Parallel link robot

Patent metadata

Field	Value
Publication number	US-9694501-B2
Application number	US-201214362512-A
Country	US
Kind code	B2
Filing date	Nov 29, 2012
Priority date	Dec 7, 2011
Publication date	Jul 4, 2017
Grant date	Jul 4, 2017

Abstract

Provided is a parallel link robot which has increased rigidity and which can be reduced in size. The parallel link robot includes: a base ( 1 ); a movable portion ( 2 ); a plurality of link portions ( 5 ) connecting the base ( 1 ) and the movable portion ( 2 ); and a plurality of actuators ( 6 ) for driving the plurality of link portions ( 5 ), wherein each of the plurality of actuators ( 6 ) is a linear actuator ( 6 ) supported on the base ( 1 ) to be rotatable about a predetermined axis (A 1 ) and has a main body portion ( 8 ) and a shaft portion ( 7 ) for linearly moving relative to the main body portion ( 8 ), and each of the plurality of link portions ( 5 ) has a driving link ( 3 ) supported on the base ( 1 ) to be rotatable about a predetermined axis (A 2 ) and connected to the linear actuator ( 6 ) and a driven link ( 4 ) connecting the driving link ( 3 ) and the movable portion ( 2 ). When the linear actuator ( 6 ) extends and contracts, the driving link ( 3 ) rotates relative to the base ( 1 ) about the predetermined axis (A 2 ) of the driving link ( 3 ).

First claim

The invention claimed is:

1. A parallel link robot comprising:
a base;
a movable portion;
three link portions connecting the base and the movable portion; and
three actuators for driving the three link portions, wherein
each of the three actuators is a linear actuator supported on the base to be rotatable about a predetermined axis and has a main body portion and a shaft portion for linearly moving relative to the main body portion,
each of the three link portions has a driving link supported on the base to be rotatable about a predetermined axis and connected to the linear actuator and a driven link connecting the driving link and the movable portion,
the driven link has paired parallel links connected to the driving link via a joint and connected to the movable portion via a joint,
the paired parallel links have equal lengths with each other and a deformable parallelogram is formed by the paired parallel links so that the movable portion carries out a translational movement in directions of an x-axis, a y-axis, and a z-axis relative to the base,
when the linear actuator extends and contracts, the driving link rotates relative to the base about the predetermined axis of the driving link and the movable portion carries out the translational movement relative to the base in the directions of the x-axis, the y-axis, and the z-axis,
center lines of the three linear actuators extending in a radial direction and are radially disposed at equal intervals in a circumferential direction of the base, and
respective center lines of the three driving links and the respective center lines of the three linear actuators are disposed along the same plane.

2. The parallel link robot according to claim 1 , wherein a length of the driving link from the predetermined axis to a position of connection between the linear actuator and the driving link is shorter than a length of the driving link from the predetermined axis to a position of connection between the driving link and the driven link.

3. The parallel link robot according to claim 2 , wherein
each of the three driving links has paired separate links.

4. The parallel link robot according to claim 1 , wherein
each of the three driving links has paired separate links.

Assignees

• Thk Co Ltd

Inventors

• Nagatsuka Masaki

Classifications

• B25J9/0051 Primary

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

• Y10T74/20305

  Robotic arm · CPC title

• Y10S901/19

  Drive system for arm · CPC title

• B25J18/00 Primary

  Arms · CPC title