Connection structure and parallel connection rod robot

Abstract

A connection structure (10) is provided with: a pair of attachment members (11a, 11b) that are supported by two links (50a, 50b) that have long axes (C) and operate parallel to each other with a gap therebetween so as to be rotatable about a rotation axis (D) that is orthogonal to a plane including the long axes (C) of the two links (50a, 50b); and a connection mechanism (15) that adjustably fixes the distance between the pair of attachment members (11a, 11b).

Description

Technical Field

[0001] The invention relates to a connection structure and a parallel-link robot. Background Art

[0002] A connection structure is known in which an elastic member is interposed between two parallel links (connection links) of a parallel link robot to connect the two links (for example, see Patent Document 1). In this connection structure, the elastic force of the elastic member is used to pull the two links closer to each other.

[0003] The two connecting rods are rotatably supported on the driving connecting rod (base connecting rod) by ball joints. Even if the ball joints are worn due to aging, the elastic force of the elastic member is used to pull the two connecting rods closer together, thereby preventing shaking from occurring in the ball joints.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2014-168839 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] If an external force exceeding the elastic force of the elastic component acts on the connection structure during the operation of the parallel link robot, the distance between the two links may increase, causing the ball joint to fall off. If the elastic force of the elastic component is set too large to exceed the appropriate contact pressure of the ball joint in order to avoid this, the life of the ball joint will be reduced.

[0009] Therefore, it is expected that the shaking caused by aging changes can be eliminated without using excessive force to pull the two connecting rods that are arranged in parallel to each other.

[0010] Solutions for solving problems

[0011] One embodiment of the present invention is a connection structure, which comprises: a pair of mounting components, which are supported on two connecting rods having a long axis and moving parallel to each other and spaced apart in a manner so as to be able to rotate respectively around a rotation axis, wherein the rotation axis is orthogonal to a plane containing the long axes of the two connecting rods; and a connection mechanism, which fixes the distance between the pair of mounting components in an adjustable manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic front view showing a parallel link robot according to an embodiment of the present invention.

[0013] Figure 2 Yes means Figure 1 A schematic front view of the installation state of the connection structure in a pair of driven links of the parallel link robot shown.

[0014] Figure 3 yes Figure 2 A schematic partial cross-sectional view of a connection structure is shown.

[0015] Figure 4 Yes means Figure 2 A three-dimensional view of the shape of a mounting component of a connecting structure is shown.

[0016] Figure 5 Yes means Figure 2 A partial cross-sectional view of an exploded state of a connecting structure is shown.

[0017] Figure 6 Yes Description Figure 2 A partial cross-sectional view of an installation method of a connecting structure is shown.

[0018] Figure 7 Yes Description Figure 2 A partial cross-sectional view of an installation method of a connecting structure is shown.

[0019] Figure 8 Yes means Figure 2 A partial cross-sectional view of an installed state of a connecting structure is shown.

[0020] Fig. 9 Yes means Figure 2 A partial cross-sectional view of a first variation of a connection structure is shown.

[0021] Fig.10 Yes means Figure 2 A partial cross-sectional view of a second variation of a connection structure is shown.

[0022] Fig.11 Yes means Figure 2 A partial cross-sectional view of a third variation of a connection structure is shown.

[0023] Fig.12 Yes means Figure 2 A partial cross-sectional view of a fourth variation of a connection structure shown. DETAILED DESCRIPTION

[0024] Hereinafter, a connection structure 10 and a parallel link robot 100 according to an embodiment of the present invention will be described with reference to the drawings.

[0025] For example, Figure 1As shown, the parallel robot 100 of this embodiment includes a base 20 suspended and fixed to a ceiling or the like, and a movable part 30 disposed below the base 20 at intervals. In addition, the parallel robot 100 includes three arms 40 connecting the base 20 and the movable part 30.

[0026] Each arm 40 includes three driving links (arms) 45 supported to be rotatable about three horizontal axes A relative to the base 20. In addition, each arm 40 includes two pairs of mutually parallel driven links (links) 50a, 50b connecting each driving link 45 and the movable part 30.

[0027] Furthermore, the parallel link robot 100 includes a connection structure 10 according to an embodiment of the present invention which is bridged between upper and lower ends of each pair of driven links 50 a and 50 b .

[0028] The base 20 includes three servomotors 60 for driving the three driving links 45. The servomotors 60 are arranged at equal intervals in the circumferential direction around an axis B extending in the vertical direction through the center of the base 20, and have rotation drive shafts (not shown) that rotate around the horizontal axis A. In addition, each servomotor 60 includes a speed reducer 61 that reduces the rotation of the rotation drive shaft.

[0029] Each driving link 45 is connected at its base end to the rotation drive shaft of the corresponding servo motor 60 and is rotatable about the axis A relative to the base 20. Figure 1 as well as Figure 2 As shown, the front end of each driving link 45 is connected to the driven links 50a, 50b by ball joints 70a, 70b respectively.

[0030] Each of the ball joints 70a, 70b includes a ball stud 71a, 71b mounted on a front end of each drive link 45, and a socket 51a, 51b connected to the ball stud 71a, 71b.

[0031] The ball studs 71a and 71b are respectively provided with: balls 72a and 72b; and columnar studs 73a and 73b extending radially outward from the outer spherical surfaces of the balls 72a and 72b. The end surfaces of the studs 73a and 73b are respectively fixed to the axis A (see FIG. 1 ) across the front end of the drive connecting rod 45 by bolts 74. Figure 1 ) direction on both sides.

[0032] like Figure 2As shown in the figure, the sockets 51a and 51b constitute one end of the driven connecting rods 50a and 50b in the direction of the long axis C. The sockets 51a and 51b respectively have inner spherical surfaces 52a and 52b covering about half of the outer spherical surfaces of the balls 72a and 72b. In addition, a relatively thin resin layer (not shown) made of a resin material such as silicone is arranged inside the inner spherical surfaces 52a and 52b, and the balls 72a and 72b are embedded inside, and are supported so as to be rotatable around the center point.

[0033] Next, the connection structure 10 of this embodiment will be described.

[0034] The connection structure 10 of the present embodiment includes a pair of mounting members 11 a and 11 b respectively mounted on pins 53 p provided in sockets 51 a and 51 b , and a connection mechanism 15 that connects the mounting members 11 a and 11 b .

[0035] In the present embodiment, the three pairs of driven links 50a, 50b and the connection structure 10 connecting the upper and lower ends of each pair of driven links 50a, 50b have the same structure. Therefore, in the following description, the structure of the connection structure 10 connecting one end of a pair of driven links 50a, 50b is described as an example.

[0036] like Figure 3 As shown in FIG. 1 , the pin 53p is mounted on both sides of the plane including the two major axes C with respect to the sockets 51a and 51b so as to protrude along an axis (rotation axis) D orthogonal to the plane. In the figure, the pin 53p has a flange-shaped flange, and is positioned by fitting with a hole that penetrates the sockets 51a and 51b in the radial direction from one direction and pressing the flange against the outer surface of the sockets 51a and 51b.

[0037] In addition, bushings 53a and 53b are respectively attached to portions of the pin 53p that protrude from the sockets 51a and 51b.

[0038] The bushings 53a and 53b are cylindrical in shape with a hollow hole 53h formed therein. A groove 53d is formed in the axial center of the outer peripheral surface of the bushings 53a and 53b, which is recessed radially inward over the entire circumference.

[0039] The bushings 53a and 53b are supported by the pin 53p so as to be rotatable around the axis D, respectively, by fitting the pin 53p into the hollow hole 53h.

[0040] In the figure, bushings 53a and 53b are of the same shape and have cutouts to avoid interference with the flange of the pin 53p. The flange is accommodated in the cutout of one bushing 53a and 53b, and the cutout of the other bushing 53a and 53b is hollow.

[0041] In addition, when the pin 53p is integrally fixed to the sockets 51a and 51b by welding or the like, the flange of the pin 53p and the cutouts of the bushings 53a and 53b may not be provided.

[0042] In addition, if Figure 2 As shown, the other end of the driven connecting rod 50a, 50b in the direction of the long axis C also has the same structure as the one end. That is, the other end of the driven connecting rod 50a, 50b is also installed with a socket 51a, 51b. Moreover, the socket 51a, 51b is connected from both outer sides in the direction of the axis A through the ball studs 71a, 71b installed on the outer peripheral surface of the movable part 30.

[0043] like Figure 3 as well as Figure 4 As shown, the mounting member 11a includes: a hook portion 12a; and an external thread 16a fixed to the hook portion 12a. The hook portion 12a is formed by bending a thin and long metal plate in a substantially U-shape, and the metal plate has a plate thickness equal to the groove width of the groove 53d of the bushing 53a. The two substantially parallel metal plates of the substantially U-shaped hook portion 12a are arranged at a distance equal to the distance W between the grooves 53d of the pair of bushings 53a, and the pair of bushings 53a are mounted on both sides of the socket 51a along the axis D direction.

[0044] In addition, two hooks 13a are respectively provided on two metal flat plates extending substantially in parallel with each other in the hooking portion 12a, and the two hooks 13a are hooked on the grooves 53d of the pair of bushings 53a attached to the socket 51a.

[0045] The two hooks 13a are formed by cutting out two substantially parallel metal flat plates of the hooking portion 12a in the plate thickness direction.

[0046] Specifically, the two hooks 13a are each provided with a long hole 13h extending in the length direction of the hooking portion 12a. At one end in the length direction of the long hole 13h, an inner peripheral surface 13i having an inner diameter dimension equal to the outer diameter dimension of the groove bottom of the groove 53d of the bushing 53a is formed. In addition, at the other end in the length direction of the long hole 13h, an opening portion 13o is provided so that the long hole 13h is opened to one side in the width direction of the hooking portion 12a. The opening portion 13o is formed to be larger than the outer diameter dimension of the groove bottom of the groove 53d of the bushing 53a.

[0047] The external thread 16a is formed as a right-hand thread, and extends in parallel with the hook 13a at a position between the hooks 13a on both sides of the hook portion 12a toward the side opposite to the hook 13a.

[0048] On the other hand, the mounting member 11b has a hook portion 12b of the same shape as the hook portion 12a of the mounting member 11a. In addition, an external thread 16b is fixed between the hooks 13b provided on both sides of the hook portion 12b, and the external thread 16b has the same outer diameter (nominal diameter) and pitch as the external thread 16a, and has a configuration in which only the rotation direction of the thread portion is different. That is, the external threads 16a and 16b have a reverse thread relationship with each other.

[0049] like Figure 3 as well as Figure 5 As shown, the connection mechanism 15 includes: external threads 16 a and 16 b provided in the mounting members 11 a and 11 b ; and a nut member 17 fastened to the external threads 16 a and 16 b .

[0050] The nut member 17 is a cylindrical member having a through hole 17h along the central axis. On the inner surface of the through hole 17h of the nut member 17, a female thread 17a meshing with the male thread 16a and a female thread 17b meshing with the male thread 16b are formed in parallel along the central axis.

[0051] The right-handed internal thread 17a is formed from the center of the central axis direction of the nut member 17 to one end side, and the left-handed internal thread 17b is formed from the center of the central axis direction of the nut member 17 to the other end side. That is, the internal threads 17a and 17b are arranged on the same axis and are opposite threads that open in opposite directions.

[0052] In addition, a pair of mutually parallel flat surfaces for engaging a tool such as a wrench are provided on both sides of the outer peripheral surface of the nut member 17 across the central axis.

[0053] In addition, fixing nuts 18a and 18b are respectively engaged with the external threads 16a and 16b. The fixing nuts 18a and 18b have the same shape except that they have opposite threads to each other, and may be general nuts sold on the market.

[0054] Hereinafter, the operation of the connection structure 10 and the parallel link robot 100 thus configured will be described. However, in the following description, similarly to the above, the connection structure 10 provided on one end of a pair of links 50a and 50b will be described as an example.

[0055] When assembling the parallel link robot 100, it is assumed that a unit including the base 20, three servo motors 60, three speed reducers 61, and three driving links 45 is pre-assembled. Figure 1 as well as Figure 2 As shown in FIG. 1 , a pair of ball studs 71 ​​a and 71 b are fixed to the front end of the driving link 45 and the outer peripheral surface of the movable portion 30 by bolts 74 , respectively.

[0056] Secondly, if Figure 2 As shown, the sockets 51a, 51b at one end of the pair of driven links 50a, 50b are brought closer to the ball studs 71a, 71b at the front end of the driving link 45 from the outside in the direction of the axis A. In addition, the inner spherical surfaces 52a, 52b of the sockets 51a, 51b are respectively engaged with the balls 72a, 72b of the ball studs 71a, 71b.

[0057] Similarly, inner spherical surfaces 52 a and 52 b of sockets 51 a and 51 b at the other ends of the pair of driven links 50 a and 50 b are fitted with balls 72 a and 72 b of ball studs 71 ​​a and 71 b attached to the movable portion 30 .

[0058] Then, if Figure 5 As shown in FIG. 1 , fixing nuts 18 a and 18 b are respectively engaged with external threads 16 a and 16 b fixed to mounting members 11 a and 11 b .

[0059] Then, if Figure 6 As shown in the figure, the external threads 16a and 16b are respectively engaged with the internal threads 17a and 17b of the nut member 17, and the two mounting members 11a and 11b are connected by the nut member 17. In this case, the length of engagement between the external threads 16a and 16b and the internal threads 17a and 17b is adjusted so that the interval between the openings 13o of the mounting members 11a and 11b becomes the same as the interval between the two axes D.

[0060] In this state, if Figure 6 As shown, the mounting members 11a and 11b connected by the nut member 17 are arranged at positions where the pairs of hooks 13a and 13b sandwich the sockets 51a and 51b along the axis D direction. Figure 7 As shown in FIG. 1 , bushings 53a and 53b are respectively passed through openings 13o of mounting members 11a and 11b, and bushings 53a and 53b are respectively arranged in long holes 13h.

[0061] Next, the flat surface of the outer peripheral surface of the nut member 17 is gripped with a tool or the like, and the nut member 17 is rotated in one direction around the central axis. As a result, the meshing lengths of the external threads 16a, 16b and the internal threads 17a, 17b are increased simultaneously.

[0062] As a result, the distance between the mounting parts 11a and 11b is shortened. Figure 8 As shown, the inner circumferential surfaces 13i of the mounting members 11a and 11b are in close contact with the grooves 53d of the bushings 53a and 53b, respectively. This allows the pair of driven links 50a and 50b to be drawn closer to each other, and pressure is applied to the ball joints 70a and 70b between the driven links 50a and 50b and the driving link 45.

[0063] Then, for example, the torque applied to the tool when the nut member 17 is rotated is measured, and when it is confirmed that an appropriate pressure is applied to the ball joints 70a and 70b, the rotation of the nut member 17 is stopped.

[0064] After stopping the rotation of the nut member 17, as Figure 8 As shown, the fixing nuts 18a and 18b are tightened so as to be closely attached to the nut member 17. That is, the position of the nut member 17 relative to the external threads 16a and 16b is fixed by the double nut effect of the fixing nuts 18a and 18b. Thus, the assembly work is completed.

[0065] Thus, according to the connection structure 10 of this embodiment, the two driven links 50a and 50b can be connected so that the distance between them is adjusted to an appropriate distance. Thus, even if a large external force acts during the operation of the parallel link robot 100, the distance between the driven links 50a and 50b can be prevented from expanding. Furthermore, it is sufficient not to apply a pressure more than necessary to the ball joints 70a and 70b between the driven links 50a and 50b and the driving link 45.

[0066] Thereby, the wear of the resin layer between the sockets 51a, 51b and the balls 72a, 72b is suppressed, and the life of the ball joints 70a, 70b can be improved.

[0067] In addition, the resin layers of the ball joints 70a and 70b may be worn and thinned due to aging.

[0068] In this case, the fixing nuts 18a and 18b are loosened and the nut member 17 is rotated about the central axis to increase the meshing length between the external threads 16a and 16b and the internal threads 17a and 17b. Thus, the mounting members 11a and 11b can be brought closer to each other by a distance corresponding to the wear amount of the resin layer.

[0069] Therefore, even if the distance between the two driven links 50a and 50b changes, the distance connecting the two driven links 50a and 50b can be adjusted according to the change to prevent shaking of the ball joints 70a and 70b.

[0070] That is, even if the coil spring is not interposed between the pair of driven links 50a and 50b as in the past, the shaking of the ball joints 70a and 70b can be suppressed. In addition, since the coil spring is not used, the operability when washing or drying the parallel link robot 100 can be improved.

[0071] In addition, in this embodiment, the meshing lengths of the external threads 16a, 16b and the internal threads 17a, 17b can be adjusted simultaneously by rotating the nut member 17 in one direction around the central axis. That is, there is also the advantage that the distance between the driven connecting rods 50a, 50b can be easily adjusted by a single operation of the nut member 17.

[0072] In addition, in this embodiment, the fixing nuts 18a and 18b are used as follows. Figure 2 Instead, a nut of the general shape shown in FIG. Fig. 9 As shown, the fixing nuts 18a and 18b may include an outer peripheral wall 18c whose outer peripheral edge portion protrudes in the axial direction over the entire circumference.

[0073] In this case, when the fixing nuts 18a and 18b are respectively in close contact with both ends of the nut member 17, the portions of the external threads 16a and 16b that are arranged further outward in the axial direction than the nut member 17 are surrounded by the outer peripheral walls 18c. Thus, the external threads 16a and 16b do not need to be exposed to the outside, and it is possible to suppress the adhesion of external dust and moisture to the external threads 16a and 16b.

[0074] Furthermore, in addition to this, a groove (not shown) may be provided over the entire circumference at a midway position in the axial direction of the outer peripheral surface of the root portion of the male threads 16a and 16b, and the O-ring 18o may be fitted into the groove.

[0075] In this case, the outer diameter of the O-ring 18o is set to be slightly larger than the inner diameter of the outer peripheral wall 18c. As a result, the O-ring 18o is slightly flattened over the entire circumference and is in close contact with the inner peripheral surface of the outer peripheral wall 18c covering the root of the external threads 16a and 16b. As a result, the gap between the outer peripheral surface of the root of the external threads 16a and 16b and the inner peripheral surface of the outer peripheral wall 18c covering it is sealed. As a result, there is the advantage that the external threads 16a and 16b can be more effectively protected from external dust or moisture.

[0076] In addition, in this embodiment, the mounting members 11a and 11b are mounted on the sockets 51a and 51b using a pair of bushings 53a and 53b, respectively. Fig.10 As shown, the mounting members 11a and 11b may be mounted on the sockets 51a and 51b using bearings 11c fixed to the mounting members 11a and 11b.

[0077] exist Fig.10In the example shown in , the mounting components 11a and 11b each include a pair of parallel plate-shaped first portions 11d having a thickness that allows the bearing 11c to fit. In addition, the mounting components 11a and 11b include a second portion 11e that connects one ends of each pair of first portions 11d. Furthermore, the bearing 11c that fits with the other end of each first portion 11d of the mounting components 11a and 11b is fitted with a pin 53p that protrudes from the outer surface of the socket 51a and 51b to both sides in the direction of the axis D.

[0078] According to such a configuration, the mounting members 11 a and 11 b that connect the driven links 50 a and 50 b to each other are mounted so as to be rotatable about the axis D relative to the sockets 51 a and 51 b.

[0079] In the present embodiment, the connection mechanism 15 includes: external threads 16 a and 16 b fixed to the mounting members 11 a and 11 b ; and a nut member 17 formed with internal threads 17 a and 17 b corresponding to the external threads 16 a and 16 b .

[0080] Alternatively, the internal threads 17a and 17b may be formed on the mounting members 11a and 11b, respectively.

[0081] For example, Fig.10 As shown, the second parts 11e of the mounting members 11a and 11b connected so as to be rotatable relative to the sockets 51a and 51b around the axis D may each include a shaft portion 11f protruding toward the other side. Furthermore, the shaft portion 11f of the mounting member 11a may be formed with a right-handed internal thread 17a, and the shaft portion 11f of the mounting member 11b may be formed with a left-handed internal thread 17b.

[0082] In addition, as the connection mechanism 15 in this case, a threaded member 19 having a right-handed external thread 16a and a left-handed external thread 16b arranged and disposed on the same axis may be used instead of the nut member 17. The threaded member 19 has, for example, a hexagonal columnar main body 19c, and the external threads 16a and 16b extend outward from both ends along the central axis of the main body 19c.

[0083] Thus, by meshing the external threads 16a and 16b of the screw member 19 with the internal threads 17a and 17b of the mounting members 11a and 11b, respectively, the mounting members 11a and 11b can be connected so that the distance between them can be adjusted.

[0084] In this embodiment, one mounting member 11a, 11b is mounted on both sides of the sockets 51a, 51b in the direction of the axis D. Alternatively, two mounting members 11a, 11b may be mounted on both sides of the sockets 51a, 51b in the direction of the axis D.

[0085] For example, Fig.11 As shown, the flat-plate-shaped mounting components 11a and 11b can also be connected to the two sides of the axis D direction of the sockets 51a and 51b respectively in a manner that allows rotation around the axis D. In addition, a right-handed internal thread 17a is formed at the front end of each mounting component 11a, and a left-handed internal thread 17b is formed at the front end of each mounting component 11b. Fig.10 The same threaded members 19 as in the embodiment shown in FIG. 1 connect each pair of mounting members 11 a and 11 b , respectively.

[0086] In this case, the mounting members 11a and the mounting members 11b sandwiching the sockets 51a and 51b in the direction of the axis D may be integrally connected by the connecting member 11j.

[0087] In the present embodiment, the mounting members 11a and 11b are connected with the nut member 17 interposed therebetween. However, instead, the nut member 17 may be omitted and the mounting members 11a and 11b may be directly connected.

[0088] For example, Fig.12 As shown, the mounting member 11a may include an external thread 16c extending toward the mounting member 11b, and the mounting member 11b may include a through hole 17c through which the external thread 16c passes.

[0089] That is, the connection mechanism 15 in this case includes: the external thread 16c of the mounting member 11a; the through hole 17c formed in the mounting member 11b; and two connection nuts (nut members) 18 that mesh with the external thread 16c. In addition, the two connection nuts 18 are tightened from both sides of the axial direction of the through hole 17c while the external thread 16c is passed through the through hole 17c.

[0090] Thus, the two connecting nuts 18 clamp the peripheral edges of both sides of the through hole 17c in the axial direction, and connect the mounting components 11a and 11b to each other. In addition, by adjusting the fastening positions of the two connecting nuts 18 relative to the external thread 16c, the length of the external thread 16c inserted into the through hole 17c can be changed. Thus, similarly to the above, the driven connecting rods 50a and 50b can be connected while adjusting the distance between the two sides.

[0091] The embodiments of the present invention are described in detail above, but the present invention 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 content recorded in the claims and the idea and purpose of the present invention derived from its 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.

[0092] Description of reference numerals:

[0093] 10: Connection structure

[0094] 11a, 11b: Installation parts

[0095] 15: Connecting mechanism

[0096] 16a, 16b, 16c: External thread

[0097] 17: Nut parts

[0098] 17a, 17b: Internal thread

[0099] 17c: Through hole

[0100] 18: Nut for connection (nut part)

[0101] 18a, 18b: Fixing nuts

[0102] 18c: Outer wall

[0103] 19: Threaded parts

[0104] 20: Basic Department

[0105] 30: Movable part

[0106] 45: Driving connecting rod (arm)

[0107] 50a, 50b: driven connecting rod (connecting rod)

[0108] 100: Parallel Link Robot

[0109] C: Long axis

[0110] D: Axis (rotation axis)

Claims

1. A connection structure, characterized in that: have: a pair of mounting members supported by two connecting rods having long axes and moving in parallel with each other at a distance so as to be rotatable about respective rotation axes, wherein the rotation axis is orthogonal to a plane including the long axes of the two connecting rods; and A connecting mechanism is provided for fixing the distance between the pair of mounting components in an adjustable manner.

2. The connection structure according to claim 1, characterized in that: The connection mechanism comprises: an external thread fixed to each of the mounting components; and a nut component having two internal threads respectively meshing with the two external threads. The two external threads are arranged on the same axis and have an opposite thread relationship.

3. The connection structure according to claim 2, characterized in that: The connection structure includes two fixing nuts respectively fastened to the external threads. In a state where the distance between the mounting members is adjusted by the external threads and the internal threads, the two fixing nuts are fastened to the nut members in close contact with each other.

4. The connection structure according to claim 3, characterized in that: Each of the fixing nuts includes an outer peripheral wall on a side opposite to the nut member, and the outer peripheral wall surrounds the external thread to which the fixing nut is fastened.

5. The connection structure according to claim 1, characterized in that: The connection mechanism comprises: an internal thread formed on each of the mounting components; and a threaded component having two external threads respectively meshing with the two internal threads. The two internal threads are arranged on the same axis and have an opposite thread relationship.

6. The connection structure according to claim 1, characterized in that: The connection mechanism comprises: a through hole provided in one of the mounting components; an external thread provided in the other mounting component and passing through the through hole; and a nut component fastened to the external thread. The distance between the two mounting components is adjusted by adjusting the fastening position of the nut component relative to the external thread penetrating the through hole.

7. A parallel linkage robot, characterized in that: have: Basic Department; a movable portion disposed at a distance from the base portion; A plurality of arms connected to the base portion in a swingable manner; two pairs of connecting rods having long axes parallel to each other connecting the arm and the movable part; as well as The connecting structure according to claim 1 is arranged between a pair of connecting rods.

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