JP2012192499A5

JP2012192499A5 -

Info

Publication number: JP2012192499A5
Application number: JP2011058994A
Authority: JP
Filing date: 2011-03-17
Publication date: 2014-05-01

Description

本発明は、鉛直方向と略平行な回転軸を有する出力部材と、前記出力部材を前記回転軸と交差する方向に移動させる第１アクチュエータ及び第２アクチュエータと、前記出力部材を概ね鉛直方向に移動させる第３アクチュエータと、前記出力部材を前記回転軸回りに回動させる第４アクチュエータと、前記出力部材と、前記第１、第２、第３アクチュエータとの間にそれぞれ設けられた複数のリンク機構と、を備え、前記第１、第２、第３アクチュエータ及び前記複数のリンク機構により、前記出力部材を鉛直方向に対して傾斜させることなく、鉛直方向及び水平方向に移動可能であり、且つ、前記第４アクチュエータにより前記出力部材を前記回転軸回りに回転可能で、前記第１、第２、第３、第４アクチュエータを、水平方向に関し前記出力部材の移動領域に対して外れた位置に配置した、ことを特徴とするパラレルリンクロボットにある。 The present invention includes an output member having a rotation axis substantially parallel to the vertical direction, first and second actuators for moving the output member in a direction intersecting the rotation axis, and moving the output member in a substantially vertical direction. A plurality of link mechanisms provided between the third actuator , the fourth actuator for rotating the output member about the rotation axis, the output member, and the first, second, and third actuators , respectively. And the first, second and third actuators and the plurality of link mechanisms are movable in the vertical and horizontal directions without tilting the output member with respect to the vertical direction, and The output member can be rotated around the rotation axis by the fourth actuator, and the first, second, third, and fourth actuators can be rotated in the horizontal direction. It was positioned outside relative movement region of the force member, in parallel robot, characterized in that.

Claims

An output member having a rotation axis substantially parallel to the vertical direction;
A first actuator and a second actuator for moving the output member in a direction intersecting the rotation axis;
A third actuator for moving the output member in a substantially vertical direction;
A fourth actuator for rotating the output member about the rotation axis;
A plurality of link mechanisms respectively provided between the output member and the first, second, and third actuators ;
The output member can be moved in the vertical direction and the horizontal direction without being inclined with respect to the vertical direction by the first, second, and third actuators and the plurality of link mechanisms, and by the fourth actuator. The output member is rotatable about the rotation axis;
The first, second, third, and fourth actuators are disposed at positions deviating from the moving region of the output member in the horizontal direction.
A parallel link robot characterized by that.