WO2022230194A1 - パラレルリンクロボット - Google Patents
パラレルリンクロボット Download PDFInfo
- Publication number
- WO2022230194A1 WO2022230194A1 PCT/JP2021/017253 JP2021017253W WO2022230194A1 WO 2022230194 A1 WO2022230194 A1 WO 2022230194A1 JP 2021017253 W JP2021017253 W JP 2021017253W WO 2022230194 A1 WO2022230194 A1 WO 2022230194A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shaft portion
- link
- hole
- passive
- shaft
- Prior art date
Links
- 238000005096 rolling process Methods 0.000 description 11
- 210000000707 wrist Anatomy 0.000 description 9
- 239000000853 adhesive Substances 0.000 description 6
- 230000001070 adhesive effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
Definitions
- This disclosure relates to parallel link robots.
- a so-called delta-type parallel link robot that includes three drive links that are rotationally driven by three motors, and three pairs of two parallel passive links that connect each drive link and a movable part.
- This parallel-link robot is equipped with an additional actuator between pairs of passive links, arranged parallel to the passive links. Additional actuators are rotatably supported by bearings on auxiliary links that span between pairs of passive links and are rotatably attached to each passive link by bearings.
- the passive link and the additional actuator are subjected to large acceleration and deceleration during operation of the parallel link robot, it is desired to minimize the increase in inertia in the attachment structure of the auxiliary link that attaches the additional actuator to the passive link.
- the passive link is an elongated member, and it is difficult to integrally machine a shaft extending in a direction perpendicular to the longitudinal axis at a position halfway along the longitudinal axis with high accuracy. For this reason, a shaft, which is a separate part from the passive link, is assembled to the passive link. fretting may occur. Therefore, it is desired to reduce the weight of the mounting structure of the auxiliary link while suppressing the occurrence of fretting between the passive link and the shaft to improve the durability.
- One aspect of the present disclosure is a drive link that is rotationally driven by an actuator, two parallel rod-shaped passive links connected to the tip of the drive link, and a drive link provided at a midway position in the longitudinal axis direction of each of the drive links.
- two shafts fixed to each of the passive links in a state in which they are fitted in the through-holes provided therein; wherein the through holes are formed along a first direction orthogonal to a plane containing the longitudinal axes of the two passive links, and each of the shafts is provided with one end face in the first direction a first shaft portion that is fitted into the through hole from the side and abuts the one end face; and a second shaft portion that is fitted into the through hole from the other end face side in the first direction and abuts the other end face. and a fastening portion that applies a force in a direction in which the first shaft portion and the second shaft portion approach each other in the through hole.
- FIG. 1 is a perspective view of a parallel link robot according to an embodiment of the present disclosure
- FIG. FIG. 2 is a schematic diagram showing the relationship between passive links, additional actuators, and movable parts of the parallel link robot of FIG. 1
- 3A and 3B are schematic diagrams showing the operation of the passive link, the additional actuator and the movable part of FIG. 2
- FIG. 2 is a schematic diagram illustrating a structure of power transmission from an additional actuator of the parallel link robot of FIG. 1 to a wrist axis
- 2 is a partial perspective view illustrating a support mechanism for additional actuators of the parallel link robot of FIG. 1
- FIG. FIG. 6 is a longitudinal sectional view showing the support mechanism of FIG.
- FIG. 5 is a partial vertical cross-sectional view illustrating the shaft of the support mechanism of FIG. 6;
- FIG. 8 is a partially exploded perspective view illustrating the shaft of the support mechanism of FIG. 7;
- FIG. 9 is a partial perspective view illustrating a state in which the shaft of FIG. 8 is fixed to a passive link;
- FIG. 8 is a partial vertical cross-sectional view illustrating a modification of the shaft of the support mechanism of FIG. 7;
- a parallel link robot 1 according to an embodiment of the present disclosure will be described below with reference to the drawings.
- a parallel link robot 1 according to this embodiment as shown in FIG. It has three arms 4, 5, 6 that connect the base part 2 and the movable part 3 in parallel.
- the base 2 has three actuators (for example, servo motors and speed reducers) 7, 8, 9 for driving the three arms 4, 5, 6, respectively.
- Each arm 4, 5, 6 includes drive links 10, 11, 12 that are connected to actuators 7, 8, 9 and are rotationally driven, and two arms that connect the drive links 10, 11, 12 and the movable part 3.
- a pair of parallel straight rod-shaped passive links 13, 14, 15 are provided.
- the passive links 13, 14, 15 are rotatably connected to the drive links 10, 11, 12 and the movable part 3 by spherical bearings 16, respectively.
- Four spherical bearings 16 located at the ends of the two passive links 13, 14, 15 of each arm 4, 5, 6 are centered on these spherical bearings 16 as shown in FIGS. are placed at positions forming a parallelogram.
- the movable part 3 is, for example, a disc-shaped casing 17 arranged with the central axis A directed vertically, and a casing 17 that can rotate about the central axis A with respect to the casing 17 . and a driving force transmission mechanism 19 .
- the wrist shaft member 18 has an attachment surface 18a at its lower end to which a tool such as a hand can be attached.
- the driving force transmission mechanism 19 includes a first gear 20 rotatably supported by the casing 17 and a second gear 21 fixed to the wrist shaft member 18 and meshing with the first gear 20 .
- the three arms 4, 5, 6 are arranged at regular intervals in the circumferential direction around the central axis of the base portion 2, as shown in FIG.
- the movable portion 3 can be moved in two horizontal directions and one vertical direction in a three-dimensional direction while maintaining the central axis A of the movable portion 3 in the vertical direction. It can be translated and positioned at the desired position.
- the parallel link robot 1 is equipped with an additional actuator 22 installed between the passive links 13 of one arm 4, as shown in FIGS.
- the additional actuator 22 is an actuator (for example, a servomotor and a speed reducer) for rotationally driving the wrist shaft member 18 of the movable portion 3 .
- An output shaft (not shown) of the additional actuator 22 and the first gear 20 of the driving force transmission mechanism 19 are connected by a drive shaft 23 that transmits the driving force generated by the additional actuator 22 to the first gear 20 .
- the drive shaft 23 extends parallel to the two passive links 13 near the center in the spacing direction of the two passive links 13 and is connected to the first gear 20 of the driving force transmission mechanism 19 by a universal joint 24 .
- the center point of the universal joint 24 is preferably arranged on a straight line connecting the center points of the two spherical bearings 16 that connect the two passive links 13 and the movable portion 3 .
- the additional actuator 22 is supported on the two passive links 13 by a support mechanism 25 .
- the support mechanism 25 is formed along the direction orthogonal to the plane containing the longitudinal axes of the two passive links 13 at a position midway along the longitudinal axis of the two passive links 13. It has two parallel shafts 26 fixed to each passive link 13 through through holes 28 .
- this direction will be referred to as the first direction.
- the support mechanism 25 extends through a through-hole (another through-hole) 29 extending in a direction parallel to the first direction, which is formed in the flat mounting portion 27 at one end of the additional actuator 22 . It has one shaft (another shaft) 30 fixed to.
- the central axes B and C of the three shafts 26 and 30 are arranged in the same plane parallel to the straight line connecting the centers of the two spherical bearings 16 connecting the two passive links 13 to the driving link 10. preferably.
- the support mechanism 25 includes six rolling bearings (bearings, other bearings) 31 in which both ends of the three shafts 26 and 30 are fitted to respective inner rings, and the outer rings of the three rolling bearings 31 are fixed.
- a pair of auxiliary links 32 are provided.
- Each auxiliary link 32 is provided with three recesses 33 into which the outer rings of the three rolling bearings 31 can be fitted. It is fixed with adhesive. Thereby, the two auxiliary links 32 are rotatably connected to the two passive links 13 on both sides of the two passive links 13 in the first direction, respectively, around the central axis B of the shaft 26. .
- the two auxiliary links 32 rotatably support the additional actuator 22 around the central axis (axis) C of the shaft 30 on both sides of the attachment portion 27 of the additional actuator 22 in the first direction.
- reference numeral 34 denotes a spacer adjusted to an appropriate length to apply preload to the rolling bearing 31
- reference numeral 35 denotes a bolt that attaches the spacer 34 between the two auxiliary links 32.
- the two shafts 26 fixed to the passive link 13 are provided with a first shaft portion 36 and a second shaft portion 37, as shown in FIGS. 7-9.
- the first shaft portion 36 is provided at one end in the axial direction and is capable of fitting into the through hole 28 , and is provided at the other end in the axial direction and is capable of being fitted to the inner ring of the rolling bearing 31 . It is provided with a second fitting portion 39 and a flange portion 40 arranged at an intermediate position in the axial direction and protruding radially outward from the first fitting portion 38 .
- a central hole centered on the central axis B is provided at one end in the axial direction where the first fitting portion 38 is provided, and a female thread 41 is formed on the inner peripheral surface of the central hole.
- the outer peripheral surface of the flange portion 40 is provided with a pair or more of parallel flat portions 40a with which a tool such as a wrench can be engaged.
- the second shaft portion 37 includes, in order from one end in the axial direction, a male screw 42 that can be fastened to the female screw 41 of the first shaft portion 36, a first fitting portion 43 that can be fitted into the through hole 28, and a first fitting portion. It has a flange portion 44 that protrudes radially outward from the joining portion 43 and a second fitting portion 45 that can be fitted to the inner ring of the rolling bearing 31 .
- a fastening portion 46 is configured by the female thread 41 of the first shaft portion 36 and the male thread 42 of the second shaft portion 37 .
- a flange portion 44 of the second shaft portion 37 is also provided with a flat portion 44a for a tool.
- the two shafts 26 are, as shown in FIG. It is fixed to the passive link 13 by fastening the male screw 42 of the second shaft portion 37 to which the first fitting portion 43 is fitted from the other end face side.
- the male screw 42 of the second shaft portion 37 By fastening the male screw 42 of the second shaft portion 37 to the female screw 41 of the first shaft portion 36 in the through hole 28, the flange portions 40 and 44 abut one end face and the other end face.
- a compressive force can be applied to each passive link 13 by pinching the links 13 in a first direction.
- the shaft 30 fixed to the mounting portion 27 of the additional actuator 22 includes a first shaft portion (another first shaft portion) 36 and a second shaft portion 36 having the same shape as the two shafts 26 fixed to the passive link 13. section (another second shaft section) 37 . That is, the first shaft portion 36 includes a first fitting portion 38, a flange portion 40, and a second fitting portion 39 in order from one axial end side, and the first fitting portion 38 is provided.
- a female thread 41 is formed on the inner peripheral surface of a central hole centered on the central axis C at one end in the axial direction.
- the second shaft portion 37 includes a male thread 42, a first fitting portion 43, a flange portion 44, and a second fitting portion 45 in order from one end side in the axial direction.
- Another fastening portion 46 is configured by the female thread 41 of the first shaft portion 36 and the male thread 42 of the second shaft portion 37 .
- the shaft 30 is fitted from the other end side to the internal thread 41 of the first shaft portion 36, which has the first fitting portion 38 fitted to the through hole 29 of the mounting portion 27 of the additional actuator 22 from the other end side.
- By fastening the external thread 42 of the second shaft portion 37 it is fixed to the additional actuator 22 .
- the mounting portion 27 is sandwiched in the first direction between the flange portion 40 of the first shaft portion 36 and the flange portion 44 of the second shaft portion 37.
- the shaft 30 can be rigidly fixed to the additional actuator 22 .
- the parallel link robot 1 by driving the three actuators 7, 8 and 9 provided on the base 2, the three drive links 10, 11 and 12 are rotated respectively.
- the three driving link 10, 11, 12 is rotated, two passive links 13, 14, 15 connected to the tip of each driving link 10, 11, 12 by spherical bearings 16 maintain a parallel relationship. , are passively displaced between the drive links 10 , 11 , 12 and the movable part 3 .
- the movable part 3 is translated with three degrees of freedom in two horizontal directions and one vertical direction while maintaining the central axis A of the wrist shaft member 18 vertically, and is positioned at a desired position.
- the driving force of the additional actuator 22 is transmitted to the wrist shaft member 18 via the drive shaft 23, the first gear 20 and the second gear 21, and the wrist shaft member 18 moves from the casing 17. , is rotated about the central axis A.
- the posture of a tool such as a hand attached to the mounting surface 18 a at the lower end of the wrist shaft member 18 can be changed around the central axis A of the wrist shaft member 18 .
- the passive links 13, 14, 15 and the additional actuator 22 undergo large acceleration and deceleration.
- the support mechanism 25 that attaches the additional actuator 22 to the passive links 13, 14, 15 also undergoes large acceleration and deceleration.
- the passive link 13 can be made thinner than when the shafts 26 and 30 are rotatably attached to the through holes 28 and 29 .
- the passive link 13 around the through holes 28, 29 can be made thin. This reduces the increase in inertia around the passive link 13 and shafts 26,30.
- the rolling bearing 31 can be arranged at a position apart from the shafts 26, 30 in the axial direction. , the load applied to the rolling bearing 31 against the moment applied to the passive link 13 can be reduced. Moreover, by forming the passive link 13 and the shafts 26 and 30 as separate parts, the passive link 13 can be easily processed, and the cost can be reduced.
- the shafts 26 and 30 are composed of a first shaft portion 36, a second shaft portion 37 and a fastening portion 46, and a passive link is formed by the first shaft portion 36 and the second shaft portion 37 fitted in the through holes 28 and 29.
- the shafts 26 and 30 are firmly fixed to the passive link 13 by the fastening portion 46 with the shafts 26 and 30 sandwiched in the first direction.
- the flange portions 40, 44 of the shafts 26, 30 and the passive link 13 are brought into close contact with each other with a strong compressive force, thereby increasing the friction therebetween.
- the passive link 13 is sandwiched in the first direction by the flanges 40 and 44 provided on the first shaft portion 36 and the second shaft portion 37, and a compressive force is applied to the passive link 13 to fix the shafts 26 and 30.
- stress concentration at the first fitting portions 38 and 43 fitted into the through holes 28 and 29 can be reduced. This has the advantage that the shafts 26, 30 can be maintained in a durable and sound state.
- the fastening portion 46 for fastening the male screw 42 and the female screw 41 together assembly is easier than in the case where the shafts 26 and 30 are fixed in the through holes 28 and 29 by an adhesive which is a simple fixing means. There is an advantage that it is easy and can be fixed with a stable strength.
- Adhesion strength may vary.
- the fixing strength can be stabilized by managing the fastening torque.
- the fixing strength can be stabilized without lowering the fixing force due to peeling of the adhesive as in the case of fixing with an adhesive.
- the structure for rotatably attaching the additional actuator 22 to the auxiliary link 32 also adopts the same structure as the structure for rotatably attaching the auxiliary link 32 to the passive link 13 .
- the structure for rotatably attaching the additional actuator 22 to the auxiliary link 32 is the same as the structure for rotatably attaching the auxiliary link 32 to the passive link 13, but it may be different. That is, since the attachment portion 27 of the additional actuator 22 has less size restrictions than the passive link 13 , the shaft 30 may be rotatably attached to the attachment portion 27 by the bearings 31 . Further, in this embodiment, as the fastening portion 46, the first shaft portion 36 is provided with the female thread 41 and the second shaft portion 37 is provided with the male thread 42, but the first shaft portion 36 is provided with the male thread 42. and the second shaft portion 37 may be provided with the internal thread 41 .
- the fastening portion 46 that fastens the first shaft portion 36 and the second shaft portion 37 is configured by the female thread 41 provided on the first shaft portion 36 and the male thread 42 provided on the second shaft portion 37 .
- the first shaft portion 36 is provided with a threaded hole (female screw) 47 along the central axis B
- the second shaft portion 37 is provided with a pilot hole ( A screw through hole 48 and a countersunk hole 49 may be provided
- the fastening portion 46 may be configured by the bolt 50 passing through the pilot hole 48 and the screw hole 47 of the first shaft portion 36 .
- the second shaft portion 37 may be provided with a screw hole 47
- the first shaft portion 36 may be provided with a prepared hole 48 and a countersunk hole 49 .
- the auxiliary links 32 are arranged on both sides of the two passive links 13, but instead of this, the auxiliary links 32 may be arranged only on one side. Further, in this embodiment, the arm 4 on which the additional actuator 22 is arranged between the passive links 13 is provided with the support mechanism 25. , the support mechanism 25 may be provided.
- the support mechanism 25 for the arms 5, 6 consists of two parallel shafts 26 fixed to each passive link 14, 15 and four rolling rollers fitting the ends of the two shafts 26 to respective inner rings. It comprises a bearing (bearing) 31 and a pair of two auxiliary links 32 to which the outer rings of the two rolling bearings 31 are respectively fixed.
- the parallel link robot 1 one in which the support mechanism 25 is provided on at least one of the three arms 4, 5, 6 may be employed.
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- Engineering & Computer Science (AREA)
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Abstract
Description
また、補助リンクを受動リンクおよび追加アクチュエータに軸受により回転可能に取り付けるためには、軸受内輪に嵌合するシャフトを受動リンクの長手軸方向に直交する方向に配置する必要がある。
したがって、補助リンクの取付構造の軽量化を図りつつ、受動リンクとシャフトとの間のフレッチングの発生を抑制して、耐久性を向上することが望まれている。
本実施形態に係るパラレルリンクロボット1は、図1に示されるように、天井あるいは架台等の外部構造物に固定される基礎部2と、基礎部2の下方に配置される可動部3と、基礎部2と可動部3とを並列に連結する3本のアーム4,5,6とを備えている。
各アーム4,5,6は、各アクチュエータ7,8,9に連結されて回転駆動させられる駆動リンク10,11,12と、駆動リンク10,11,12と可動部3とを連結する2本1対の平行な直棒状の受動リンク13,14,15とを備えている。受動リンク13,14,15は駆動リンク10,11,12および可動部3にそれぞれ球面軸受16によって回転可能に連結されている。
各アーム4,5,6の2本の受動リンク13,14,15の両端に配置された4個の球面軸受16は、図2および図3に示されるように、これらの球面軸受16の中心を頂点とする四角形が平行四辺形を構成する位置に配置されている。
支持機構25は、図6に示されるように、2本の受動リンク13の長手軸方向の途中位置に、2本の受動リンク13の長手軸を含む平面に直交する方向に沿って形成された貫通孔28を貫通した状態で各受動リンク13に固定された2本の平行なシャフト26を備えている。以下、この方向を第1方向という。また、支持機構25は、追加アクチュエータ22の一端の平板状の取付部27に形成された、第1方向に平行な方向に沿う貫通孔(他の貫通孔)29を貫通した状態で取付部27に固定された1本のシャフト(他のシャフト)30を備えている。
また、支持機構25は、3本のシャフト26,30の両端をそれぞれの内輪に嵌合させる6つの転がり軸受(軸受、他の軸受)31と、3つの転がり軸受31の外輪がそれぞれ固定された2個一対の補助リンク32とを備えている。
本実施形態に係るパラレルリンクロボット1によれば、基礎部2に備えられた3つのアクチュエータ7,8,9を駆動することにより、3本の駆動リンク10,11,12がそれぞれ回転させられる。各駆動リンク10,11,12が回転させられると、各駆動リンク10,11,12の先端に球面軸受16により連結された2本ずつの受動リンク13,14,15が平行な関係を保ちながら、駆動リンク10,11,12と可動部3との間で受動的に変位させられる。これにより、可動部3が、手首軸部材18の中心軸Aを鉛直に保ったまま、水平2方向および鉛直1方向の3自由度で並進移動させられ、所望の位置に位置決めされる。
また、雄ねじ42と雌ねじ41とを締結する締結部46によれば、簡易な固定手段である接着剤によってシャフト26,30を貫通孔28,29内に固定する場合と比較しても、組み立てが容易であり、安定した強度で固定することができるという利点がある。
また、本実施形態においては、締結部46として、第1シャフト部36に雌ねじ41を設け、第2シャフト部37に雄ねじ42を設けたものを例示したが、第1シャフト部36に雄ねじ42を設け、第2シャフト部37に雌ねじ41を設けたものを採用してもよい。
また、本実施形態においては、受動リンク13の間に追加アクチュエータ22が配置されるアーム4に支持機構25が設けられているものを例示したが、追加アクチュエータ22が配置されていないアーム5,6に支持機構25が設けられていてもよい。
また、パラレルリンクロボット1として、支持機構25が3つのアーム4,5,6の少なくとも1つに設けられているものを採用してもよい。
7,8,9 アクチュエータ
10,11,12 駆動リンク
13,14,15 受動リンク
22 追加アクチュエータ
25 支持機構
26 シャフト
28 貫通孔
31 転がり軸受(軸受、他の軸受)
32 補助リンク
36 第1シャフト部(他の第1シャフト)
37 第2シャフト部(他の第2シャフト)
41 雌ねじ
42 雄ねじ
46 締結部(他の締結部)
48 下孔(ネジ用貫通孔)
50 ボルト
C 中心軸(軸線)
Claims (6)
- アクチュエータにより回転駆動される駆動リンクと、
該駆動リンクの先端に連結された2本の平行な棒状の受動リンクと、
各該受動リンクの長手軸方向の途中位置に設けられた貫通孔にそれぞれ嵌合した状態で各前記受動リンクに固定された2本のシャフト、および各該シャフトを内輪に嵌合させる2つの軸受によって両前記シャフトに回転可能に取り付けられた補助リンクを有する支持機構とを備え、
前記貫通孔が、2本の前記受動リンクの前記長手軸を含む平面に直交する第1方向に沿って形成され、
各前記シャフトが、前記第1方向の一端面側から前記貫通孔に嵌合させられて前記一端面に突き当たる第1シャフト部と、前記第1方向の他端面側から前記貫通孔に嵌合させられて前記他端面に突き当たる第2シャフト部と、前記貫通孔内において前記第1シャフト部と前記第2シャフト部とを近接させる方向に力を加える締結部とを備えるパラレルリンクロボット。 - 前記受動リンクの間に配置され、前記支持機構によって前記受動リンクに支持される追加アクチュエータを備え、
該追加アクチュエータが、前記補助リンクに、前記第1方向に平行な軸線回りに回転可能に支持される請求項1に記載のパラレルリンクロボット。 - 前記補助リンクおよび2つの前記軸受が、前記受動リンクを前記第1方向に挟んだ両側に配置され、
前記追加アクチュエータが、2つの前記補助リンクによって支持されている請求項2に記載のパラレルリンクロボット。 - 前記締結部が、前記第1シャフト部または前記第2シャフト部の一方に形成された雌ねじと、前記第1シャフト部または前記第2シャフト部の他方に形成され前記雌ねじに締結される雄ねじとを備える請求項2または請求項3に記載のパラレルリンクロボット。
- 前記締結部が、前記第1シャフト部または前記第2シャフト部の一方に形成された雌ねじと、前記第1シャフト部または前記第2シャフト部の他方に形成されたネジ用貫通孔と、該ネジ用貫通孔を貫通して前記雌ねじに締結されるボルトとを備える請求項2または請求項3に記載のパラレルリンクロボット。
- 前記追加アクチュエータを前記補助リンクに前記軸線回りに回転可能に支持させる機構が、前記追加アクチュエータに前記軸線に沿う方向に形成された他の貫通孔に嵌合した状態で前記追加アクチュエータに固定された他のシャフトと、前記補助リンクに設けられ前記他のシャフトを内輪に嵌合させる他の軸受とを備え、
前記他のシャフトが、前記軸線方向の一端面側から前記他の貫通孔に嵌合させられて前記一端面に突き当たる他の第1シャフト部と、前記軸線方向の他端面側から前記他の貫通孔に嵌合させられて前記他端面に突き当たる他の第2シャフト部と、前記他の貫通孔内において前記他の第1シャフト部と前記他の第2シャフト部とを近接させる方向に力を加える他の締結部とを備える請求項2から請求項5のいずれかに記載のパラレルリンクロボット。
Priority Applications (6)
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US18/546,562 US20240227170A9 (en) | 2021-04-30 | Parallel link robot | |
JP2023517019A JPWO2022230194A1 (ja) | 2021-04-30 | 2021-04-30 | |
CN202180097424.2A CN117337227A (zh) | 2021-04-30 | 2021-04-30 | 并联连杆机器人 |
PCT/JP2021/017253 WO2022230194A1 (ja) | 2021-04-30 | 2021-04-30 | パラレルリンクロボット |
DE112021007092.4T DE112021007092T5 (de) | 2021-04-30 | 2021-04-30 | Parallelroboter |
TW111115121A TW202247963A (zh) | 2021-04-30 | 2022-04-20 | 並聯式機器人 |
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PCT/JP2021/017253 WO2022230194A1 (ja) | 2021-04-30 | 2021-04-30 | パラレルリンクロボット |
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JP (1) | JPWO2022230194A1 (ja) |
CN (1) | CN117337227A (ja) |
DE (1) | DE112021007092T5 (ja) |
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WO (1) | WO2022230194A1 (ja) |
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JP2020078839A (ja) | 2018-11-13 | 2020-05-28 | ファナック株式会社 | パラレルリンクロボット |
-
2021
- 2021-04-30 JP JP2023517019A patent/JPWO2022230194A1/ja active Pending
- 2021-04-30 CN CN202180097424.2A patent/CN117337227A/zh active Pending
- 2021-04-30 DE DE112021007092.4T patent/DE112021007092T5/de active Pending
- 2021-04-30 WO PCT/JP2021/017253 patent/WO2022230194A1/ja active Application Filing
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- 2022-04-20 TW TW111115121A patent/TW202247963A/zh unknown
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JPH11104156A (ja) * | 1997-08-12 | 1999-04-20 | Nabco Ltd | ひざ軸を含む義足 |
US6976922B2 (en) * | 2003-04-15 | 2005-12-20 | Torque-Traction Techologies, Inc. | Precision thrust bearing joint |
JP2005201433A (ja) * | 2003-12-15 | 2005-07-28 | Sanden Corp | 動力伝達装置 |
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WO2020049152A1 (de) * | 2018-09-07 | 2020-03-12 | Fruitcore Gmbh | Gelenklagerung für einen roboter mit elastisch komprimierbarem vorspannelement |
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DE112021007092T5 (de) | 2024-04-04 |
CN117337227A (zh) | 2024-01-02 |
JPWO2022230194A1 (ja) | 2022-11-03 |
US20240131691A1 (en) | 2024-04-25 |
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