein each said driven arm is a parallelogram linkage having third and fourth links parallel to each other, wherein said third link of a plurality of said driven arms is connected in a one-to-one correspondence with a last said four-link linkage of a plurality of said drive arms, and wherein said fourth link of each said driven arm is connected to said movable platform.

9. The Delta robot of claim 8, wherein said third link of said driven arm is a pivot axis of a respective said drive arm.

10. The Delta robot of claim 8, further comprising a plurality of nuts disposed on the movable platform, wherein the plurality of nuts are sleeved on the fourth links of the plurality of driven arms in a one-to-one correspondence.

11. The Delta robot of claim 4, wherein a plurality of said sub-drive arms of each said drive arm are parallel to one another, wherein said driven arm is connected to a last said four-bar linkage of each said sub-drive arm of a respective said drive arm.

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