DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS

摘要

The invention relates to a linear robot (1) comprising a frame provided with three uprights (21, 22, 23), three slides (51, 52, 53) mounted respectively in sliding connection on the uprights, a nacelle (4) and three pairs of arms (61, 62, 63) arranged between the three respective slides and the nacelle each forming a variable parallelogram, the first ends of the arms being mounted in ball joint (7) on the slides and the second ends of said arms being mounted in ball joint connection (7) on the nacelle. The linear robot comprises three linear motors each arranged between an upright and a slide, each motor comprising magnets fixed with a regular pitch on the upright and a winding wound around a packet of air gap plates supported by the slide so as to create an electromagnetic field moving the slide. The invention also relates to a three-dimensional printing machine comprising a linear robot (1) and a three-dimensional printing system mounted on the nacelle (4).