Parallel link device

Patent metadata

Field	Value
Publication number	US-11548142-B2
Application number	US-201515776426-A
Country	US
Kind code	B2
Filing date	Nov 25, 2015
Priority date	Nov 25, 2015
Publication date	Jan 10, 2023
Grant date	Jan 10, 2023

Abstract

A parallel link device whose height can be reduced particularly when a movable-side member is brought closer to a fixed-side member, and in which an amount of stroke of the movable-side member can be increased. Specifically, the parallel link device includes a fixed-side member, a movable-side member, six links, and slide mechanisms. Each of the six links has one end connected to the movable-side member with at least two rotational degrees of freedom, and the other end connected to the fixed-side member with at least two rotational degrees of freedom. A connection point of the other end and the fixed-side member is movable with respect to the fixed-side member. Each of the six links has five rotational degrees of freedom and a predetermined length. Each of the slide mechanisms is provided on the fixed-side member and holds the other end of the link movable within a predetermined range.

First claim

The invention claimed is:

1. A parallel link device, comprising:
a fixed-side member being movable with respect to a building and having two main surfaces and side faces, the side faces existing between the two main surfaces in a thickness direction of the fixed-side member, the fixed-side member having a substantially triangular outer shape in plan view and the parallel link device being configured to be installed in the building;
a movable-side member being arranged below the fixed-side member and being movable with respect to the fixed-side member;
six links, each of the six links having a first end connected to the movable-side member with at least two rotational degrees of freedom, and a second end connected to the fixed-side member with at least two rotational degrees of freedom, a connection point of the second end of each of the six links and the fixed-side member being movable with respect to the fixed-side member, and each of the six links having five rotational degrees of freedom and a predetermined length; and
a plurality of slide mechanisms, each slide mechanism of the plurality of slide mechanisms being mounted on a corresponding one of the side faces of the fixed-side member to hold the second end of a corresponding one of the six links movable along the slide mechanism within a predetermined range, the second end of each of the six links being movable along a longitudinal direction of a corresponding one of the side faces of the fixed-side member,
wherein when the movable-side member is moved closest to the fixed-side member, spacing between the movable-side member and the fixed-side member is smaller than a thickness of the movable-side member and a thickness of the fixed-side member.

2. The parallel link device according to claim 1 , wherein at least one connector including a gimbal mechanism is provided to connect, at least either between each of the plurality of slide mechanisms and the corresponding one of the six links, or between the movable-side member and each of the six links.

3. The parallel link device according to claim 1 , wherein at least one connector including a spherical bearing is provided to connect, at least either between each of the plurality of slide mechanisms and the corresponding one of the six links, or between the movable-side member and each of the six links.

4. The parallel link device according to claim 1 , wherein each of the plurality of slide mechanisms includes a linear guide mechanism.

5. The parallel link device according to claim 1 , wherein each of the plurality of slide mechanisms includes a roller screw.

6. The parallel link device according to claim 1 , wherein
the first ends of every two links of the six links are connected to corresponding one of three corners of the movable-side member, and
a thickness of the movable-side member at the three corners is smaller than a thickness of the movable-side member at a main surface of the movable-side member.

7. The parallel link device according to claim 6 , wherein at least one connector including a gimbal mechanism is provided to connect, at least either between each of the plurality of slide mechanisms and the corresponding one of the six links, or between the movable-side member and each of the six links.

8. The parallel link device according to claim 6 , wherein at least one connector including a spherical bearing is provided to connect, at least either between each of the plurality of slide mechanisms and the corresponding one of the six links, or between the movable-side member and each of the six links.

9. The parallel link device according to claim 6 , wherein each of the plurality of slide mechanisms includes a linear guide mechanism.

10. The parallel link device according to claim 6 , wherein each of the plurality of slide mechanisms includes a roller screw.

11. A parallel link device, comprising:
a fixed-side member being movable with respect to a building and having two main surfaces and side faces, the side faces existing between the two main surfaces in a thickness direction of the fixed-side member, the parallel link device being configured to be installed in the building;
a movable-side member being arranged below the fixed-side member and being movable with respect to the fixed-side member;
six links, each of the six links having a first end connected to the movable-side member with at least two rotational degrees of freedom, and a second end connected to the fixed-side member with at least two rotational degrees of freedom, a connection point of the second end of each of the six links and the fixed-side member being movable with respect to the fixed-side member, and each of the six links having five rotational degrees of freedom and a predetermined length; and
a plurality of slide mechanisms, each slide mechanism of the plurality of slide mechanisms being provided on a corresponding one of the side faces of the fixed-side member to hold the second end of a corresponding one of the six links movable along the slide mechanism within a predetermined range, the second end of each of the six links being movable along a longitudinal direction of a corresponding one of the side faces of the fixed-side member, wherein
the first ends of every two links of the six links are connected to corresponding one of three corners of the movable-side member,
a thickness of the movable-side member at the three corners is smaller than a thickness of the movable-side member at a main surface of the movable-side member, and
when the movable-side member is moved closest to the fixed-side member, spacing between the movable-side member and the fixed-side member is smaller than a thickness of the movable-side member and a thickness of the fixed-side member.

12. The parallel link device according to claim 11 , wherein at least one connector including a gimbal mechanism is provided to connect, at least either between each of the plurality of slide mechanisms and the corresponding one of the six links, or between the movable-side member and each of the six links.

13. The parallel link device according to claim 11 , wherein at least one connector including a spherical bearing is provided to connect, at least either between each of the plurality of slide mechanisms and the corresponding one of the six links, or between the movable-side member and each of the six links.

14. The parallel link device according to claim 11 , wherein each of the plurality of slide mechanisms includes a linear guide mechanism.

15. The parallel link device according to claim 11 , wherein each of the plurality of slide mechanisms includes a roller screw.

16. A parallel link device, comprising:
a fixed-side member being movable with respect to a building and having two main surfaces and side faces, the side faces existing between the two main surfaces in a thickness direction of the fixed-side member, the fixed-side member having a substantially triangular outer shape in plan view, and the parallel link device being configured to be installed in the building;
a movable-side member being arranged below the fixed-side member and being movable with respect to the fixed-side member;
six links, each of the six links having a first end connected to the movable-side member with at least two rotational degrees of freedom, and a second end connected to the fixed-side member with at least two rotational degrees of freedom, a connection point of the second end of each of the six links and the fixed-side member being movable with respect to the fixed-side member, and each of the six links having five rotational degrees of freedom and a prede

Assignees

• Mitsubishi Electric Corp

Inventors

• Nose Masaki
• Sofuku Satoru
• Kawaguchi Noboru
• Yamazaki Katsumi
• Kimura Shingo

Classifications

• B25J9/0036 Primary

  with kinematics chains of the type prismatic-rotary-rotary · CPC title

• B25J17/0266

  comprising more than two actuating or connecting rods · CPC title

• B25J9/0039 Primary

  with kinematics chains of the type prismatic-spherical-spherical · CPC title

• B25J9/0042

  with kinematics chains of the type prismatic-universal-universal · CPC title