Parallel link robot and parallel link robot system

Patent metadata

Field	Value
Publication number	US-10919147-B2
Application number	US-201916267388-A
Country	US
Kind code	B2
Filing date	Feb 5, 2019
Priority date	Mar 12, 2018
Publication date	Feb 16, 2021
Grant date	Feb 16, 2021

Abstract

A parallel link robot includes a base, a movable part, link mechanisms, and actuators. The movable part is movable along a center axis. The first, second and third link mechanisms are provided around the center axis with angular intervals in a circumferential direction around the center axis to project outwardly along a radial direction with respect to the center axis. Each of the first, second and third link mechanisms connects the base and the movable part to move the movable part along the center axis. The angular intervals have an acute angular interval with an acute angle. The first, second and third actuators are provided at the base to be connected to the first, second and third link mechanisms respectively so as to drive the first, second and third link mechanisms respectively.

First claim

What is claimed as new and desired to be secured by Letters Patent of the United States is:

1. A parallel link robot comprising:
a base;
a movable part which is movable along a center axis and to which an end effector is attachable;
first, second and third link mechanisms provided around the center axis with angular intervals in a circumferential direction around the center axis to project outwardly along a radial direction with respect to the center axis, each of the first, second and third link mechanisms connecting the base and the movable part to move the movable part along the center axis, the angular intervals having an acute angular interval with an acute angle; and
first, second and third actuators provided at the base to be connected to the first, second and third link mechanisms respectively so as to drive the first, second and third link mechanisms respectively.

2. The parallel link robot according to claim 1 , wherein the angular intervals are different in angle from each other.

3. The parallel link robot according to claim 2 , wherein the angular intervals comprise
a 120-degree angular interval having an angle of 120°,
a larger angular interval having a larger angle that is larger than 120° by a predetermined angle, and
a smaller angular interval having a smaller angle that is smaller than 120° by the predetermined angle.

4. The parallel link robot according to claim 3 ,
wherein the first link mechanism and the second link mechanism are arranged to have the 120-degree angular interval between the first link mechanism and the second link mechanism,
wherein the third link mechanism has a link-mechanism extending dimension extending from the center axis along a bisecting line which bisects the 120-degree angular interval,
wherein the base has a base extending dimension extending from the center axis in the bisecting direction, and
wherein the predetermined angle is such an angle that the link-mechanism extending dimension is approximately equal to the base extending dimension.

5. The parallel link robot according to claim 4 , wherein the angular intervals have 120°, 170°, and 70°.

6. The parallel link robot according to claim 1 , wherein two angular intervals among the angular intervals and other than the acute angular interval have angles approximately identical to each other.

7. The parallel link robot according to claim 1 , wherein each of the first, second and third actuators comprises
a motor part, and
an amplifier part integral to the motor part and configured to supply power to the motor part.

8. A parallel link robot system comprising:
first and second parallel link robots, each of the first and second parallel link robots comprising:
a base;
a movable part which is movable along a center axis and to which an end effector is attachable;
first, second and third link mechanisms provided around the center axis with angular intervals in a circumferential direction around the center axis to project outwardly along a radial direction with respect to the center axis, each of the first, second and third link mechanisms connecting the base and the movable part to move the movable part along the center axis, the angular intervals comprising:
a 120-degree angular interval having an angle of 120°;
a larger angular interval having a larger angle that is larger than 120° by a predetermined angle; and
a smaller angular interval having a smaller angle that is smaller than 120° by the predetermined angle; and

first, second and third actuators provided at the base to be connected to the first, second and third link mechanisms respectively so as to drive the first, second and third link mechanisms respectively, and

the first and second parallel link robots being arranged such that a first bisecting line which bisects the 120-degree angular interval of the first parallel link robot and a second bisecting line which bisects the 120-degree angular interval of the second parallel link robot are aligned and such that the first link mechanism of the first parallel link robot and the first link mechanism of the second parallel link robot are provided to be substantially parallel, the second link mechanism of the first parallel link robot and the second link mechanism of the second parallel link robot are provided to be substantially parallel, and the third link mechanism of the first parallel link robot and the third link mechanism of the second parallel link robot are provided to be substantially parallel.

9. A parallel link robot system comprising:
first and second parallel link robots, each of the first and second parallel link robots comprising:
a base;
a movable part which is movable along a center axis and to which an end effector is attachable;
first, second and third link mechanisms provided around the center axis with angular intervals in a circumferential direction around the center axis to project outwardly along a radial direction with respect to the center axis, each of the first, second and third link mechanisms connecting the base and the movable part to move the movable part along the center axis, the angular intervals having an acute angular interval with an acute angle; and
first, second and third actuators provided at the base to be connected to the first, second and third link mechanisms respectively so as to drive the first, second and third link mechanisms respectively, and

the first and second parallel link robots being arranged such that a first line perpendicular to a bisecting line which bisects the acute angle of the first parallel link robot and a second line perpendicular to a bisecting line which bisects the acute angle of the second parallel link robot are aligned and such that the first link mechanism of the first parallel link robot and the first link mechanism of the second parallel link robot are provided to be substantially parallel, the second link mechanism of the first parallel link robot and the second link mechanism of the second parallel link robot are provided to be substantially parallel, and the third link mechanism of the first parallel link robot and the third link mechanism of the second parallel link robot are provided to be substantially parallel.

10. The parallel link robot according to claim 2 , wherein each of the first, second and third actuators comprises
a motor part, and
an amplifier part integral to the motor part and configured to supply power to the motor part.

11. The parallel link robot according to claim 3 , wherein each of the first, second and third actuators comprises
a motor part, and
an amplifier part integral to the motor part and configured to supply power to the motor part.

12. The parallel link robot according to claim 4 , wherein each of the first, second and third actuators comprises
a motor part, and
an amplifier part integral to the motor part and configured to supply power to the motor part.

13. The parallel link robot according to claim 5 , wherein each of the first, second and third actuators comprises
a motor part, and
an amplifier part integral to the motor part and configured to supply power to the motor part.

14. The parallel link robot according to claim 6 , wherein each of the first, second and third actuators comprises
a motor part, and
an amplifier part integral to the motor part and configured to supply power to the motor part.

Assignees

• Yaskawa Electric Corp

Inventors

• Matsushita Shigeo
• Hatanaka Takashi

Classifications

• B25J9/0084

  comprising a plurality of manipulators · CPC title

• B25J9/12

  electric · CPC title

• B25J9/003

  having parallel kinematics · CPC title

• B25J17/0275

  Universal joints, e.g. Hooke, Cardan, ball joints · CPC title

• B25J9/1065 Primary

  with parallelograms · CPC title