WO2023175949A1 - パラレルリンクロボット及びパラレルリンクロボットシステム - Google Patents

パラレルリンクロボット及びパラレルリンクロボットシステム Download PDF

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Publication number
WO2023175949A1
WO2023175949A1 PCT/JP2022/012770 JP2022012770W WO2023175949A1 WO 2023175949 A1 WO2023175949 A1 WO 2023175949A1 JP 2022012770 W JP2022012770 W JP 2022012770W WO 2023175949 A1 WO2023175949 A1 WO 2023175949A1
Authority
WO
WIPO (PCT)
Prior art keywords
pedestal
arm
parallel link
link robot
units
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.)
Ceased
Application number
PCT/JP2022/012770
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
英生 松井
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to CN202280093304.XA priority Critical patent/CN118829524A/zh
Priority to JP2024507450A priority patent/JP7827828B2/ja
Priority to PCT/JP2022/012770 priority patent/WO2023175949A1/ja
Priority to DE112022006330.0T priority patent/DE112022006330T5/de
Priority to US18/840,904 priority patent/US20250196323A1/en
Priority to TW112109087A priority patent/TW202337659A/zh
Publication of WO2023175949A1 publication Critical patent/WO2023175949A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B25J9/0051—Program-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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears

Definitions

  • the present invention relates to a parallel link robot and a parallel link robot system.
  • parallel link robots are known as robots suitable for moving and handling workpieces in three-dimensional space. Since the parallel link robot uses a plurality of arm mechanisms to drive and control the movement of the movable part relative to the base, the movable part can be moved at high speed and precisely. For this reason, parallel link robots are used in food factories and other places where high-speed and precise movements are required.
  • parallel link robots are often composed of multiple units such as a base unit, motor unit, and base cover, and many parts require waterproofing in the first place. Therefore, there is a need for a parallel link robot that has a simple structure with fewer parts to be waterproofed.
  • a parallel link robot includes a plurality of arm units and a movable part commonly connected to the tips of the plurality of arm units.
  • Each arm unit includes a base, a first arm rotatably supported by the base, a second arm rotatably connected to the first arm, a motor installed on the base, and a motor installed on the base. , and a reduction gear that transmits the rotation of the motor to the first arm.
  • the pedestal is provided with a mounting structure for individually mounting the arm unit to an external pedestal.
  • the pedestal is equipped with a cable connector to ensure direct connection with an external control device.
  • FIG. 1 is a front view showing an example of a parallel link robot system including a parallel link robot according to this embodiment.
  • FIG. 2 is a plan view of FIG. 1, showing a connecting portion between the parallel link robot and the pedestal.
  • FIG. 3 is a plan view of FIG. 1, and is a diagram showing another example of the pedestal.
  • FIG. 4 is a plan view showing a state in which the mounting position of the arm unit relative to the pedestal frame in FIG. 3 has been changed.
  • FIG. 5 is a front view of FIG. 4.
  • FIG. 6 is a plan view of FIG. 1, and is a diagram showing another example of the pedestal.
  • FIG. 7 is a supplementary diagram for explaining the effect of using the pedestal shown in FIG. 6.
  • FIG. 8 is a plan view showing another example of the parallel link robot according to this embodiment.
  • the parallel link robot system 1 includes a parallel link robot 2 and a pedestal 3 to which the parallel link robot 2 can be attached.
  • the parallel link robot 2 includes a plurality of arm units 10A, 10B, and 10C in this case, a movable plate (movable part) 40 commonly connected to the tips of the three arm units 10A, 10B, and 10C, and a movable plate (movable part) 40 of the movable plate 40. and an adapter 50 fixed to one side.
  • An end effector such as a robot hand or a suction pad is attached to the adapter 50.
  • the arm unit 10A includes a pedestal 20A which is a box having a rectangular parallelepiped shape, a rod-shaped first arm 31A rotatably supported by the pedestal 20A, and two arm units rotatably supported by the first arm 31A. It has a second arm 33A in the shape of an elongated rod.
  • the pedestal 20A includes, as a drive mechanism, a motor 21A that generates power for driving the first arm 31A, and a speed reducer 23A that reduces rotation of the motor 21A and transmits it to the first arm 31A.
  • the first arm 31A is connected to the output shaft of the drive mechanism (reducer 23A).
  • the first arm 31A and the two second arms 33A are respectively connected via two spherical bearings 35A.
  • the two second arms 33A and the movable plate 40 are respectively connected via two spherical bearings 37A.
  • the arm unit 10A is configured such that a total of four spherical bearings 35A and 37A, two spherical bearings 35A on one end side of the second arm 33A and two spherical bearings 37A on the other end side, are located at each vertex of a parallelogram. It is composed of
  • the pedestal 20A is provided with a cable connector 27A for ensuring direct connection of an external control device to the motor 21A housed in the pedestal 20A or a control board that controls the motor 21A.
  • a cable connector 27A for ensuring direct connection of an external control device to the motor 21A housed in the pedestal 20A or a control board that controls the motor 21A.
  • the control device can control the rotation of the motor 21A housed in the pedestal 20A.
  • the cable connector 27A is provided on one side of the base 20A.
  • the first arm 31A is rotatably supported on the other side of the pedestal 20A.
  • the pedestal 20A has a mounting structure for attaching the arm unit 10A to the pedestal 3.
  • a mounting block 25A having a bolt insertion hole into which a bolt 60 can be screwed is connected to the pedestal 20A as a mounting structure.
  • a mounting block 25A having a rectangular parallelepiped shape is integrally formed on the upper surface of the pedestal 20A having a rectangular parallelepiped shape, and bolt insertion holes are provided in the upper surface of the mounting block 25A.
  • the pedestal 3 includes a top plate 13 and a plurality of pillars 11, four in this case, that support the top plate 13.
  • the top plate 13 corresponds to a mounting member to which the arm units 10A, 10B, and 10C are attached
  • the column 11 corresponds to a support member that supports the mounting members.
  • the top plate 13 has a plurality of holes that communicate with the bolt insertion holes of the arm units 10A, 10B, and 10C.
  • the arm units 10A, 10B, and 10C are each attached to the top plate 13 with bolts 60, with the bolt insertion holes of the mounting blocks 25A, 25B, and 25C aligned with the holes drilled in the top plate 13.
  • the three arm units 10A, 10B, and 10C are attached to the top plate 13 so that the plane formed by the rotational axes RA11, RA21, and RA31, which are the rotational axes of the three first arms 31A, 31B, and 31C, is horizontal. .
  • One feature of the parallel link robot 2 according to this embodiment is that each of the three motor units of a conventional parallel link robot can be individually attached to the pedestal 3.
  • This feature has a structure in which the three motor units of a conventional parallel link robot are housed in three pedestals 20A, 20B, and 20C, and can be attached to the cable connector and pedestal 3 on each of the pedestals 20A, 20B, and 20C. This is achieved by providing . Due to this feature, the parallel link robot 2 according to this embodiment has the following effects.
  • the parallel link robot 2 according to this embodiment has a simple structure, the number of parts to be waterproofed can be reduced. Specifically, in the parallel link robot 2 according to the present embodiment, parts that require waterproof measures such as the motor 21A and the reducer 23A are concentrated on the pedestal 20A, so the pedestal 20A is waterproofed. There is a need. For example, waterproofing is applied to the space between the casing of the pedestal 20A and the cover, and the connection portion between the pedestal 20A and the first arm 31A. However, the parallel link robot 2 according to the present embodiment does not have a base unit to which a plurality of motor units are commonly connected, unlike a conventional parallel link robot.
  • the base unit due to the presence of the base unit, there are no locations to perform necessary waterproofing, such as between the casing of the base unit and the cover or between the base unit and the motor unit.
  • the mounting block 25A is connected to the pedestal 20A, and the mounting block 25A is attached to the pedestal 3 with bolts 60.
  • the bolt 60 does not penetrate a part of the housing of the pedestal 20A, so there is no need to perform waterproofing between the pedestal 3 and the arm unit 10A.
  • the parallel link robot 2 according to the present embodiment, the number of parts to be waterproofed can be reduced compared to the conventional parallel link robot.
  • the parallel link robot 2 has a high degree of freedom in installation because the three arm units 10A, 10B, and 10C can be individually attached to the pedestal 3. Due to the high degree of installation freedom, the parallel link robot system 1 including the parallel link robot 2 and the pedestal 3 according to the present embodiment can be installed even in places where the installation height is restricted. This effect will be explained with reference to FIGS. 1, 3, 4, and 5.
  • FIG. 3 is a plan view showing a state in which the arm units 10A, 10B, and 10C are respectively attached to positions near the center of the top plate 13.
  • FIG. 1 is a front view of FIG. 3.
  • FIG. 4 is a plan view showing a state in which the arm units 10A, 10B, and 10C are respectively attached to positions far from the center of the top plate 13.
  • FIG. 5 is a front view of FIG. 4. As shown in FIGS. 3 and 4, a plurality of holes 14 are formed in the top plate 13 so that the arm units 10A, 10B, and 10C can be attached to arbitrary positions on the top plate 13 (frame 3).
  • the arm units 10A, 10B, and 10C are positioned far from the center of the top plate 13 relative to the pedestal 3, that is, the distance between each of the arm units 10A, 10B, and 10C is widened.
  • the movable range of the movable plate 40 in the vertical direction can be physically narrowed.
  • the height of the pedestal 3 that supports the parallel link robot 2 can be suppressed.
  • a parallel link robot system 1 of any height can be constructed without changing the physical configuration of the arm units 10A, 10B, 10C themselves.
  • the parallel link robot system 1 having the parallel link robot 2 according to this embodiment can be installed even in places where the installation height is limited.
  • the pedestal 3 consists of a top plate 13 and four pillars 11 that support the top plate 13, but if arm units 10A, 10B, and 10C can be attached,
  • the configuration of the pedestal 3 is not limited to this.
  • the pedestal can be configured so as not to inhibit the operation of the first arms 31A, 31B, and 31C.
  • the pedestal 5 has four pillars 11 arranged at four vertices of a rectangle, and two adjacent pillars 11 at the tips of the four pillars 11. It has four connecting members 15 for connection and three rod-shaped attachment members 17A, 17B, 17C for attaching arm units 10A, 10B, 10C, respectively.
  • the mounting members 17A, 17B, 17C are provided with a plurality of holes 18 that communicate with the bolt insertion holes of the mounting blocks 25A, 25B, 25C of the arm units 10A, 10B, 10C. As shown in FIG. 6, the mounting members 17A, 17B, and 17C are located at positions where they do not overlap with the first arms 31A, 31B, and 31C in plan view (first arms 31A, 31C, and , 31B, and 31C).
  • the member to which the arm units 10A, 10B, and 10C are attached is a plate-shaped top plate 13, so that the first arms 31A, 31B, and 31C do not collide with the top plate 13,
  • the rotation angle of the first arms 31A, 31B, and 31C is limited to approximately ⁇ 90 degrees with the vertical direction being 0 degrees.
  • the members to which the arm units 10A, 10B, and 10C are attached are rod-shaped attachment members 17A, 17B, and 17C, and the attachment members 17A, 17B, and 17C are used to rotate the first arms 31A, 31B, and 31C.
  • the rotation angles of the first arms 31A, 31B, and 31C are not limited by the mounting members. Thereby, as shown in FIG. 7, the first arms 31A, 31B, and 31C can be rotated above the frame of the pedestal 5 defined by the support 11, the connecting member 15, and the mounting member 17, The movable range of the parallel link robot 2 can be expanded.
  • the arm units 10A, 10B, and 10C that constitute the parallel link robot 2 have a mounting structure for mounting on the pedestal 3.
  • arm units 10A, 10B, and 10C may have a connection structure for connecting to each other.
  • the arm units 10A, 10B, and 10C may have a structure that allows their positional relationship to be fixed.
  • the arm units 10A, 10B, and 10C have a structure that allows their positional relationship to be fixed, and the pedestals 20A, 20B, and 20C are configured to have abutting surfaces that abut each other.
  • the pedestal 20A has a triangular prism-shaped abutting block 29A so that it can abut against the other pedestals 20B and 20C.
  • the pedestals 20B and 20C have triangular prism-shaped abutment blocks 29B and 29C, respectively.
  • the abutment blocks 29A, 29B, and 29C are integrally formed on one side of the pedestals 20A, 20B, and 20C.
  • the arm units 10A, 10B, 10C can be attached to the pedestal 3 with the butt blocks 29A, 29B, 29C provided on the pedestals 20A, 20B, 20C butted together and their positional relationship fixed. The positional accuracy of 10A, 10B, and 10C can be improved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2022/012770 2022-03-18 2022-03-18 パラレルリンクロボット及びパラレルリンクロボットシステム Ceased WO2023175949A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN202280093304.XA CN118829524A (zh) 2022-03-18 2022-03-18 并联连杆机器人及并联连杆机器人系统
JP2024507450A JP7827828B2 (ja) 2022-03-18 2022-03-18 パラレルリンクロボット及びパラレルリンクロボットシステム
PCT/JP2022/012770 WO2023175949A1 (ja) 2022-03-18 2022-03-18 パラレルリンクロボット及びパラレルリンクロボットシステム
DE112022006330.0T DE112022006330T5 (de) 2022-03-18 2022-03-18 Parallelarmroboter und Parallelarmrobotersystem
US18/840,904 US20250196323A1 (en) 2022-03-18 2022-03-18 Parallel link robot and parallel link robot system
TW112109087A TW202337659A (zh) 2022-03-18 2023-03-13 並聯式機器人及並聯式機器人系統

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/012770 WO2023175949A1 (ja) 2022-03-18 2022-03-18 パラレルリンクロボット及びパラレルリンクロボットシステム

Publications (1)

Publication Number Publication Date
WO2023175949A1 true WO2023175949A1 (ja) 2023-09-21

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PCT/JP2022/012770 Ceased WO2023175949A1 (ja) 2022-03-18 2022-03-18 パラレルリンクロボット及びパラレルリンクロボットシステム

Country Status (6)

Country Link
US (1) US20250196323A1 (https=)
JP (1) JP7827828B2 (https=)
CN (1) CN118829524A (https=)
DE (1) DE112022006330T5 (https=)
TW (1) TW202337659A (https=)
WO (1) WO2023175949A1 (https=)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015020234A (ja) * 2013-07-18 2015-02-02 財団法人精密機械研究発展中心 パラレルロボット用の関節装置
JP2017074630A (ja) * 2015-10-13 2017-04-20 株式会社ミツバ ロボット装置およびパラレルロボット
KR20170124694A (ko) * 2016-05-03 2017-11-13 (주)로픽 방수 및 이송물 오염 방지기능을 갖는 산업용 이송로봇

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0413117Y2 (https=) * 1987-04-20 1992-03-27
JP3806273B2 (ja) * 1999-09-17 2006-08-09 株式会社ジェイテクト 四自由度パラレルロボット
WO2006097485A1 (de) * 2005-03-18 2006-09-21 Matthias Ehrat Vorrichtung zum bewegen und positionieren eines gegenstandes im raum
JP2014223718A (ja) * 2013-04-19 2014-12-04 花王株式会社 物品供給装置
JP6698719B2 (ja) * 2018-02-14 2020-05-27 ファナック株式会社 パラレルリンクロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015020234A (ja) * 2013-07-18 2015-02-02 財団法人精密機械研究発展中心 パラレルロボット用の関節装置
JP2017074630A (ja) * 2015-10-13 2017-04-20 株式会社ミツバ ロボット装置およびパラレルロボット
KR20170124694A (ko) * 2016-05-03 2017-11-13 (주)로픽 방수 및 이송물 오염 방지기능을 갖는 산업용 이송로봇

Also Published As

Publication number Publication date
TW202337659A (zh) 2023-10-01
JPWO2023175949A1 (https=) 2023-09-21
US20250196323A1 (en) 2025-06-19
JP7827828B2 (ja) 2026-03-10
DE112022006330T5 (de) 2024-11-14
CN118829524A (zh) 2024-10-22

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