CN207432211U - Parallel link robot - Google Patents

Abstract

The utility model offer is a kind of can to utilize simple construction easily and inexpensively make the parallel link robot that the angle precision of wrist improves.Parallel link robot (1) has：It is installed on the horizontal sliding unit (3) of base portion (2) and vertical slide members (4)；Base end part is installed on the first arm (5) of horizontal sliding unit (3)；Base end part is installed on the second arm (6) of vertical slide members (4)；Both ends are installed on the armite (7) of the first arm (5) and the second arm (6)；Form the 3rd arm (8) of the first connecting rod in parallel；It is installed on the first support (9) of the base end part of the first arm (5)；It is installed on the second support (10) of front end；Form the 4th arm (11) of the second connecting rod in parallel；It is installed on the wrist (12) of the front end of the 3rd arm (8)；And the 5th arm (13) of the 3rd connecting rod in parallel is formed, at least one party in the 4th arm (11) and the 5th arm (13) possesses the first adjustment mechanism (14).

Description

Parallel link robot

Technical field

The utility model is related to have the parallel link robot of linkage in parallel.

Background technology

All the time, the robot as the handling operation for being used in stacking, packing case etc., it is known to possess connecting rod in parallel The robot (hereinafter referred to as " parallel link robot ") of mechanism.

These parallel link robots can be set to have:The arm and peace for bending and stretching and making front end forwards, backwards or moving up and down The wrist of front end loaded on arm.Wrist, which removably has, is caught or is decontroled the instruments such as the hand of the operations such as object.

The angle of wrist is also maintained at predetermined in the case of changing in such robot even if the angle of arm Angle (such as horizontal) is important in terms of operation is carried out.Therefore, it is proposed to wrist is maintained to the gyro of predetermined angle Instrument mechanism.

Industrial robot is described in patent document 1, is possessed：Lower arm machine with the first parallel rod construction Structure, the top arm mechanism with the second parallel rod construction, the pedestal for forming the lower portion that first parallel rod constructs Portion, the wrist for forming the amphi position rim portion that second parallel rod constructs and formation first parallel rod construct upper The intermediate linking part of the peri position rim portion of rim portion and second parallel rod construction.

Citation

Patent document

Patent document 1：Japanese Unexamined Patent Publication 2015-208814 publications

Utility model content

Utility model will solve the problems, such as

In general, linkage in parallel, gyroscopic mechanism are realized using multiple accurate connecting rods.It is therefore desirable to it makes The component parts such as the higher arm of dimensional accuracy.But, it is not easy to the constituting portion of Bei Deng robots is made with the dimensional accuracy of design Part.Therefore, the situation of predetermined angular (such as horizontal) cannot be set as by generating the angle of wrist sometimes.In addition, also have adjoint The angle for bending and stretching wrist for arm can changed situation.In addition, also with good grounds robot individual difference and occur The situation of deviation.

The utility model is made in view of the foregoing, and its purpose is to provide a kind of wrists for making parallel link robot Angle precision improve technology.

The means used to solve the problem

To solve the above-mentioned problems, the parallel link robot of a technical solution of the utility model is characterized in that, Have：Horizontal sliding unit, is installed on base portion horizontally moveablely；Vertical slide members are installed on institute vertically movablely State base portion；First arm, base end part are rotatably mounted in the horizontal sliding unit；Second arm, base end part are rotatably pacified Loaded on the vertical slide members；Armite, both ends are rotatably mounted in first arm and second arm；3rd Arm, base end part are rotatably mounted in the front end of first arm and the front end of second arm, base end part and described the One arm, second arm and the armite form the first connecting rod in parallel together；First support is rotatably mounted in described The base end part of first arm；Second support is rotatably mounted in the front end of first arm；4th arm, base end part are rotatable Ground is installed on the first support, and front end is rotatably mounted in the second support, with first arm, first described Frame and the second support form the second connecting rod in parallel together；Wrist is rotatably mounted in the front end of the 3rd arm； And the 5th arm, base end part are rotatably mounted in the second support, front end is rotatably mounted in the wrist, with institute It states the 3rd arm, the second support and the wrist and forms the 3rd connecting rod in parallel, the 4th arm and the 5th arm together In at least one party possess the first adjustment mechanism for adjusting its length.

Can also be that the base portion has the horizontal ball screw rotatably flatly set, the guiding level The horizontal rail of the slip of sliding unit and the horizontal drive servomotor for making the horizontal ball screw rotation, the level Ball screw supports in cantilever fashion, and there is the horizontal sliding unit level with the horizontal ball screw thread fitting to roll Ballscrew nut portions, the base portion have the vertical ball screw being rotatably vertically arranged, the guiding vertical sliding motion The vertical track of the slip of unit and the vertical drive servomotor for making the vertical ball screw rotation, the vertical ball Screw supports in cantilever fashion, and the vertical slide members have the vertical ball wire with the vertical ball screw thread fitting Stem nut portion.

Can also be, in the rotation axis of one end of the horizontal ball screw and the horizontal drive servomotor respectively Belt wheel is provided with, each belt wheel utilizes band connection, and the outer diameter of the belt wheel of the horizontal ball wire bar side is than the horizontal drive servo The outer diameter of the belt wheel of motor side is big, in the rotation axis of one end of the vertical ball screw and the vertical drive servomotor Belt wheel is respectively arranged with, each belt wheel utilizes band connection, and the outer diameter of the belt wheel of the vertical ball wire bar side is than the vertical drive The outer diameter of the belt wheel of servomotor side is big.

Can also be that the first adjustment mechanism includes at least one party being arranged in the 4th arm and the 5th arm The right-hand thread portion at both ends and left-hand thread portion.

Can also be, the first support have dead weight of the first support due to the wrist and load want to The engaging unit that predetermined direction engages when rotating with being arranged at the locking unit of the base portion, the parallel link robot tool It is useful for adjusting the second adjustment mechanism of the clamped position of the locking unit and the engaging unit.

It can also be, have：Sensor portion, when the first support is rotated to direction opposite to the predetermined direction, inspection The rotation in the opposite direction is surveyed, the predetermined direction is the direction of dead weight and the load due to the wrist and desired rotation； And control unit, when the sensor portion detects that the first support is rotated to the opposite direction, carry out abnormality alarm Output or emergent stopping at least one party, the sensor portion is by detecting the offset of the predetermined position of the first support It is formed close to switch or photoelectric sensor.

The effect of utility model

According to the utility model, a kind of angle precision that simple construction can be utilized easily and inexpensively to make wrist is provided The parallel link robot of raising.

Description of the drawings

Fig. 1 is the definition graph of the construction of the parallel link robot for an embodiment for showing the utility model.

Fig. 2 is the explanation moved forward and backward of the arm of the parallel link robot for an embodiment for showing the utility model Figure.

Fig. 3 is the front view of the base portion of the parallel link robot of an embodiment of the utility model.

Fig. 4 is the top view of the base portion of the parallel link robot of an embodiment of the utility model.

Fig. 5 is the explanation of the up and down motion of the arm of the parallel link robot for an embodiment for showing the utility model Figure.

Fig. 6 is the rearview of the base portion of the parallel link robot of an embodiment of the utility model.

Fig. 7 is the bottom view of the base portion of the parallel link robot of an embodiment of the utility model.

Fig. 8 is the definition graph of the construction of the first and second adjustment mechanisms of an embodiment for showing the utility model.

Fig. 9 be the first support of the parallel link robot of an embodiment of the utility model side view (a) and Front view (b).

Figure 10 is the state that the wrist of the parallel link robot for an embodiment for showing the utility model does not rotate Definition graph.

Figure 11 is the postrotational state of wrist of the parallel link robot for an embodiment for showing the utility model Definition graph.

Specific embodiment

Hereinafter, using the embodiment of description of the drawings the utility model.

[construction of the loading of supports in parallel link robots]

Fig. 1 is the definition graph of the construction of the parallel link robot 1 for an embodiment for showing the utility model.With Under, each point A~J used in explanation is respectively equivalent to the axis of parallel link robot 1.

Parallel link robot 1, which has, rotatably or without spinfunction to be mounted on around vertical axis on pedestal etc. Base portion (being referred to as " body part ") 2, the pedestal is arranged on floor.Have in base portion 2 horizontally moveable The horizontal sliding unit 3 of ground installation and the vertical slide members 4 installed vertically movablely.

Parallel link robot 1 has the first arm 5, and the base end part of the first arm 5 is rotatably mounted in horizontal slip in point B Unit 3.Parallel link robot 1 also has the second arm 6, and the base end part of the second arm 6 is rotatably mounted in vertical sliding motion in point A Unit 4.First arm 5 and the second arm 6 are linked using armite 7.The one end of armite 7 is rotatably mounted in first in point B Arm 5, the other end are rotatably mounted in the second arm 6 in point E.

Parallel link robot 1 also has the 3rd arm 8.The base end part of 3rd arm 8 is rotatably mounted in point C and point D The front end of first arm 5 and the second arm 6.The front end of 3rd arm 8 extends forwards.

First arm 5 while BC, the 3rd arm 8 base end part while CD, the second arm 6 in DE and the while EB structures of armite 7 Into parallelogram, and form the first connecting rod BCDE in parallel.

First arm 5, the second arm 6, the 3rd arm 8 and the first connecting rod BCDE in parallel become supports in parallel link robots 1 The construction of loading.That is, in the case of front end of the vertical load applying in the 3rd arm 8, due to the first connecting rod BCDE in parallel Base BE keep horizontal, institute with base BE so as to parallelly support the 3rd arm 8, and support the vertical lotus for being applied to front end Weight.In addition, in horizontal load applying in the case of the front end of the 3rd arm 8, one of the first connecting rod BCDE in parallel is formed Second arm 6 on side is supported in base terminal A and point E and keeps its angle.Therefore, it is possible to support the front end for being applied to the 3rd arm 8 The horizontal loading in portion.

[gyroscopic mechanism of wrist]

Parallel link robot 1 has first support 9 and second support 10.First support 9 is rotatably mounted in point B The base end part of first arm 5.Second support 10 is have a generally triangular shape, is rotatably mounted in the point C of the front end of the first arm 5.

Parallel link robot 1 also has the 4th arm 11.The base end part of 4th arm 11 is rotatably mounted in first in point G The front end of stent 9.The front end of 4th arm 11 is rotatably mounted in a part for second support 10 in point F.First arm 5 While BC, second support 10 while CF, the 4th arm 11 the while GB in FG and first support 9 form parallelogram, and form Second connecting rod BCFG in parallel.

Possesses wrist 12 in the front end of the 3rd arm 8.Wrist 12 is rotatably mounted in the 3rd arm 8 in point H.With the 3rd arm 8 possess the 5th arm 13 substantially in parallel.The one end of 5th arm 13 is rotatably mounted in one of second support 10 in point J Point.The other end of 5th arm 13 is rotatably mounted in wrist 12 in point I.3rd arm 8 while CH, wrist 12 while HI, The while JC in IJ and second support 10 of five arms 13 forms parallelogram, and forms the 3rd connecting rod CHIJ in parallel.

To also it illustrate later, the angle of first support 9 keeps certain in usual operating.Since first support 9 is formed The side BG of second connecting rod BCFG in parallel, so side CF parallel with it is also maintained at identical angle.On the other hand, the 3rd is in parallel Connecting rod CHIJ while CJ with while HI it is parallel.The angle FCJ of second support 10 is certain always.Therefore, in the second connecting rod BCFG in parallel The angle of side BG is maintained a timing in a state that BG has different angles from the while HI of the 3rd connecting rod CHIJ in parallel, Also the angle of side HI is maintained.Since the angle in the bottom surface of side HI and wrist 12 (such as face of installation hand) can pass through wrist 12 Design be set to desired angle, so as to by the bottom surface of wrist 12 become it is horizontal in a manner of previously according to the relation with side HI It makes.

In this way, by the way that the side BG of the connecting rod BCFG in parallel of the angle of first support 9 i.e. second is maintained in usual operating Predetermined angle, can be via the second parallel connection connecting rod BCFG, the connecting rod CHIJ in parallel of second support 10 and the 3rd, by wrist 12 Bottom surface is maintained horizontal.

[sliding equipment of horizontal sliding unit 3 and vertical slide members 4]

In base portion 2, horizontal ball screw 22 is horizontally and rotatably provided with.The two of horizontal ball screw 22 Side is provided with a pair of of horizontal rail 23 of the slip of the horizontal sliding unit 3 of guiding in a manner of parallel with horizontal ball screw 22. The horizontal drive servomotor 24 for rotating horizontal ball screw 22 is additionally provided in base portion 2.In horizontal drive servo electricity One end of the rotation axis of machine 24 and horizontal ball screw 22 is respectively arranged with belt wheel, winds synchronous belt and connects.Horizontal ball wire The outer diameter of the belt wheel of 22 side of bar is bigger than the outer diameter of the belt wheel of 24 side of horizontal drive servomotor.

Horizontal ball screw 22, as base end side, is propped up by the one side that horizontal drive servomotor 24 drives in base end part Support, supports in cantilever fashion.The opposite side of base end part becomes free end.

Horizontal sliding unit 3 has horizontal ball screw nut portion 25, and the horizontal ball screw nut portion 25 is machined with With the internal thread of horizontal 22 thread fitting of ball screw.

By constructed above, when horizontal drive servomotor 24 rotates, rotated by horizontal ball screw 22, and it is horizontal Ball screw nut portion 25 and horizontal 22 thread fitting of ball screw, so as to which horizontal sliding unit 3 is guided simultaneously by horizontal rail 23 Flatly move.Due to support level ball screw 22 in cantilever fashion, so even if in the case where applying loading, also can So that horizontal ball screw 22 bends and horizontal sliding unit 3 is made swimmingly to move horizontally.Further, since above-mentioned horizontal ball wire The belt wheel of 22 side of bar and effect (horizontal ball screw of the outer diameter of the belt wheel of 24 side of horizontal drive servomotor than realizing retarder The torque of the belt wheel of 22 sides increases), so as to using the smaller servomotor 24 of output power.I.e. it is capable to root According to servomotor 24 of the outer diameter of the belt wheel than selecting low output power, low cost and energy-saving effect can be obtained.

It is vertical and be rotatably provided vertical ball screw 26 in addition, in base portion 2.In vertical ball screw 26 Both sides, with vertical ball screw 26 be set in parallel guiding vertical slide members 4 slip a pair of of vertical track 27. The vertical drive servomotor 28 for rotating vertical ball screw 26 is additionally provided in base portion 2.In vertical drive servomotor One end of 28 rotation axis and vertical ball screw 26 is respectively arranged with belt wheel, winds synchronous belt and connects.Vertical ball screw The outer diameter of the belt wheel of 26 sides is bigger than the outer diameter of the belt wheel of 28 side of vertical drive servomotor.

Vertical ball screw 26, as base end side, is propped up by the one side that vertical drive servomotor 28 drives in base end part Support, supports in cantilever fashion.The opposite side of base end part becomes free end.

Vertical slide members 4 have vertical ball screw nut portion 29, and the vertical ball screw nut portion 29 is machined with With the internal thread of vertical 26 thread fitting of ball screw.

By constructed above, when vertical drive servomotor 28 rotates, rotated by vertical ball screw 26, and it is vertical Ball screw nut portion 29 and vertical 26 thread fitting of ball screw, so as to which vertical slide members 4 are guided simultaneously by vertical track 27 It is vertically movable.Due to supporting vertical ball screw 26 in cantilever fashion, so even if in the case where applying loading, also can So that vertical ball screw 26 bends and vertical slide members 4 is made swimmingly to vertically move.Further, since above-mentioned vertical ball wire The belt wheel of 26 side of bar and effect (vertical ball screw of the outer diameter of the belt wheel of 28 side of vertical drive servomotor than realizing retarder The torque of the belt wheel of 26 sides increases), so as to using the smaller servomotor 28 of output power.I.e. it is capable to root According to servomotor 28 of the outer diameter of the belt wheel than selecting low output power, low cost and energy-saving effect can be obtained.

[level of wrist 12 moves forward and backward]

Fig. 2 is the definition graph moved forward and backward for the arm for showing parallel link robot 1.Fig. 2 shows parallel link robot 1 Wrist 12 is horizontal and action in the case of moving back and forth.Fig. 3 is the front view of the base portion 2 of parallel link robot 1.Figure 4 be the top view of the base portion 2 of parallel link robot 1.

Wrist 12 is horizontal and when moving back and forth, vertical slide members 4 do not move, and only horizontal sliding unit 3 moves horizontally.Water The driving method of smooth moving cell 3 is as described above.Hereinafter, so that wrist 12 (is known as in " front " to the direction away from base portion 2. As needed, its opposite direction is also known as " rear ".) illustrate in case of movement.

When wanting to make the wrist 12 move forwards, horizontal sliding unit 3 is only made to move forwards.At this point, vertical sliding motion list Member 4 is held in fixed position.

In the state of before movement, the tie point of horizontal 3 and first arm 5 of sliding unit is located at point B.First at this time is in parallel Connecting rod is located at point BCDE.After horizontal sliding unit 3 moves, the tie point of the first arm 5 and horizontal sliding unit 3 is moved to point B'. In addition, by the movement of horizontal sliding unit 3, the second arm 6 is pulled by armite 7, and the point to be connected with vertical slide members 4 It is rotated centered on A.The first connecting rod in parallel from point BCDE movements and is deformed into point B'C'D'E' as a result,.Due to while B'E' with while C' D' is parallel, so the 3rd arm 8 extends, wrist 12 moves forwards.

The gyroscopic mechanism of wrist 12 at this time is as described below.Before the movement of horizontal sliding unit 3, the second connecting rod position in parallel In point BCFG, the 3rd connecting rod in parallel is located at point CHIJ.After the movement of horizontal sliding unit 3, the second connecting rod in parallel is moved from point BCFG Move and be deformed into point B'C'F'G'.3rd connecting rod in parallel is from point CHIJ movements and is deformed into point C'H'I'J'.To also it illustrate below, The angle of first support 9 is constant.That is, due to the second connecting rod in parallel side B'G' angle with move before it is constant, so second simultaneously Join connecting rod while C'F', the side H'I' of while C'J' and the 3rd connecting rods in parallel of the 3rd connecting rod in parallel angle with it is mobile before not Become.In this way, if the posture of wrist 12 is initially held in level, after wrist 12 moves forwards, posture is also held in water It is flat.

[vertical up-or-down movement of wrist 12]

Fig. 5 is the definition graph of the up and down motion for the arm for showing parallel link robot 1.Fig. 5 shows parallel link robot 1 Wrist 12 is vertical and action in the case of moving up and down.Fig. 6 is the rearview of the base portion 2 of parallel link robot 1.Figure 7 be the bottom view of the base portion 2 of parallel link robot 1.

Wrist 12 is vertical and when moving up and down, horizontal sliding unit 3 does not move, and only vertical slide members 4 vertically move.It hangs down The driving method of straight sliding unit 4 is as described above.Hereinafter, so as to be illustrated exemplified by the case that wrist 12 moves downwards.

When wanting to make the wrist 12 move downwards, only it is moved upward vertical slide members 4.At this point, horizontal slide list Member 3 is held in fixed position.

In the state of before movement, the first connecting rod in parallel is located at point BCDE.After vertical slide members 4 move, due to first Arm 5 and the tie point B of horizontal sliding unit 3 are motionless, so point E is rotated centered on point B, and are moved to point E'.As a result, first Connecting rod in parallel is from point BCDE movements and is deformed into point BC'D'E'.Due to while BE' with while C'D' it is parallel, so the 3rd arm 8 is downwards Change angle, wrist 12 moves downwards as a result,.

The gyroscopic mechanism of wrist 12 at this time is as described below.Before the movement of vertical slide members 4, the second connecting rod position in parallel In point BCFG, the 3rd connecting rod in parallel is located at point CHIJ.As being discussed below, even if by the movement of vertical slide members 4, The angle of first support 9 is also constant.Therefore, point B, G is not moved, and after the movement of vertical slide members 4, the second connecting rod in parallel is from point BCFG is mobile and is deformed into point BC'F'G.3rd connecting rod in parallel is from point CHIJ movements and is deformed into point C'H'I'J'.Due to first The angle of stent 9 is constant, thus the angle of the side BG of the second connecting rod in parallel with it is mobile before constant, the second parallel connection connecting rod as a result, While C'F', the side H'I' of while C'J' and the 3rd connecting rods in parallel of the 3rd connecting rod in parallel angle with move before it is constant.Namely It says, if the posture of wrist 12 is initially held in level, after wrist 12 moves downwards, the posture of wrist 12 is also held in water It is flat.

Certainly, parallel link robot 1 can be made by making horizontal sliding unit 3 and vertical slide members 4 while movement Wrist 12 is moved to by the direction being horizontally and vertically combined.In this case, the posture of wrist 12 is also kept In level.

[adjustment mechanism of the angle of wrist 12]

Then, using Fig. 8, the adjustment mechanism of the angle of the wrist 12 of present embodiment is illustrated.Fig. 8 is to show first and The definition graph of the construction of two adjustment mechanisms.

As shown in Fig. 8 (a), the angle of wrist 12 is determined by the angle of the side HI of the 3rd connecting rod CHIJ in parallel, the angle of side HI Degree is influenced by the angle of side CJ.The angle in CJ of 3rd connecting rod CHIJ in parallel by the second connecting rod BCFG in parallel while CF Angle determines, the angle in CF of the second connecting rod BCFG in parallel by while BG angle influenced.

As seen from the above description, the connecting rod BCFG in parallel of the 3rd parallel connection connecting rod CHIJ and second desirably parallelogram, But the angle of wrist 12 is influenced be subject to the shape due to making and there are deviation.Further, since the angle FCJ of second support 10 Always it is certain, thus while BG and while HI maintain certain differential seat angle.It is corresponding with the angle of variation when the angle change of side BG Ground, the angle change of side HI.That is, the angle of wrist 12 is significantly influenced be subject to the angle of first support 9.

Therefore, the parallel link robot 1 of present embodiment has the first adjustment mechanism 14 and second adjustment mechanism 15, institute State the first adjustment mechanism 14 adjust to the angle of wrist 12 affect second and the 3rd connecting rod in parallel parallelogram, institute State the angle that second adjustment mechanism 15 adjusts the first support 9 that larger impact is brought to the angle of wrist 12.

Fig. 8 (b) amplifies and is specifically illustrated in the first adjustment mechanism 14.The first adjustment mechanism 14 includes being arranged at the 4th arm 11 With the right-hand thread portion 14a of at least one party in the 5th arm 13 and left-hand thread portion 14b.In the example of Fig. 8 (b), right-hand thread portion 14a The 4th arm 11 and 13 both sides of the 5th arm are arranged at left-hand thread portion 14b, but the arm of a side can also be only arranged at.

The both ends of 4th arm 11 are formed as hollow, and each tip inside is provided with right-hand thread portion 14a and left-hand thread portion 14b.Right-hand thread portion 14a and left-hand thread portion 14b is threadably engaged to the screw rod (bolt) that is connected with second support 10 and respectively with The screw rod of one stent 9 connection.When the 4th arm 11 is made to be rotated to a direction, due to right-hand thread portion 14a and left-hand thread portion 14b into For left-hand thread, so length shortens or elongated on the whole.Thereby, it is possible to adjust the length of the 4th arm 11.

The both ends of 5th arm 13 are formed as hollow, and each tip inside is provided with right-hand thread portion 14a and left-hand thread portion 14b.Right-hand thread portion 14a and left-hand thread portion 14b is threadably engaged to the screw rod being connected with wrist 12 and connects with second support 10 respectively The screw rod connect.When the 5th arm 13 is made to be rotated to a direction, since right-hand thread portion 14a and left-hand thread portion 14b becomes left-hand thread, So length shortens or elongated on the whole.Thereby, it is possible to adjust the length of the 5th arm 13.

By adjusting the length of the 4th arm 11, the 5th arm 13, it is capable of the shape of micro-adjustment parallelogram, and adjusts wrist 12 angle.

In the case where right-hand thread portion 14a and left-hand thread portion 14b are arranged at the 4th arm 11 and 13 both sides of the 5th arm, there is energy The advantages of scope enough adjusted is elongated.

Then, with reference to Fig. 8 and Fig. 9, second adjustment mechanism 15 is illustrated.Fig. 9 is the first support 9 of parallel link robot 1 Side view (a) and front view (b).Fig. 9 enlargedly shows a part for first support 9.

The cardinal extremity of first support 9 is rotatably mounted in the tie point B of the first arm 5 and horizontal sliding unit 3.The opposing party Face, the front end of first support 9 are rotatably mounted in the point G of one end of the 4th arm 11.First support 9 forms second simultaneously on the whole Join the side BG of connecting rod BCFG.

When usually operating, the 4th arm 11 is pulled by the dead weight of wrist 12 and the loading of cargo, and first support 9 is wanted to rotation Direction R1 rotates.In contrast, locking unit 16 is provided in base portion 2, engaging unit is provided in first support 9 17.Locking unit 16 is for example formed by erectting the screw rod set from a part for base portion 2.On the other hand, 17 energy of engaging unit Enough it is set to be fixedly installed in the snap-latch piece of a part for first support 9.When first support 9 is wanted to rotate to direction of rotation R1, Locking unit 16 and engaging unit 17 are mutually clamped in precalculated position, and the rotation of first support 9 as a result, stops, not further Rotation, maintains predetermined angle.

The second adjustment mechanism 15 of present embodiment is the machine of the locking unit 16 of adjustment and the clamped position of engaging unit 17 Structure.Specifically, for example, the screw rod of setting is erect from a part for base portion 2 can utilize its height of threaded adjustment.Such as The height change of fruit screw rod, then locking unit 16 and the clamped position of engaging unit 17 change.By using second adjustment mechanism The 15 locking units 16 of adjustment and the clamped position of engaging unit 17, the angle change of first support 9, therefore, the angle of wrist 12 Variation.

[detection of the collision of wrist 12]

As shown in Fig. 9 (b), the component such as screw rod as benchmark is installed in the predetermined position 19 of first support 9. When locking unit 16 suitably engages with engaging unit 17, the component of predetermined position 19 of first support 9 is installed on (hereinafter referred to as " reference component ") it is located at precalculated position.

In base portion 2, near the reference component when locking unit 16 suitably engages with engaging unit 17, it is equipped with Photoelectric sensor 20.Photoelectric sensor 20 is set as：Exception is detected when reference component is from appropriate position offset.

Photoelectric sensor 20 is connected with control unit 21.When reference component is from appropriate position offset, photoelectric sensor 20 To 21 output abnormality signal of control unit.21 output abnormality alarm of control unit or the emergent stopping for receiving abnormal signal are in parallel even The action of bar robot 1 or the control for carrying out the both sides.

In addition, in the above description, it is installed on the reference component of the predetermined position 19 of first support 9 and photoelectric sensor 20 Sensor portion 18 is formed, but sensor portion 18 can use the arbitrary known unit of the offset of detection reference component.It for example, can To be set to approach switch substitution photoelectric sensor 20.

Figure 10 is the definition graph for showing the state that the wrist 12 of parallel link robot 1 does not rotate.Figure 10 represents usually fortune Parallel link robot 1 when turning.Figure 11 is the definition graph for the 12 postrotational state of wrist for showing parallel link robot 1. In Figure 10 and Figure 11, hand 30 is installed in wrist 12.

As shown in Figure 10, when usually operating, due to the dead weight of wrist 12 and hand 30, the loading of cargo W, by the 5th arm 13 It is pulled with the 4th arm 11, first support 9 is wanted to rotate to the predetermined direction of rotation R1 of diagram.At this point, locking unit 16 and card It closes unit 17 to engage, first support 9 is held in appropriate angle.

But as shown in figure 11, when colliding and rotate with other objects hand 30 or cargo W inexpectancies, second is in parallel The connecting rod CHIJ deformations in parallel of connecting rod BCFG and the 3rd.As a result, first support 9 to shown in Figure 11 with it is normal when opposite rotation side It is rotated to R2.

When 9 reverse rotation direction R2 of first support rotates, engaging unit 17 is separated from locking unit 16.It is installed on first The reference component of the predetermined position 19 of stent 9 detects exception from appropriate position offset, photoelectric sensor 20.Work as photoelectric sensing During 20 output abnormality signal of device, control unit 21 can output abnormality alarm, alternatively, emergent stopping parallel link robot 1 is dynamic Make, alternatively, carrying out the both sides.

According to the present embodiment, when wrist 12 has carried out abnormal rotation, the biography for being arranged at first support 9 can be utilized Sensor portion 18 is mechanically detected.In the past, the collision of cargo was gone out using the load electro-detection of driving motor.But in desired electric-examination In the case of the load for surveying driving motor, the error detection due to acceleration sometimes.In contrast, according to the present embodiment, by In the rotation that can mechanically detect the wrist 12 as caused by collision of cargo etc., institute is so as to prevent error detection.

In addition, according to the present embodiment, as shown in figure 11, can wrist 12 rotate and escape the external force as caused by collision Ease.Therefore, it is possible to prevent the damage of cargo and robot in itself in collision.

An embodiment of the utility model is this concludes the description of, but the utility model is not limited to this.As long as example, It is that same purpose and effect are apparently achieved in principle, the construction of the parallel link robot of the utility model is not limited to respectively Shape, size, position shown in figure etc..

Based on above-mentioned record, those skilled in the art perhaps it is conceivable that the addition effect, various modifications of the utility model, But the technical solution of the utility model is not limited to the above embodiment.Not departing from from content as defined in claims and its In the range of the schematic thought of the utility model derived from equivalent, objective, various additions, change and part can be carried out It deletes.

Label declaration

1 parallel link robot

2 base portions

3 horizontal sliding units

4 vertical slide members

5 first arms

6 second arms

7 armites

8 the 3rd arms

9 first supports

10 second supports

11 the 4th arms

12 wrists

13 the 5th arms

14 the first adjustment mechanisms

14a right-hand threads portion

14b left-hand threads portion

15 second adjustment mechanisms

16 locking units

17 engaging units

18 sensor portions

19 predetermined positions

20 photoelectric sensors

21 control units

22 horizontal ball screws

23 horizontal rails

24 horizontal drive servomotors

25 horizontal ball screw nut portions

26 vertical ball screws

27 vertical tracks

28 vertical drive servomotors

29 vertical ball screw nut portions

30 hands

W cargos

Direction of rotation when R1 is usually operated

R2 reversely rotates direction

The connecting rods in parallel of BCDE first

The connecting rods in parallel of BCFG second

The connecting rods in parallel of CHIJ the 3rd

Claims (6)

1. a kind of parallel link robot, which is characterized in that have：

Horizontal sliding unit, is installed on base portion horizontally moveablely；

Vertical slide members are installed on the base portion vertically movablely；

First arm, base end part are rotatably mounted in the horizontal sliding unit；

Second arm, base end part are rotatably mounted in the vertical slide members；

Armite, both ends are rotatably mounted in first arm and second arm；

3rd arm, base end part are rotatably mounted in the front end of first arm and the front end of second arm, base end part With forming the first connecting rod in parallel together with first arm, second arm and the armite；

First support is rotatably mounted in the base end part of first arm；

Second support is rotatably mounted in the front end of first arm；

4th arm, base end part are rotatably mounted in the first support, and front end is rotatably mounted in the second support, With forming the second connecting rod in parallel together with first arm, the first support and the second support；

Wrist is rotatably mounted in the front end of the 3rd arm；And

5th arm, base end part are rotatably mounted in the second support, and front end is rotatably mounted in the wrist, with institute It states the 3rd arm, the second support and the wrist and forms the 3rd connecting rod in parallel together,

At least one party in 4th arm and the 5th arm possesses the first adjustment mechanism for adjusting its length.

2. parallel link robot according to claim 1, which is characterized in that

The base portion has the slip of rotatably horizontally disposed horizontal ball screw, the guiding horizontal sliding unit Horizontal rail and the horizontal drive servomotor for making the horizontal ball screw rotation, the horizontal ball screw is with vibrating cantilever rectangular Formula supports,

The horizontal sliding unit has the horizontal ball screw nut portion with the horizontal ball screw thread fitting,

The base portion has the slip of rotatably vertically disposed vertical ball screw, the guiding vertical slide members Vertical track and the vertical drive servomotor for making the vertical ball screw rotation,

The vertical ball screw supports in cantilever fashion,

The vertical slide members have the vertical ball screw nut portion with the vertical ball screw thread fitting.

3. parallel link robot according to claim 2, which is characterized in that

Belt wheel is respectively arranged in the rotation axis of one end of the horizontal ball screw and the horizontal drive servomotor, respectively Belt wheel utilizes band connection, and the outer diameter of the belt wheel of the horizontal ball wire bar side is than the belt wheel of the horizontal drive servomotor side Outer diameter is big,

Belt wheel is respectively arranged in the rotation axis of one end of the vertical ball screw and the vertical drive servomotor, respectively Belt wheel utilizes band connection, and the outer diameter of the belt wheel of the vertical ball wire bar side is than the belt wheel of the vertical drive servomotor side Outer diameter is big.

4. parallel link robot according to claim 1, which is characterized in that

The first adjustment mechanism includes being arranged at the right side at the 4th arm and the both ends of at least one party in the 5th arm Threaded portion and left-hand thread portion.

5. parallel link robot according to claim 1, which is characterized in that

The first support has to be wanted to rotate to predetermined direction in dead weight of the first support due to the wrist and load When the engaging unit that engages with being arranged at the locking unit of the base portion,

The parallel link robot has to adjust the locking unit and the second of the clamped position of the engaging unit Adjustment mechanism.

6. parallel link robot according to claim 1, which is characterized in that have：

Sensor portion when the first support is rotated to direction opposite to the predetermined direction, detects the rotation in the opposite direction Turn, the predetermined direction is the direction of dead weight and the load due to the wrist and desired rotation；With

Control unit when the sensor portion detects that the first support is rotated to the opposite direction, carries out abnormal alert At least one party in the output of report or emergent stopping,

The sensor portion is made of the offset for detecting the predetermined position of the first support close to switch or photoelectric sensor.