Packaging part and packaging method of parallel connection rod robot

Abstract

A packaging member (1) for a parallel link robot, the packaging member (1) being detachably assembled to a sub-assembly (60) when packaging the sub-assembly (60), the sub-assembly (60) being provided with at least one pair of parallel driven links (42) constituting the parallel link robot, and at least one connecting member (50) connecting the pair of driven links (42), the connection member (50) is connected to each of the pair of driven links (42) so as to be rotatable about an axis line orthogonal to a plane including the long axes of the pair of driven links (42), and is capable of being disconnected by making the distance between the axis lines equal to or less than a predetermined disconnection distance. The packaging member (1) holds the pair of driven links (42) at relative positions at a distance greater than a disintegration distance.

Description

Technical Field

[0001] The invention relates to a packaging component and a packaging method of a parallel-link robot. Background Art

[0002] A delta robot is known that includes three arm mechanisms connecting a base and a bracket, the base being suspended and fixed to a frame, and an end effector for operating a workpiece being mounted on the bracket (for example, see Patent Document 1).

[0003] The arm mechanism includes a pair of link members arranged parallel to each other with a gap, and a force applying member is arranged between the two link members, and hooks are formed at both ends of the force applying member. The force applying member hooks the hooks at both ends to bushings provided on the link members on both sides, thereby pulling the pair of link members closer to each other and connecting the pair of link members.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2011-194534 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] When transporting such a robot, it is sometimes packaged in a state where the three arm mechanisms are removed from the base and the bracket, and the force-applying components are removed from the two connecting rod components. In this case, it is necessary to assemble the connecting rod components and the force-applying components at the transport destination, and the assembly man-hours increase. In addition, if the force-applying components include relatively small components, there is also a possibility that they may be lost during transportation or during the assembly stage.

[0009] Therefore, it is desired to be able to carry a parallel link robot including a delta robot in a compact cargo posture while reducing the increase in assembly man-hours and the risk of component loss.

[0010] Solutions for solving problems

[0011] One embodiment of the present invention is a packaging component of a parallel linkage robot, which can be assembled to the subassembly in a loadable and detachable manner when the subassembly is packaged. The subassembly comprises: at least one pair of parallel follower links constituting the parallel linkage robot, and at least one connecting component connecting the pair of follower links, the connecting component is a component as follows: it is connected to the pair of follower links respectively in a manner that can rotate around an axis orthogonal to a plane containing the long axes of the pair of follower links, and can be released by making the interval between the axes become less than a predetermined decomposition distance, and the packaging component maintains the pair of follower links in a relative position where the interval is greater than the decomposition distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a front view showing a parallel link robot to which the packaging component according to the first embodiment of the present invention is applied.

[0013] Figure 2 Yes means Figure 1 Front view of a pair of driven links and force-applying components of a parallel linkage robot.

[0014] Figure 3 It means from Figure 1 Front view of the parallel-link robot with its subassemblies removed.

[0015] Figure 4 It is a perspective view showing a packaging member according to a first embodiment of the present invention.

[0016] Figure 5 It means that the driven connecting rod is embedded in the Figure 4 A cross-sectional view of the state of the groove of the packaging component.

[0017] Figure 6 It means in Figure 3 There are two sub-components installed on Figure 4 The front view of the state of the packaging components.

[0018] Figure 7 Yes means that Figure 6 A perspective view of a state in which a subassembly of a packaging component is accommodated in a packaging box.

[0019] Figure 8 It means taking advantage of Figure 7 Packing box, Figure 1 A perspective view of an example of a packaging form of a parallel-link robot.

[0020] Fig. 9 Yes means Figure 4 A three-dimensional view of a modified example of a packaging component.

[0021] Fig.10 Yes means Figure 1 A partially enlarged view of a modified example of the connecting parts of a parallel linkage robot.

[0022] Fig.11 Yes means Figure 4 A three-dimensional view of a modified example of a packaging component.

[0023] Fig.12 It is a perspective view showing a packaging member according to a second embodiment of the present invention.

[0024] Fig.13 Yes means Fig.12 A three-dimensional view of a modified example of a packaging component. DETAILED DESCRIPTION

[0025] Hereinafter, a packaging component 1 and a packaging method of a parallel robot 100 according to a first embodiment of the present invention will be described with reference to the drawings.

[0026] First, based on Figures 1 to 3 Next, a parallel link robot 100 (hereinafter also referred to as the robot 100 ) to which the packaging component 1 according to the present embodiment is applied will be described.

[0027] The robot 100 includes, for example, a base 20 suspended and fixed to a ceiling or the like, a movable portion 30 disposed below the base 20 at intervals, and three sets of arms 40 connecting the base 20 and the movable portion 30 in parallel.

[0028] The base 20 is provided with three servo motors 21 for driving the three groups of arms 40 respectively. The servo motors 21 are arranged at equal intervals in the circumferential direction around an axis A passing through the center of the base 20 and extending in the vertical direction. In addition, each servo motor 21 has a shaft (not shown) that rotates around a horizontal axis B. Each axis B extends in a tangential direction of the same circle centered on the axis A.

[0029] like Figure 1 as well as Figure 2 As shown, each arm 40 has a driving link 41 connected to the shaft of the servo motor 21 via a speed reducer (not shown) to be driven to rotate about the axis B. In addition, each arm 40 has a pair of driven links 42 connected to each driving link 41 and the movable part 30 and arranged parallel to each other.

[0030] Each driven link 42 includes a rod-shaped link body 42 a and ball and socket portions 43 b and 44 b fixed to both ends of the link body 42 a .

[0031] Ball portions 43a are fixed to both sides of the front end of each driving link 41 in the direction of the axis B. In addition, protrusions 30a protruding radially outward are provided at three locations at equal intervals in the circumferential direction on the outer periphery of the movable portion 30, and ball portions 44a are also fixed to both side surfaces of each protrusion 30a.

[0032] The ball joint 43 is formed by detachably fitting the ball portion 43a of the corresponding driving link 41 into the ball portion 43b at one end of each pair of driven links 42. In addition, the ball joint 44 is formed by detachably fitting the ball portion 44a of the corresponding protrusion 30a into the ball portion 44b at the other end of each pair of driven links 42 into the ball portion 44a of the corresponding protrusion 30a.

[0033] Thus, one end of each pair of driven links 42 is rotatably connected to the corresponding driving link 41 via a ball joint 43. The other end of each pair of driven links 42 is rotatably connected to the movable portion 30 via a ball joint 44.

[0034] A pin 45p is provided on the outer periphery of the ball socket 43b, 44b of each pair of driven connecting rods 42, and the pin 45p extends in two directions orthogonal to a plane containing the long axis of each pair of connecting rod bodies 42a. A coaxially arranged bushing 45 is mounted on each pin 45p, and the bushing 45 can rotate around its own central axis (axis).

[0035] Furthermore, a biasing member (connecting member) 50 is disposed between the sockets 43b and 44b of each pair of driven links 42, and the biasing member 50 pulls the sockets 43b and 44b toward each other.

[0036] The urging member 50 is, for example, a coil spring, and has hook-shaped hooks 51 at both ends.

[0037] The force applying member 50 installed between the pair of driven links 42 mounted on the driving link 41 and the movable part 30 hooks 51 at both ends of the hooks 51 are hooked on the bushings 45 of the pair of ball sockets 43b and 44b. At this time, each force applying member 50 connects the two ball sockets 43b and 44b in a state slightly extended than the free length, and presses the two ball sockets 43b and 44b against the corresponding ball portions 43a and 44a along the axis B direction.

[0038] Therefore, when the robot 100 is assembled, each pair of driven links 42 is pulled toward each other by the force applying member 50, and the interval between the driven links 42 is restricted from expanding. In addition, the force applying member 50 is maintained in a slightly stretched state, and the inner surfaces of the hooks 51 at both ends are closely attached to the outer peripheral surfaces of the corresponding bushings 45 by the elastic force corresponding to the stretching amount.

[0039] That is, in the assembled state of the robot 100, each force applying member 50 maintains each pair of driven links 42 from falling off from each driving link 41 and the movable part 30. On the other hand, each force applying member 50 is maintained from falling off from the bushing 45 by maintaining the distance between the central axes of each pair of pins 45p of the hook 51 supporting each force applying member 50 at a fixed predetermined distance.

[0040] In addition, when the robot 100 is transported, the three pairs of driven links 42 can be removed from the base 20 and the movable part 30. For example, by using a clamp to overcome the elastic force of the force applying member 50 and expand the distance between the ball sockets 43b and 44b, the ball sockets 43b and 44b are separated from the ball portions 43a and 44a. In this way, each pair of driven links 42 can be removed from the driving link 41 and the movable part 30.

[0041] By removing each pair of driven links 42 from the driving link 41 or the movable part 30, the relative positional relationship between the driven links 42 based on the ball joints 43 and 44 is no longer maintained. That is, the distance between each pair of pins 45p of the hooks 51 supporting both ends of the force applying member 50 can be reduced to a disassembly distance smaller than a predetermined distance, and the force applying member 50 can be easily removed from the driven link 42.

[0042] Here, for example, Figure 3 As shown, the disassembled distance refers to the distance W0 between the central axes of each pair of pins 45p when the two urging members 50 assembled to each pair of driven links 42 have a free length.

[0043] Next, based on Figures 4 to 6 , a packaging member 1 according to a first embodiment of the present invention will be described.

[0044] For example, Figure 4 As shown, the packaging member 1 is formed into a rectangular block shape having a length dimension L1×a width dimension W×a thickness dimension D, which is made of an elastically deformable material such as polyurethane foam, rubber, or foamed styrene.

[0045] like Figure 4 as well as Figure 5 As shown, in the packaging component 1, grooves 3 having a substantially semicircular cross-sectional shape are formed along the thickness direction at both ends in the longitudinal direction. The inner diameter dimensions of the inner wall surfaces (contact surfaces) 4 of the two grooves 3 are set to be equal to the outer diameter dimensions of the corresponding connecting rod main body 42a. In addition, the distance L2 between the two grooves 3 is set, for example, to be slightly larger than the distance W1 between the opposing surfaces of the two connecting rod main bodies 42a in the state where the central axis of each pair of pins 45p of a pair of driven connecting rods 42 is the decomposition distance W0 (refer to Figure 3 . ).

[0046] The thickness dimension D of the packaging member 1 is set to a size that allows an operator to hold the packaging member 1 with one hand, and the thickness and the diagonal dimension in the longitudinal direction are set as large as possible so as to be sufficiently large relative to the length dimension L1.

[0047] Hereinafter, a packaging method for transporting the parallel robot 100 using the packaging member 1 of the present embodiment configured as described above will be described.

[0048] First, the distance between each pair of driven links 42 in the state of being assembled into the robot 100 is enlarged by using a tool or a special jig, and the respective ball joints 43 and 44 are separated. Thus, the subassembly 60, which is an assembly of a pair of driven links 42 and two force applying members 50, is removed from the driving link 41 and the movable part 30.

[0049] Among them, since each sub-assembly 60 has the same structure, the packaging method of one group of sub-assemblies 60 is described below, and the description of the packaging method of the other two sub-assemblies 60 is omitted.

[0050] To remove the subassembly 60, the operator applies a force in a direction of pulling the pair of link bodies 42a apart from each other, for example, near the driving link 41, and temporarily extends the biasing member 50. Then, the socket portion 43b is separated from the ball portion 43a.

[0051] After that, the packaging member 1 is arranged between the two connecting rod bodies 42a while the socket portion 43b is separated from the ball portion 43a, and the force applied to the two connecting rod bodies 42a is released. Figure 5 As shown, the facing surfaces of the pair of link main bodies 42a are brought into close contact with the inner wall surfaces 4 of the two grooves 3 of the packaging member 1 from the outside.

[0052] Similarly, in the vicinity of the movable portion 30, a force in a direction of pulling apart is applied to the pair of connecting rod bodies 42a, so that the force applying member 50 is temporarily extended and the ball socket portion 44b is separated from the ball portion 44a. Then, in a state where the ball socket portion 44b is separated from the ball portion 44a, the packaging member 1 is arranged between the two connecting rod bodies 42a, and the opposing surfaces of the connecting rod bodies 42a are closely attached to the inner wall surfaces 4 at both ends of the packaging member 1 from the outside.

[0053] Therefore, if Figure 6 As shown, each packaging member 1 disposed between the pair of driven links 42 and disposed near the sockets 43b and 44b is clamped by the link body 42a. In this state, the biasing member 50 presses the inner wall surfaces 4 of the two grooves 3 of each packaging member 1 by its elastic force.

[0054] On the other hand, the packaging member 1 pushes the pair of link bodies 42a outward by elastic restoring force. Therefore, the subassembly 60 including the pair of driven links 42 and the two urging members 50 and the two packaging members 1 are maintained in an integrally assembled state without separation.

[0055] In this state, the distance between the opposing surfaces of the pair of link bodies 42a is expanded to be larger than the distance W1, and the interval between each pair of bushings 45 is also maintained to be slightly larger than the disassembled distance W0. Therefore, even in the state of the subassembly 60, the urging member 50 is held so as not to fall off from the driven link 42.

[0056] Afterwards, if Figure 7 As shown in FIG. 1 , the operator places the subassembly 60 sandwiching the two packaging components 1 in the packaging box 5. Then, as shown in FIG. Figure 8 As shown, the packaging box 5 containing the subassembly 60 is placed in the packaging box 7: a larger packaging box 7 for accommodating the packaging box 5 together with the packaging box 6 containing the base part 20 connected to the driving link 41 and the movable part 30. The other two subassemblies 60 are placed in the packaging box 7 in the same manner. Figure 8 In the example of FIG. 1 , three packaging boxes 5 are contained in a packaging box 7 in a three-layer stacked form.

[0057] Thus, when packaging the robot 100, each component can be made more compact by removing each subassembly 60 from the drive link 41 and the movable part 30. Therefore, compared with packaging the robot 100 without disassembling it, the space efficiency during transportation or storage can be improved.

[0058] In addition, since the packaging member 1 is set to a size that can be accommodated between the pair of driven links 42, the packaging box 5 that accommodates each subassembly 60 only needs to be relatively thin in height. Figure 8 As shown, even if three layers are overlapped in the height direction, no large space is required, and the packaging box 7 can be made smaller.

[0059] Furthermore, since the thickness dimension D of the packaging member 1 is set large enough, the packaging member 1 will not fall down and fall off even if forces in opposite directions along the length direction are applied to the pair of driven links 42 in a state of sandwiching the packaging member 1. Thus, the subassembly 60 can be stably maintained in an assembled state and can be easily handled.

[0060] Thus, by applying the packaging member 1 of the present embodiment, even if the subassembly 60 is removed from the robot 100, the force-applying member 50 of the subassembly 60 can be kept in a slightly extended state. That is, the intervals between the pairs of bushings 45 to which the force-applying member 50 is attached can be kept larger than the disassembly distance W0. Therefore, the force-applying member 50 can be prevented from accidentally falling off from the subassembly 60.

[0061] Thus, when the subassembly 60 is removed from the robot 100 and transported, the subassembly 60 can be in a state where the biasing members 50 are attached to each pair of driven links 42 , and the number of man-hours required to assemble the robot 100 at the destination of transport can be reduced.

[0062] In addition, since the packaging member 1 is fixed between the pair of driven links 42 in a clamping manner, the subassembly 60 and the packaging member 1 can be handled as a single body. That is, when each subassembly 60 is removed from the driving link 41 and the movable part 30, when it is stored in the packaging box 5, or when the robot 100 is assembled at the destination of transportation, the two can be handled as a single body. Thus, the risk of losing the force applying member 50 can be minimized.

[0063] In addition, in this embodiment, since the inner wall surfaces 4 of the grooves 3 at both ends of the packaging component 1 are shaped to be closely attached to the outer peripheral surfaces of the corresponding connecting rod bodies 42a, the packaging component 1 can be more reliably fixed between the pair of connecting rod bodies 42a. Therefore, when operating the subassembly 60, it is not necessary to pay special attention to the packaging component 1 falling off from between the pair of connecting rod bodies 42a.

[0064] Furthermore, in the present embodiment, the packaging member 1 is formed of an elastically deformable material, but instead, the packaging member 1 may be formed of a material that is not elastically deformable, such as hard plastic or wood.

[0065] In addition, the rectangular block-shaped packaging component 1 is illustrated as an example, but is not limited thereto. Fig. 9 As shown, a packaging member 1 in which the grooves 3 are formed at both ends in the longitudinal direction by bending a sheet metal may be used.

[0066] In the above description, a groove having a substantially semicircular cross-sectional shape is used as an example, but any shape may be used as long as it is in close contact with the outer surface of the link body 42a of the driven link 42, for example, a V-shaped groove may be used.

[0067] In addition, if Fig.10 As shown, the packaging member 1 may be applied to a case where, instead of the urging member 50 , a pair of driven links 42 are connected by a connecting member 70 , and the connecting member 70 includes a screw mechanism 71 capable of adjusting the interval between the two driven links 42 .

[0068] exist Fig.10 In the example shown, the hooks 72 at both ends of the connecting member 70 are hooked on the bushings 45 provided on the pair of driven links 42 in a state of being wound in from the outside in the spacing direction. That is, by operating the screw mechanism 71 of the connecting member 70 to expand the distance between the two hooks 72, the two hooks 72 are separated from the outer peripheral surface of the bushing 45.

[0069] In this case, there is no specific disassembly distance as when the force applying member 50 is a free length, and the distance between the driven links 42 in the state where the contact between the bushing 45 of the driven link 42 and the hook 72 is released is the disassembly distance. Therefore, the packaging member 1 formed of an elastic material or a non-elastic material is clamped between the pair of driven links 42, and the screw mechanism 71 is operated to make the hooks 72 at both ends approach each other. As a result, the interval between the pair of driven links 42 can be reduced, so that the packaging member 1 can be reliably clamped.

[0070] In addition, in the present embodiment, the force applying member 50 of the subassembly 60 sandwiching the packaging member 1 is stretched slightly longer than the free length, but the force applying member 50 may be stretched much longer than the free length.

[0071] For example, when the transfer time of the robot 100 is short, the distance between the pair of ball sockets 43 b and 44 b may be increased to a degree that the corresponding ball portions 43 a and 44 a can be assembled thereto by clamping the packaging component 1 .

[0072] In this case, when assembling the robot 100 at the destination of transportation, it is sufficient to bring each pair of ball sockets 43b and 44b close to the corresponding ball portions 43a and 44a while the packaging component 1 is clamped in the subassembly 60. Then, the packaging component 1 is removed while the pair of ball sockets 43b and 44b are respectively arranged at positions sandwiching the corresponding ball portions 43a and 44a. As a result, the interval between the ball sockets 43b and 44b is reduced by the elastic force of the force applying member 50, and the ball portions 43a and 44a are respectively inserted into the ball sockets 43b and 44b.

[0073] Therefore, when assembling the robot 100 at the transport destination, there is no need to use a jig or the like to increase the intervals between the pairs of driven links 42 , thereby providing an advantage that the assembly work of the robot 100 can be performed more easily.

[0074] In addition, if Fig.11As shown, the convex part 2a and the concave part 2b may be provided on both sides of the packaging component 1 in the width direction, and the convex part 2a and the concave part 2b are provided to fit together when overlapping other packaging components 1 in the width direction. In this case, for example, the packaging components 1 are respectively assembled at both ends of each pair of driven connecting rods 42 of the three groups of subassemblies 60. Thereafter, the three packaging components 1 assembled at both ends of the three pairs of driven connecting rods 42 are respectively overlapped in the width direction. Moreover, by respectively engaging the convex part 2a and the concave part 2b of the three packaging components 1 overlapped in the width direction, the three groups of subassemblies 60 can be overlapped in the width direction of the packaging component 1 and combined as a whole.

[0075] In this case, there is an advantage that three sets of subassemblies 60 can be housed in one packaging box 5 and can be packaged more compactly.

[0076] Furthermore, although the case where a pair of grooves 3 is provided in the packaging member 1 is exemplified and described, a plurality of pairs of grooves 3 may be provided in the packaging member 1 instead.

[0077] For example, you can also use Figure 4 The width dimension W of the packaging member 1 shown is increased by more than three times, and three pairs of grooves 3 are provided at equal intervals along the width direction on both side surfaces in the longitudinal direction of the packaging member 1 .

[0078] In this case, one package member 1 is sandwiched between one ends of three pairs of driven links 42, and three pairs of link bodies 42a are respectively inserted into three pairs of grooves 3 provided in the package member 1. Similarly, another package member 1 is sandwiched between the other ends of three pairs of driven links 42.

[0079] That is, with only two packaging members 1 , all the intervals between the three pairs of link main bodies 42 a can be maintained larger than the distance W1 .

[0080] In addition, in this case as well, the three sets of subassemblies 60 can be handled integrally, and the three sets of subassemblies 60 can be packed more compactly.

[0081] In addition, in the present embodiment, two packaging members 1 are sandwiched between the pair of driven links 42 , but instead, one, or three or more packaging members 1 may be sandwiched.

[0082] For example, when the packaging member 1 has a thickness dimension D equal to the length of the pair of link bodies 42 a , only one packaging member 1 needs to be sandwiched between the pair of link bodies 42 a , thereby further improving the working efficiency.

[0083] Next, a packaging member 10 and a packaging method according to a second embodiment of the present invention will be described below with reference to the drawings.

[0084] In the following, since the parallel link robot 100 identical to the above is described as the packaging object, the same reference numerals are given to the structure of the parallel link robot 100 and the description thereof is omitted. In addition, in the packaging component 10, the same reference numerals are given to the parts identical to the above packaging component 1 and the description thereof is omitted.

[0085] In the packaging member 10 of this embodiment, for example, Fig.12 As shown, two packaging components 1 are fixed to the bottom surface of a packaging box (box body) 5 that accommodates a group of subassemblies 60.

[0086] For example, the packaging box 5 is formed to a size that can accommodate a set of subassemblies 60 with a slight gap around them.

[0087] Two packaging members 1 are arranged on the bottom surface of the inner side of the packaging box 5 at a distance along the longitudinal direction of the packaging box 5 and fixed by adhesive etc. Thus, each packaging member 1 is arranged at a position where it is sandwiched between a pair of link bodies 42a of a set of subassemblies 60 accommodated in the packaging box 5.

[0088] Therefore, when a set of subassemblies 60 are accommodated in the packaging box 5, the facing surfaces of the pair of link bodies 42a are respectively in close contact with the pairs of inner wall surfaces 4 of the two packaging components 1, and the relative positional relationship of the two link bodies 42a is maintained.

[0089] Hereinafter, a packaging method of the parallel link robot 100 using the packaging member 10 of the present embodiment configured as described above will be described.

[0090] First, the operator removes the three sets of subassemblies 60 from the robot 100 in the same manner as described above.

[0091] Then, the removed subassembly 60 is placed in the packaging box 5 while keeping the distance between the connecting rod bodies 42a greater than the distance W1, and two packaging members 1 on the bottom of the packaging box 5 are inserted between the two connecting rod bodies 42a. The other two subassemblies 60 are packaged in the same manner.

[0092] Thus, two operations can be performed simultaneously: the operation of attaching two packaging members 1 to the subassembly 60 and the operation of housing the subassembly 60 to which the packaging members 1 are attached in the packaging box 5. Therefore, the packaging operation is more convenient and the time required for the packaging operation can be shortened.

[0093] In addition, in the present embodiment, the contact surface 4 may be formed by protruding or recessing a part of the bottom surface of the packaging box 5 .

[0094] For example, Fig.13As shown, the packaging box 5 may include a bank portion 5 b formed by bending a portion of a bottom plate 5 a constituting the bottom surface along the width direction of the packaging box 5 .

[0095] In this case, a pair of contact surfaces 4 are formed on both sides of the dam portion 5b in the width direction so as to contact the opposing surfaces of a pair of connecting rod bodies 42a of a group of subassemblies 60 accommodated in the packaging box 5. Thus, the distance between the two connecting rod bodies 42a accommodated in the packaging box 5 can be maintained at a state greater than the distance W1.

[0096] In this case, the packaging member 1 can be omitted, and the cost of the packaging member 1 can be reduced. Therefore, the total cost of the packaging member 10 is suppressed, and the transportation cost of the robot 100 can be further reduced.

[0097] The embodiments of the present disclosure are described in detail above, but the present disclosure is not limited to the above-mentioned embodiments. In these embodiments, various additions, substitutions, changes, and partial deletions can be made without departing from the scope of the main purpose of the invention, or without departing from the concept and purpose of the present invention derived from the contents recorded in the claims and their equivalents. For example, in the above-mentioned embodiments, the order of each action and the order of each process are shown as an example and are not limited to this.

[0098] The following supplementary explanations are further disclosed regarding the above-mentioned embodiments and modifications.

[0099] (Supplementary Note 1)

[0100] A packaging component (1) of a parallel linkage robot (100), wherein the packaging component (1) can be assembled to a subassembly (60) in a detachable manner when the subassembly (60) is packaged. The subassembly (60) comprises: at least one pair of parallel follower links (42) constituting the parallel linkage robot (100), and at least one connecting component (50), (70) connecting the pair of follower links (42). The connecting components (50), (70) are components that are respectively connected to a pair of follower links (42) in a manner that allows them to rotate around an axis that is orthogonal to a plane containing the long axes of the pair of follower links (42), and can be disconnected by making the interval between the axes become less than a predetermined decomposition distance (W0). The packaging component (1) maintains the pair of follower links (42) in a relative position where the interval is greater than the decomposition distance (W0).

[0101] (Supplementary Note 2)

[0102] According to the packaging component (1) of the parallel linkage robot (100) described in the supplementary description 1, the packaging component (1) is assembled in the subassembly (60) at a position where it is clamped on a pair of driven links (42), and the packaging component (1) has a pair of contact surfaces (4) that respectively contact the opposing surfaces of the pair of driven links (42).

[0103] (Supplementary Note 3)

[0104] According to the packaging component (1) of the parallel link robot (100) described in Supplementary Note 2, each contact surface (4) has a shape capable of closely contacting each opposing surface of a pair of driven links (42).

[0105] (Supplementary Note 4)

[0106] According to the packaging component (1) of the parallel link robot (100) described in Supplementary Note 2 or Supplementary Note 3, the packaging component (1) is made of a material that can be elastically deformed.

[0107] (Supplementary Note 5)

[0108] According to the packaging component (1) of the parallel link robot (100) described in any one of Supplementary Notes 1 to 4, the packaging component (1) is fixed to the bottom surface of a box (5) capable of accommodating the subassembly (60).

[0109] (Supplementary Note 6)

[0110] According to the packaging component (1) of the parallel link robot (100) described in any one of Supplementary Notes 1 to 4, the packaging component (1) is integrally formed on the bottom surface of the box (5) capable of accommodating the subassembly (60).

[0111] (Supplementary Note 7)

[0112] A packaging method is a packaging method for packaging a subassembly (60), wherein the subassembly (60) comprises: at least one pair of parallel follower links (42) constituting a parallel linkage robot (100), and at least one connecting component (50), (70) connecting the pair of follower links (42), wherein the connecting components (50), (70) are components that are respectively connected to a pair of follower links (42) in a manner that allows them to rotate around an axis that is orthogonal to a plane containing the long axes of the pair of follower links (42), and can be disconnected by making the interval between the axes less than a predetermined decomposition distance (W0), wherein the packaging method comprises: assembling a packaging component (1) to the subassembly (60) in a loadable and removable manner, wherein the packaging component (1) maintains the pair of follower links (42) in a relative position where the interval is greater than the decomposition distance (W0).

[0113] Description of reference numerals:

[0114] 1: Packaging components

[0115] 3: Slot

[0116] 4: Inner wall surface (contact surface)

[0117] 5: Packing box (box)

[0118] 10: Packaging components

[0119] 42: Driven connecting rod

[0120] 50: Force-applying component (connecting component)

[0121] 60: Subcomponents

[0122] 70: Connecting parts

[0123] 100: Parallel Link Robot

[0124] W0: Decomposition distance

Claims

1. A packaging component of a parallel linkage robot, It is characterized in that The packaging component is detachably assembled to the subassembly when the subassembly is packaged. The subassembly comprises: at least one pair of parallel driven links constituting the parallel link robot, and at least one connecting member connecting the pair of driven links. The connecting member is a member that is connected to the pair of driven links so as to be rotatable about an axis perpendicular to a plane including the long axes of the pair of driven links, and can be disconnected by making the interval between the axes equal to or less than a predetermined decomposition distance. The packaging component holds the pair of driven links at relative positions where the interval is greater than the disassembly distance.

2. The packaging component of the parallel linkage robot according to claim 1, It is characterized in that The packaging component is assembled to the subassembly at a position clamped by the pair of driven connecting rods, and The packaging member includes a pair of contact surfaces that are in contact with the facing surfaces of the pair of driven links, respectively.

3. The packaging component of the parallel linkage robot according to claim 2, It is characterized in that Each of the contact surfaces has a shape capable of coming into close contact with each of the facing surfaces of the pair of driven links.

4. The packaging component of the parallel linkage robot according to claim 2 or 3, It is characterized in that The packaging member is made of an elastically deformable material.

5. The packaging component of the parallel linkage robot according to any one of claims 1 to 4, It is characterized in that The packaging component is fixed to the bottom surface of a box capable of accommodating the subassembly.

6. The packaging component of the parallel link robot according to any one of claims 1 to 4, It is characterized in that The packaging component is integrally formed on the bottom surface of a box capable of accommodating the subassembly.

7. A packaging method, It is characterized in that The packaging method is a packaging method for packaging a subassembly, wherein the subassembly comprises: at least one pair of parallel driven links constituting a parallel linkage robot, and at least one connecting component connecting the pair of driven links. The connecting member is a member that is connected to the pair of driven links so as to be rotatable about an axis perpendicular to a plane including the long axes of the pair of driven links, and can be disconnected by making the interval between the axes equal to or less than a predetermined decomposition distance. The packaging method comprises: A packaging component is detachably assembled to the subassembly, and the packaging component holds the pair of driven links at relative positions where the interval is greater than the disassembled distance.

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