JP7222447B1 - パラレルリンク機構 - Google Patents

パラレルリンク機構 Download PDF

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Publication number
JP7222447B1
JP7222447B1 JP2022562569A JP2022562569A JP7222447B1 JP 7222447 B1 JP7222447 B1 JP 7222447B1 JP 2022562569 A JP2022562569 A JP 2022562569A JP 2022562569 A JP2022562569 A JP 2022562569A JP 7222447 B1 JP7222447 B1 JP 7222447B1
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JP
Japan
Prior art keywords
base
tip
joint
end effector
tool
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.)
Active
Application number
JP2022562569A
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English (en)
Japanese (ja)
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JPWO2023047715A1 (https=
JPWO2023047715A5 (https=
Inventor
玄明 千葉
誠一 勅使河原
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
Application granted granted Critical
Publication of JP7222447B1 publication Critical patent/JP7222447B1/ja
Publication of JPWO2023047715A1 publication Critical patent/JPWO2023047715A1/ja
Publication of JPWO2023047715A5 publication Critical patent/JPWO2023047715A5/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
JP2022562569A 2021-09-21 2022-06-07 パラレルリンク機構 Active JP7222447B1 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021153643 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 (3)

Publication Number Publication Date
JP7222447B1 true JP7222447B1 (ja) 2023-02-15
JPWO2023047715A1 JPWO2023047715A1 (https=) 2023-03-30
JPWO2023047715A5 JPWO2023047715A5 (https=) 2023-08-30

Family

ID=85221727

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022562569A Active JP7222447B1 (ja) 2021-09-21 2022-06-07 パラレルリンク機構

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

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
WO2020196164A1 (ja) * 2019-03-22 2020-10-01 Ntn株式会社 パラレルリンク機構およびリンク作動装置

Family Cites Families (9)

* 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
JP7022008B2 (ja) * 2018-06-08 2022-02-17 Ntn株式会社 リンク作動装置
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

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
WO2020196164A1 (ja) * 2019-03-22 2020-10-01 Ntn株式会社 パラレルリンク機構およびリンク作動装置

Also Published As

Publication number Publication date
JPWO2023047715A1 (https=) 2023-03-30
EP4406710A4 (en) 2025-08-06
EP4406710A1 (en) 2024-07-31
US20230256592A1 (en) 2023-08-17
CN117940256A (zh) 2024-04-26
US11858136B2 (en) 2024-01-02
KR20240063869A (ko) 2024-05-10

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