Parallel link robot and parallel link structure

Patent metadata

Field	Value
Publication number	US-10427294-B2
Application number	US-201515326240-A
Country	US
Kind code	B2
Filing date	Jun 9, 2015
Priority date	Aug 6, 2014
Publication date	Oct 1, 2019
Grant date	Oct 1, 2019

Abstract

There is provided a parallel link robot that includes a movable section, a plurality of first links, a plurality of connection sections, a plurality of second links, a plurality of first shaft sections, a plurality of third links, a plurality of second shaft sections, and a fixation unit including a plurality of driving sources. The plurality of first links are connected to the plurality of driving sources. The plurality of connection sections are connected to the plurality of first links. The plurality of second links are connected to the plurality of first links via the plurality of connection sections. The plurality of first shaft sections are connected to the plurality of second links. The plurality of third links are connected to the plurality of second links via the plurality of first shaft sections, and to the movable section through the plurality of second shaft sections.

First claim

The invention claimed is:

1. A parallel link robot, comprising:
a fixation unit including a plurality of driving sources;
a movable section;
a plurality of first links connected to the plurality of driving sources;
a plurality of connection sections rotatably connected to the plurality of first links;
a plurality of second links rotatably connected to the plurality of first links via the plurality of connection sections;
a plurality of first shaft sections rotatably connected to the plurality of second links;
a plurality of third links rotatably connected to the plurality of second links via the plurality of first shaft sections; and
a plurality of second shaft sections, wherein
the plurality of third links are rotatably connected to the movable section via the plurality of second shaft sections,
the plurality of second shaft sections extends peripherally outward from the movable section,
the plurality of driving sources includes parallel output shafts.

2. The parallel link robot according to claim 1 , wherein
the plurality of third links includes a pair of third links, and
the pair of third links is connected to the movable section via one second shaft section of the plurality of second shaft sections.

3. The parallel link robot according to claim 2 , wherein a length of each of the pair of third links is different.

4. The parallel link robot according to claim 1 , wherein
a first virtual plane at a first distance from the fixation unit,
the first virtual plane includes connection positions of the plurality of first shaft sections in the plurality of second links,
a second virtual plane is at a second distance from the fixation unit,
the second virtual plane includes connection positions of the plurality of second shaft sections in the movable section, and
the first distance is greater than the second distance.

5. The parallel link robot according to claim 1 , wherein at least one of the plurality of third links includes an L-shaped block.

6. The parallel link robot according to claim 1 , wherein the fixation unit further includes a support element that is configured to support the plurality of driving sources such that the parallel output shafts are non-coaxial.

7. The parallel link robot according to claim 6 , wherein
the support element includes one of a supporting plate or a supporting frame;
one of the supporting plate or the supporting frame is configured such that the parallel output shafts passes therethrough, and
one of the supporting plate or the supporting frame is between main bodies of the plurality of driving sources.

8. The parallel link robot according to claim 1 , further comprising at least one set of arms, wherein
the at least one set of arms includes the plurality of first links, the plurality of second links, and the plurality of third links,
the plurality of first links includes two first links,
the plurality of second links includes two second links, and
the plurality of third links includes a two third links.

9. The parallel link robot according to claim 1 , further comprising a plurality of sets of arms, wherein
the plurality of sets of arms includes the plurality of first links, the plurality of second links, and the plurality of third links,
the plurality of sets of arms is at equal intervals around a virtual center axis, and
the virtual center axis links a center of the fixation unit with a center of the movable section.

10. The parallel link robot according to claim 1 , wherein the plurality of second shaft sections are at an oblique angle to a virtual plane, and
the virtual plane includes positions at which the second shaft sections are connected to the movable section.

11. The parallel link robot according to claim 9 , wherein
the plurality of second shaft sections is at a specific distance from the fixation unit in a direction of the virtual center axis as the plurality of second shaft sections extends peripherally outward from the movable section.

12. A parallel link robot, comprising:
a fixation unit including a plurality of driving sources;
wherein the plurality of driving sources includes parallel output shafts;

a movable section;
a plurality of first links connected to the plurality of driving sources;
a plurality of connection sections rotatably connected to the plurality of first links;
a plurality of second links rotatably connected to the plurality of first links via the plurality of connection sections;
a plurality of first shaft sections rotatably connected to the plurality of second links;
a plurality of third links rotatably connected to the plurality of second links via the plurality of first shaft sections; and
a plurality of second shaft sections with the plurality of third links being rotatably connected to the movable section, wherein
the plurality of second links are connected to the movable section via the plurality of third links such that end portions of the plurality of second links, are at positions offset from the plurality of second shaft sections, and
the positions being offset are peripherally outward from the movable section.

13. A parallel link structure, comprising:
a movable section;
a plurality of first links connected to a plurality of driving sources via parallel output shafts,
wherein the plurality of driving sources includes the parallel output shafts;

a plurality of connection sections rotatably connected to the plurality of first links;
a plurality of second links rotatably connected to the plurality of first links via the plurality of connection sections;
a plurality of first shaft sections rotatably connected to the plurality of second links;
a plurality of third links rotatably connected to the plurality of second links via the plurality of first shaft sections; and
a plurality of second shaft sections, wherein
the plurality of third links are rotatably connected to the movable section via the plurality of second shaft sections, and
the plurality of second shaft sections extends peripherally outward from the movable section.

14. A parallel link structure, comprising:
a plurality of first links connected to a plurality of driving sources via a parallel output shafts, wherein
the plurality of driving sources includes the parallel output shafts, a plurality of second links rotatably connected to the plurality of first links;

a plurality of first shaft sections rotatably connected to the plurality of second links;
a plurality of third links rotatably connected to the plurality of second links via the plurality of first shaft sections; and
a plurality of second shaft sections with the plurality of third links being rotatably connected to a movable section, wherein
the plurality of second links are connected to the movable section via the plurality of third links such that end portions of the plurality of second links, are at positions offset from the plurality of second shaft sections, and
the positions being offset are peripherally outward from the movable section.

15. A parallel link robot, comprising:
a fixation unit including a plurality of driving sources;
a movable section;
a plurality of first links connected to the plurality of driving sources;
a plurality of connection sections rotatably connected to the plurality of first links;
a plurality of second links rotatably connected to the plurality of first links via the plurality of connection sections;
a plurality of first shaft sections rotatably connected to the plurality of second links;
a plurality of third links rotatably connected to the plurality of second links via the plur

Assignees

• Sony Corp

Inventors

• Hongo Kazuo

Classifications

• B25J9/0051 Primary

  with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators · CPC title

• B25J9/0045

  with kinematics chains having a rotary joint at the base · CPC title

• F16H21/46

  with movements in three dimensions [3D] · CPC title

• F16H21/02

  the movements of two or more independently-moving members being combined into a single movement · CPC title