Robot device

Patent metadata

Field	Value
Publication number	US-10549433-B2
Application number	US-201615740810-A
Country	US
Kind code	B2
Filing date	Sep 6, 2016
Priority date	Sep 14, 2015
Publication date	Feb 4, 2020
Grant date	Feb 4, 2020

Abstract

A parallel robot is equipped with: a base plate that is provided so as to be capable of sliding movement; three link mechanisms disposed radially when viewed from the normal direction of the base plate; and three lower motors with reduction gears that are disposed on the base plate and are connected separately to the base ends of the three link mechanisms. A plurality of parallel robots are disposed so that the respective orientations of the three link mechanisms alternate.

First claim

What is claimed is:

1. A robot device comprising a plurality of parallel robots configured to be capable of slidably moving along a same travel region,
wherein each of the parallel robots comprises:
a base portion which is configured to be capable of slidably moving,
three link mechanisms which are radially disposed on the base portion when viewed from a normal direction of the base portion,
three driving units, which drive the three link mechanisms, are disposed in the base portion and separately connected on base end sides of the three link mechanisms, and
a pair of stoppers, respectively disposed on two of the parallel robots adjacent to each other,
wherein the pair of stoppers is disposed opposite to each other and configured on the base portions of the two of the parallel robots for preventing the link mechanisms of the two of the parallel robots from interfering with each other,
wherein the plurality of parallel robots are disposed such that orientations of the three link mechanisms alternate,
wherein the pair of the stoppers is a pair of safety bars extending toward each other from base portions of the two of the parallel robots adjacent to each other,
wherein distal ends of the pair of safety bars of the two of the parallel robots are disposed to face each other and abut against each other.

2. The robot device according to claim 1 , further comprising:
two slide rails extending in a same direction and disposed parallel to each other in the travel region,
wherein at least one of the base portion of the parallel robots is respectively configured to be capable of slidably moving on each of the two slide rails, and
wherein only the parallel robots with the three link mechanisms having the same orientation are provided on the same slide rail.

3. The robot device according to claim 1 , wherein one of the three link mechanisms is disposed in a direction orthogonal to a slide-movement direction of the parallel robots in the travel region when viewed in the normal direction of the base portion.

4. The robot device according to claim 2 , wherein one of the three link mechanisms is disposed in a direction orthogonal to a slide-movement direction of the parallel robots in the travel region when viewed in the normal direction of the base portion.

5. The robot device according to claim 2 , further comprising a plurality of stoppers configured on the base portion for preventing the link mechanisms of parallel robots that are adjacent to one another from coming in contact with each other.

6. The robot device according to claim 3 , further comprising a plurality of stoppers configured on the base portion for preventing the link mechanisms of parallel robots that are adjacent to one another from coming in contact with each other.

7. The robot device according to claim 5 ,
wherein the stoppers are safety bars extending from one to another base portion that are adjacent with each other, and
wherein distal ends of the safety bars of the parallel robots that are adjacent to each other abut against each other.

8. The robot device according to claim 6 ,
wherein the stoppers are safety bars extending from one to another base portion that are adjacent with each other, and
wherein distal ends of the safety bars of the parallel robots that are adjacent to each other abut against each other.

Assignees

• Mitsuba Corp

Inventors

• Nakanishi Hitoshi

Classifications

• Y10S901/49

  Protective device · CPC title

• Y10S901/15

  Jointed arm · CPC title

• B25J9/009

  being mechanically linked with one another at their distal ends · CPC title

• B25J19/0091

  Shock absorbers (in general F16F) · CPC title

• B25J9/0051

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