CN117940256A - 平行连杆机构 - Google Patents

平行连杆机构 Download PDF

Info

Publication number
CN117940256A
CN117940256A CN202280058803.5A CN202280058803A CN117940256A CN 117940256 A CN117940256 A CN 117940256A CN 202280058803 A CN202280058803 A CN 202280058803A CN 117940256 A CN117940256 A CN 117940256A
Authority
CN
China
Prior art keywords
base
link
end effector
tool
joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202280058803.5A
Other languages
English (en)
Chinese (zh)
Inventor
千叶玄明
勅使河原诚一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NSK Ltd
Original Assignee
NSK Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NSK Ltd filed Critical NSK Ltd
Priority claimed from PCT/JP2022/022874 external-priority patent/WO2023047715A1/ja
Publication of CN117940256A publication Critical patent/CN117940256A/zh
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions [3D]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
CN202280058803.5A 2021-09-21 2022-06-07 平行连杆机构 Pending CN117940256A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-153643 2021-09-21
JP2021153643 2021-09-21
PCT/JP2022/022874 WO2023047715A1 (ja) 2021-09-21 2022-06-07 パラレルリンク機構

Publications (1)

Publication Number Publication Date
CN117940256A true CN117940256A (zh) 2024-04-26

Family

ID=85221727

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280058803.5A Pending CN117940256A (zh) 2021-09-21 2022-06-07 平行连杆机构

Country Status (5)

Country Link
US (1) US11858136B2 (https=)
EP (1) EP4406710A4 (https=)
JP (1) JP7222447B1 (https=)
KR (1) KR20240063869A (https=)
CN (1) CN117940256A (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7652172B2 (ja) * 2022-10-21 2025-03-27 トヨタ自動車株式会社 ロボットシステムおよびロボットの駆動方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009148603A1 (en) * 2008-06-04 2009-12-10 Ross-Hime Designs, Inc. Robotic manipulator
DE102010018802A1 (de) * 2010-04-29 2011-11-03 Franz Ehrenleitner Manipulator
TWI623345B (zh) * 2016-01-15 2018-05-11 崔文德 弧桿組合機構
CN105619391A (zh) * 2016-03-24 2016-06-01 褚宏鹏 两自由度并联机构
JP6765221B2 (ja) * 2016-05-30 2020-10-07 Ntn株式会社 パラレルリンク機構を用いた作業装置
CN107932480A (zh) * 2017-11-29 2018-04-20 中国科学院沈阳自动化研究所 通过同轴旋转驱动的二自由度定心并联机构
JP7022008B2 (ja) * 2018-06-08 2022-02-17 Ntn株式会社 リンク作動装置
CN113597523B (zh) 2019-03-22 2024-03-15 Ntn株式会社 平行连杆机构和连杆致动装置
JP7328065B2 (ja) 2019-08-08 2023-08-16 Ntn株式会社 リンク作動装置
CN111203856A (zh) * 2020-01-14 2020-05-29 中南大学 万向球形并联机构和机器人
TW202219420A (zh) * 2020-11-03 2022-05-16 崔文德 球座標轉向機構

Also Published As

Publication number Publication date
JPWO2023047715A1 (https=) 2023-03-30
JP7222447B1 (ja) 2023-02-15
EP4406710A4 (en) 2025-08-06
EP4406710A1 (en) 2024-07-31
US20230256592A1 (en) 2023-08-17
US11858136B2 (en) 2024-01-02
KR20240063869A (ko) 2024-05-10

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