JP2014039977A - Parallel robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parallel robot including a rotary part driving mechanism which is capable of reliably rotating a rotary member when a moving member moves within a prescribed space.SOLUTION: A rotary part driving mechanism 20 includes: a rotary member 21 which is rotatably mounted to a base member 4 and rotated by a motor device 27; a first rod-like swinging member 22 of which one end part 22a is mounted to the member 21 so as to be swingable about a second rotational axis; a second swinging member 23 of which one end part 23a is mounted at the other end part 22b of the first member 22 so as to be swingable about a third rotational axis in parallel to the second rotational axis; and a cylindrically shaped swinging holder 24 mounted at the other end part 23b of the member 23 so as to be swingable about a fourth rotational axis which is perpendicular to the third rotational axis relative to the second member 23. Further, the mechanism 20 includes a linear motion member 26 of which one end region 26a is received in the holder 24 so as to be linearly movable in a rotation restricted state, and the other end part 26b is connected to an adjustable joint 7 which is mechanically connected to a rotary member 6.

Description

  The present invention relates to a parallel robot.

The parallel robot is of a parallel mechanism type in which a base plate as a base member, a moving member that can move with respect to the base plate, a base plate and the moving member are mechanically connected, and the moving member moves in space with respect to the base plate. A moving part movable mechanism.

  As shown above, the moving member provided in the parallel robot can move in parallel in a predetermined three-dimensional space without changing its posture, and the member (product part) held (pickup) by the moving member can be moved. It can be moved freely in space. Therefore, the parallel robot is used for three-dimensional conveyance of product parts in a product assembly line or the like. For example, a parallel robot is used as a conveying device that picks up a product part supplied by a belt conveyor with a moving member, moves the picked-up product part three-dimensionally, and sets it in a processing apparatus.

  Here, there is a case where it is desired to control the rotational position of the product part held by the moving member in the three-dimensional conveyance of the product part. For example, there is a case where it is desired to rotate the product by a predetermined angle when it is set on a processing device for product parts supplied by a belt conveyor.

  Therefore, as shown in Patent Document 1 as a conventional example, there has been proposed a parallel robot in which a “rotating member” is newly provided as a member for picking up a product part on a moving member. In this parallel robot, the rotating member is rotatably attached to the moving member. The parallel robot is newly provided with a rotation unit drive mechanism that can rotate the rotation member.

This parallel robot picks up a product part with a rotating member that can be rotated by a rotating unit drive mechanism and sets it on a processing apparatus, so that the rotational position of the product part can be freely controlled before and after conveyance. it can.

JP 2009-18519 A

  Here, the rotation member to be rotated by the rotation unit drive mechanism is provided on a moving member that can freely move in a predetermined three-dimensional space by a parallel link method. Therefore, the rotation part drive mechanism needs to have a structure that can reliably rotate the rotation member even in all the spatial positions in the predetermined space in which the moving member moves.

Therefore, the present invention has been made in view of the above-described circumstances, and is capable of reliably rotating the rotating member even in all spatial positions within a predetermined space in which the moving member moves. It is to provide a parallel robot provided with a part drive mechanism.

In order to solve the above-described problems, a parallel robot according to the present invention mechanically connects a base member, a moving member that can move in space with respect to the base member, the base member and the moving member, A moving mechanism movable mechanism of a parallel mechanism system that spatially moves relative to the base member; a rotating member that is rotatably attached to the moving member; and a rotating unit drive mechanism that rotates the rotating member relative to the moving member; Is provided.

The rotating unit driving mechanism includes one end at a rotating member that is rotatably attached to the base member around the first rotation axis, and a facing portion that faces the moving member in the rotating member. A first oscillating member in the form of a rod that is slidably attached to the rotating member around the second rotating shaft that is not parallel to the first rotating shaft, and the other end of the first oscillating member, A second oscillating member having one end pivotably attached to the first oscillating member about a third rotating shaft parallel to the second rotating shaft, and the other end of the second oscillating member And a cylindrical swing holder that is swingably attached to the second swing member about a fourth rotation shaft that is non-parallel to the third rotation shaft, and is formed in a rod shape. One end region extending toward the base member is received in a rotationally restrained state so as to be linearly movable. Comprises a linear motion member and the other end portion extending toward the moving member are connected via a universal joint to the pivot member, and a rotation motor apparatus for rotating the rotary member attached to the proximal member.

Here, the mechanism for rotationally driving the rotational member in the rotational unit drive mechanism is mainly composed of a rotational motor device, a rotational member that is rotationally driven by the operation of the rotational motor device, and first and It is comprised from the rocking | fluctuation holder attached via the 2nd rocking | fluctuation member, and the linear motion member formed in the rod shape. When the rotating member is rotated by the operation of the rotating motor device, the swinging holder is rotated together with the rotating member (via the first and second swinging members).

Further, the linear motion member has one end region extending toward the base member received in the swing holder in a rotationally restricted state, and the linear motion member rotates together with the rotary member via the swing holder. And the other end part extended toward the moving member of this linear motion member is mechanically connected to the rotation member via the universal joint. The universal joint can transmit the rotation on the input side to the output side without increasing / decreasing, and the rotating member rotates together with the linear motion member via the universal joint.

As described above, when the rotating member is rotationally driven by the rotational drive motor device, the rotational member is configured to be able to reliably rotate together with the rotational holder and the linear motion member by the rotational driving. . Therefore, the rotation part drive mechanism in the parallel robot of the present invention can reliably rotate the rotation member.

Next, it will be described that when the moving member freely moves in a predetermined space, the rotating unit driving mechanism can freely correspond to the moving members at all positions.

The rotating unit driving mechanism is mechanically coupled between the rotating member and the rotating member (attached to the moving member) by first and second swinging members, a swinging holder, a linear motion member, and a universal joint. It is linked to.

The swing holder that receives the linear motion member is mechanically attached to the rotating member via a two-link arm structure composed of first and second swing members (first and second link arms). ing. That is, the swing holder is held by the rotating member via the two-link arm structure.

The first oscillating member (first link arm) in the two-link arm structure is rotatably attached to the rotating member with one end portion being a second rotating shaft (not parallel to the first rotating shaft). Yes. The second oscillating member (second link arm) in the two-link arm structure has one end at the other end of the first oscillating member and the third rotating shaft parallel to the second rotating shaft. It is attached so that it can rotate freely.

Here, as described above, the third rotating shaft is disposed in parallel to the second rotating shaft, and the two-link arm structure having the second and third rotating shafts as the axes is the first swing member. Using one end as a fulcrum, it can freely move in a first plane perpendicular to the second rotation axis (and the third rotation axis). Therefore, the swinging holder held by the two-link arm structure can freely move within a predetermined range within the first plane, and within a predetermined angle within the first plane. It is arranged so that it can tilt freely.

Further, the rocking holder is configured such that the other rocking member (second link arm) has a second rocking member (second ring) at the other end of the second rocking member (second link arm) around the fourth rotating shaft that intersects the third rotating shaft. (Link arm) is swingably attached. Therefore, the swinging holder held by the two-link arm structure is arranged so as to be freely tilted around the fourth rotation axis, that is, in the second plane intersecting the first plane. Therefore, the swing holder held by the two-link arm structure can be freely tilted in the first plane and in the second plane intersecting with the first plane, that is, can be tilted freely in the direction of two degrees of freedom. It is. Furthermore, the swing holder can be moved freely within a predetermined range in the first plane.

As described above, the two-link arm structure allows the swing holder to be tilted in the direction of two degrees of freedom with respect to the rotating member. Therefore, the one end region can be tiltably supported by the linear member that extends toward the base member and is received in the swing holder. Moreover, the other end part extended toward the moving member of a linear motion member is connected to the rotation member by the universal joint. Here, since the universal joint can connect the input / output member so as to be tiltable in the direction of two degrees of freedom, the other end portion of the linear motion member is tiltable in the direction of two degrees of freedom with respect to the rotating member. Connected.

As described above, both ends of the rod-like linearly moving member that spatially links the rotating member and the rotating member are held so as to be freely tiltable in the direction of two degrees of freedom. Therefore, even when the relative positional relationship between the first rotating shaft of the rotating member and the shaft center of the rotating member changes variously due to the movement of the moving member in the predetermined space, the rotating unit driving mechanism is used as the moving member. It is possible to respond freely to the movement of. Then, the rotation member and the rotation member can be reliably linked by the linear motion member that is rotated by the rotation unit drive mechanism.

Furthermore, as described above, the swinging holder can freely move within a predetermined range within the first plane, so that one end region of the linear member received by the swinging holder is In addition to inclining in the direction of two degrees of freedom, it is possible to move freely within a predetermined range within the first plane, and the rotating part drive mechanism can respond freely by movement of the moving member. I get out.

  Here, one end region of the linear motion member is received in the swing holder so as to be linearly movable. Therefore, even when the moving member moves in a predetermined space and the relative distance between the rotating member and the swinging holder increases or decreases, the one end region of the linear moving member moves directly in the swinging holder, The relative distance can be increased or decreased freely.

The parallel robot according to the present invention includes a rotation unit driving mechanism that can reliably rotate the rotation member even in all spatial positions within a predetermined space in which the movement member moves.

It is the perspective view which looked at the parallel robot in embodiment of this invention from the downward direction. It is the perspective view which looked at the parallel robot in the embodiment of the present invention from the upper part. It is a principal part (partial cross section figure) of the rotation part drive mechanism with which the parallel robot of embodiment of this invention is equipped.

Next, a parallel robot 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 is an overall perspective view of the parallel robot 1 as viewed from below, and FIG. 2 is an overall perspective view of the parallel robot 1 as viewed from above.

  As shown in FIGS. 1 and 2, the parallel robot 1 of the present embodiment is attached to two leg members (2, 2) and leg members (2, 2) arranged at a predetermined interval. A substantially disk-shaped base member 3, a moving member 5, a moving part movable mechanism 10, and a rotating part driving mechanism 20 are mainly provided. In the outer peripheral portion of the base member 3, three notch grooves are formed toward the center at an equal pitch. A reinforcing member 3 is attached between the two leg members (2, 2).

  The moving part movable mechanism 10 drives the three link mechanisms (11, 11, 11) arranged at equal pitch intervals on the substantially outer peripheral part of the base member 3, and these link mechanisms (11, 11, 11), respectively. And three link motor devices (12, 12, 12).

  The moving unit moving mechanism 10 is configured by a parallel mechanism system, and mechanically connects the base member 4 and the moving member 5 and freely moves the moving member 5 with respect to the base member 4 in a predetermined three-dimensional space. In addition, it is possible to move in space without changing the posture of the moving member 5 (in a parallel state). In this way, the moving member 5 is disposed so as to be spatially movable with respect to the base member 4. The mechanical connection between the link mechanism 11 and the moving member 5 is performed via a rotatable connecting member 13.

  Here, a rotating member 6 is rotatably attached to the moving member 5. The parallel robot 1 is used for three-dimensional conveyance of product parts (conveyed parts) in an assembly line or the like, and the rotating member 6 is used as means for picking up the conveyed parts. The rotating member 6 is rotatably attached to the moving member 5 in order to control the picked-up transported product.

  Next, the rotation part drive mechanism 20 that rotates the rotation member 6 will be described mainly based on FIG. 3 in addition to FIGS. 1 and 2. FIG. 3 is a partial cross-sectional view showing the main part of the rotating part drive mechanism 20.

  The rotation unit drive mechanism 20 mainly includes a rotation member 1, two first swing members (first link arms) (22, 122), and two second swing members (second second members). Link arm) (23, 123), a swing holder 24 including a linear motion guide (25, 25), a rod-shaped direct motion member 26 received in the swing holder 24, and a universal joint (universal joint) 6 and a rotating motor device 27. Is provided.

  The rotating member 1 is formed in a substantially cylindrical shape, and is attached to the base member 4 so as to be rotatable about a first rotation axis L1 perpendicular to the base surface 4a of the base member 4. The rotating member 1 is rotatably attached to the flange member 8 fixed to the base member 8 through bearings (B, B).

The rotating motor device 27 is attached to the base member 4 via the mounting base 9. Here, a gear 21c is integrally attached to the outer wall of the opening 21e of the rotating member 1, and a pinion 27b is attached to the output shaft 27a of the motor device 27, and the gear 21c and the pinion 27b are arranged at positions where they are meshed with each other. ing. Then, when the output shaft 27a of the motor device 27 is rotated, the rotating member 1 is rotated around the first rotating shaft.

Next, attachment of the swing holder 24 to the rotating member 1 will be described with reference to FIG.

As shown in FIG. 3, the swing holder 24 is held on the rotating member 21 by the “first two-link arm structure 30” and the “second two-link arm structure 40”.

The first two-link arm structure 30 includes the first link arm 22 and the second link arm 23. Similarly, the second two-link arm structure 40 includes the first link arm 122 and the second link. Arm 123 is provided. The first and second two-link arm structures (30, 40) are set to the same structure, and are spaced apart from each other at a substantially contrasting position across the first rotation axis L1. Has been. That is, the swing holder 24 is held from both sides by the first and second two-link arm structures (30, 40).

Hereinafter, the first two-link arm structure 30 will be described.

The first link arm 22 is formed in a rod shape, and one end portion 22a is rotatably attached to the facing portion 21a of the rotating member 21 via an attachment portion 21b. Here, the one end portion 22a of the arm 22 is not parallel to the first rotation axis L1, and preferably with respect to the rotation member 21 around the second rotation axis L2 spatially orthogonal to the first rotation axis L1. It is rotatably attached via a sliding metal M1.

The second link arm 23 is formed in a rod shape, and one end 23 a is rotatably attached to the arm 22 at the other end 22 b of the first link arm 22. Here, one end portion 23a of the arm 23 is rotatably attached to the arm 22 via a sliding metal M2 around a third rotation axis L3 parallel to the second rotation axis L2.

A central portion of the substantially cylindrical swing holder 24 is rotatably attached to the other end 23b of the second link arm 23. Here, the center portion of the holder 24 is slidable with respect to the arm 23 around the fourth rotation axis L4 that is non-parallel to the third rotation axis L3, preferably spatially orthogonal to the third rotation axis L3. It is rotatably attached via.

Similarly, the second two-link arm structure 40 will be described below.

The first link arm 122 is formed in a rod shape, and one end portion 122a is rotatably attached to the opposing portion 21a of the rotating member 21 via an attachment portion 121b. Here, the one end 122a of the arm 122 is non-parallel to the first rotation axis L1, and preferably with respect to the rotation member 21 around the second rotation axis L12 spatially orthogonal to the first rotation axis L1. It is rotatably attached via a sliding metal M11.

The second link arm 123 is formed in a rod shape, and one end 123 a is rotatably attached to the arm 122 at the other end 122 b of the first link arm 122. Here, one end 123a of the arm 123 is rotatably attached to the arm 122 via a sliding metal M12, with a third rotation axis L13 parallel to the second rotation axis L12 as a center.

A central portion of the substantially cylindrical swinging holder 124 is rotatably attached to the other end 123b of the second link arm 123. Here, the central portion of the holder 124 is slidable with respect to the arm 123 around the fourth rotation axis L14 that is non-parallel to the third rotation axis L13, preferably spatially orthogonal to the third rotation axis L13. It is rotatably attached via. Note that the relative positional relationship between the attachment positions of the “second link arm 123” and the “second link arm 23” to the holder 124 is set so as to be opposed to each other.

Next, a structure for holding the linear motion member 26 by the swing holder 24 will be described.

In the linear motion member 26, an engaging groove is formed over the entire length in the longitudinal direction (axial direction), and the linear motion guide (25, 25) fixedly disposed in the swing holder 24 has the linear motion member 26. The one end region 26 a extending toward the base member 4 is inserted and arranged. Here, the linear motion guides (25, 25) are structured to fit into the engaging grooves of the linear motion member 26, and the linear motion member 26 swings through the linear motion guides (25, 25). The holder 24 is received in a rotationally restricted state.

Further, since the linear motion member 26 is slidably held in the longitudinal direction (axial direction) by the linear motion guides (25, 25), the linear motion member 26 is rocked via the linear motion guides (25, 25). It is movably received in the moving holder 24.

Finally, attachment of the other end portion 26b extending toward the moving member 5 of the linear motion member 26 to the rotating member 6 will be described. A universal joint (universal joint) 6 is disposed between the other end portion 26 b of the linear motion member 26 and the rotating member 6, and the other end portion 26 b of the linear motion member 26 is rotated via the universal joint 6. Linked to the moving member 6.

The present invention is not limited to the above-described embodiment, and includes various modifications made to the above-described embodiment without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Parallel robot, 2 ... Leg member, 3 ... Reinforcement member, 4 ... Base member, 5 ... Moving member, 6 ... Turning member, 7 ... Universal joint, 10 ... Moving part movable mechanism, 11 ... Link mechanism, 11A ... Drive link, 11B ... driven link, 12 ... motor for link, 13 ... connecting member, 20 ... rotating part drive mechanism, 21 ... rotating member, 21A ... opposing part, 21B ... mounting part, 22 ... first swing Member (first link arm), 22A ... one end, 22B ... other end, 23 ... second swing member (second link arm), 23A ... one end, 23B ... other end, 24 ... rocking Moving holder, 25 ... Linear motion guide, 26 ... Linear motion member, 26A ... One end region, 26B ... Other end, 27 ... Motor device for rotation, 30 ... First two-link arm structure, 40 ... Second two links Arm structure, L1 to L4 ... 1st to 4th rotating shaft

Claims (1)

A base member;
A movable member that is spatially movable with respect to the base member;
A moving mechanism movable mechanism of a parallel mechanism system that mechanically connects the base member and the moving member, and moves the moving member relative to the base member,
A rotating member rotatably attached to the moving member;
In a parallel robot comprising a rotation unit drive mechanism that rotates the rotation member with respect to the moving unit,
The rotating part drive mechanism is
A rotating member attached to the base so as to be rotatable about a first rotation axis;
A rod-shaped first attached to the rotating member so as to be freely slidable about the second rotating shaft that is not parallel to the first rotating shaft at the facing portion of the rotating member that faces the moving member. A swing member;
A second end of the first swinging member is attached to the first swinging member so as to be swingable about a third rotation axis parallel to the second rotation axis. A swing member;
A cylindrical swing attached to the second swing member at the other end of the second swing member so as to be swingable about a fourth rotation axis that is not parallel to the third rotation shaft. A holder,
One end region, which is formed in a rod shape and extends toward the base member in the swing holder, is received so as to be linearly movable in a rotationally restricted state, and the other end portion extending toward the moving member is formed on the rotating member. A linear motion member connected via a universal joint;
A parallel robot, comprising: a rotation motor device attached to the base member for rotating the rotation member.

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