Parallel link robot and operation apparatus

Patent metadata

Field	Value
Publication number	US-2018297195-A1
Application number	US-201615768083-A
Country	US
Kind code	A1
Filing date	Sep 2, 2016
Priority date	Oct 26, 2015
Publication date	Oct 18, 2018
Grant date	—

Abstract

[Solving Means] A parallel link robot includes a movable portion, a base, a plurality of drive sources, a plurality of links, and a tension member. The plurality of drive sources are attached to the base. The plurality of links are respectively connected to the plurality of drive sources. The tension member is connected between the movable portion and at least one of the plurality of links such that a bending tension is generated.

First claim

1 . A parallel link robot, comprising:
a movable portion; a base; a plurality of drive sources attached to the base; a plurality of links respectively connected to the plurality of drive sources; and a tension member that is connected between the movable portion and at least one of the plurality of links such that a bending tension is generated.

2 . The parallel link robot according to claim 1 , wherein the tension member is connected to at least one of the plurality of links and is also connected to the movable portion.

3 . The parallel link robot according to claim 2 , wherein the plurality of links include a plurality of pairs of links in which a pair of links is provided plurally, and
both end portions of the tension member are respectively connected to at least the pair of links, and a center portion of the tension member is connected to the movable portion.

4 . The parallel link robot according to claim 1 , wherein the base is formed in a vessel shape to accommodate the plurality of drive sources, and
the plurality of links are connected to power shafts of the plurality of drive sources at an outer circumferential portion of the base.

5 . The parallel link robot according to claim 1 , wherein the tension member is a long spring that generates the bending tension by being bent.

6 . The parallel link robot according to claim 1 , wherein the tension member is a coil spring.

7 . The parallel link robot according to claim 1 , wherein the plurality of drive sources include a plurality of pairs of drive sources in which a pair of drive sources is provided plurally, and
the base includes a common attachment surface to which the pair of drive sources is attached such that power shafts of the pair of drive sources become parallel to each other.

8 . The parallel link robot according to claim 1 , wherein the base includes an attachment surface to which the plurality of drive sources are attached, and supports the plurality of drive sources such that power shafts of the plurality of drive sources become vertical to the attachment surface.

9 . The parallel link robot according to claim 1 , wherein the tension member includes
a first part configuring at least one of the plurality of links, and a second part that generates the bending tension.

10 . The parallel link robot according to claim 1 , further comprising
a restriction mechanism that restricts a degree of freedom regarding a movement of the movable portion.

11 . The parallel link robot according to claim 10 , wherein the restriction mechanism includes a joint portion that is provided between the base and the movable portion and includes a movable area having one or a plurality of degrees of freedom.

12 . The parallel link robot according to claim 1 , further comprising
a plurality of sensors that respectively detect movements of the plurality of links.

13 . An operation apparatus, comprising:
a movable portion; a base; a plurality of links movably provided on the base; a plurality of sensors that respectively detect movements of the plurality of links; and a tension member that is connected between the movable portion and at least one of the plurality of links such that a bending tension is generated.

14 . The operation apparatus according to claim 13 , wherein the tension member is connected to at least one of the plurality of links and is also connected to the movable portion.

15 . The operation apparatus according to claim 14 , wherein the plurality of links include a plurality of pairs of links in which a pair of links is provided plurally, and
both end portions of the tension member are respectively connected to at least the pair of links, and a center portion of the tension member is connected to the movable portion.

16 . The operation apparatus according to claim 13 , wherein the tension member is a long spring that generates the bending tension by being bent.

17 . The operation apparatus according to claim 13 , wherein the tension member is a coil spring.

18 . The operation apparatus according to claim 13 , further comprising
a restriction mechanism that restricts a degree of freedom regarding a movement of the movable portion.

19 . The operation apparatus according to claim 18 , wherein the restriction mechanism includes a joint portion that is provided between the base and the movable portion and includes a movable area having one or a plurality of degrees of freedom.

20 . The operation apparatus according to claim 13 , wherein the movable portion includes an actuator or a sensor.

21 . The operation apparatus according to claim 20 , further comprising
a circuit unit provided in the base, wherein a conductive material of the tension member functions as a conductive wire that electrically conducts the circuit unit and the actuator or the sensor.

Assignees

• Sony Corp

Inventors

• Hongo Kazuo
• Kikuchi Kiyoyuki
• Ebe Hiroki

Classifications

• B25J9/106 Primary

  with articulated links · CPC title

• B25J9/0015 Primary

  Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion · CPC title

• B25J9/0045

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