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Parallel Link Robot, And Method Of Teaching Parallel Link Robot

A robot and link mechanism technology, applied in the field of robot mechanism, can solve the problems that cannot be taught, and the small force increase or decrease is not easy to be perceived, etc.

Inactive Publication Date: 2012-04-25
PANASONIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] However, in the parallel link robot of Patent Document 1, there is a problem that when the movable plate 3 is controlled using an operation panel or the like, a slight increase or decrease in force is not easily perceived, and appropriate teaching cannot be performed intuitively.

Method used

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  • Parallel Link Robot, And Method Of Teaching Parallel Link Robot
  • Parallel Link Robot, And Method Of Teaching Parallel Link Robot
  • Parallel Link Robot, And Method Of Teaching Parallel Link Robot

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Experimental program
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Embodiment approach 1

[0030] figure 1 It is a schematic perspective view of the parallel link robot according to Embodiment 1 of the present invention. figure 2 It is a schematic side view of the parallel link robot of the first embodiment. In addition, in figure 1 Among them, the main part of the invisible part located on the back side of the fixing plate which is an example of the base body is shown by a broken line. In addition, in figure 2 In the illustration, the arms and levers on the back side of the paper are omitted.

[0031] in figure 1 , figure 2 Among them, the parallel link robot 10 of the first embodiment includes: a fixing plate 12 as an example of a base for fixing the main body of the robot, and a hand-operated device (for example, a robot hand for operation), etc., as movable parts. The movable plate 13 as an example of the body, and three link mechanisms that connect the fixed plate 12 and the movable plate 13. The link mechanism includes an arm 14, a rod 15, and a joint, res...

Embodiment approach 2

[0049] image 3 Is a schematic perspective view of the parallel link robot according to the second embodiment of the present invention, Figure 4 It is a schematic side view of the parallel link robot of the second embodiment. In addition, in image 3 Here, the main part of the invisible part located on the back side of the fixing plate as an example of the base body is shown by a broken line. In addition, in Figure 4 In the illustration, the arms and levers on the back side of the paper are omitted.

[0050] The parallel link robot 20 of the second embodiment is different from the above-mentioned embodiment in that the fulcrum for attaching the suspension member 17 to the fixed plate 12 is formed as a sliding mechanism that can move within the surface of the fixed plate 12 1. The sliding mechanism 24 of the parallel link robot 10 according to the second embodiment includes a moving part 21 attached to the suspension member 17 and a sliding guide 22 that slides the moving part ...

Embodiment approach 3

[0054] Figure 5 Is a schematic perspective view of a parallel link robot according to the third embodiment of the present invention, Image 6 It is a schematic side view of the parallel link robot of the third embodiment. In addition, in Figure 5 In the figure, the main part of the invisible part located on the back side of the fixing plate as an example of the base is shown by the broken line diagram. In addition, in Image 6 In the illustration, the arms and levers on the back side of the paper are omitted.

[0055] The parallel link robot 30 of the third embodiment is different from the second embodiment described above in that it includes a sliding tilt mechanism 33 in which the slide mechanism 24 in the second embodiment described above is mounted on the fixed plate 12 via a tilt mechanism. As the movable member 21 is moved to the peripheral portion (outer edge portion) of the fixed plate 12 by the sliding and tilting mechanism 33, the distance between the movable member 2...

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Abstract

Disclosed is a parallel link robot (10) wherein a central section or a peripheral section of a movable body (13) and a central section or a peripheral section of a base body (12) are connected together using an elastic suspension means (17) such as a constant force spring, with the result that it is possible to hold the movable body (13) in midair.

Description

Technical field [0001] The present invention relates to a mechanism of a robot mainly for industrial use. Among them, it relates to a parallel link robot having a structure in which a base body for fixing the robot and a movable body on which an action member such as an end effector is installed are connected by a plurality of arms. Background technique [0002] Parallel link robots have: a fixed plate as a base for fixing the robot, a movable plate as a movable body on which functional parts such as a hand-operating device are installed, and a connection between the fixed plate and the movable plate Linkage. The link mechanism has an arm and a rod. The arm is mounted so as to rotate in a specific plane with respect to the fixed plate about a specific axis. The rod and the arm are connected by a bearing (joint) that rotates freely in space, such as a ball joint. Each arm and rod are combined and constrained by a movable plate, and can change their position and posture in spac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J19/00
CPCB25J9/1623B25J17/0266B25J19/0008Y10T74/20305
Inventor 久保泰康胜木聪末藤伸幸
Owner PANASONIC CORP
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