Parallel link mechanism, conveyance device, and work robot

Abstract

The invention provides a parallel link mechanism, a conveyance device, and a work robot. A parallel link mechanism (100a) is provided with: a base (1) provided with a guide member (124); a moving body (2) capable of moving along the guide member; a fixed link (3) having a base end fixed to the base and extending in a direction away from the base; a rotating body (4) connected to the tip of the fixed link and capable of rotating about the tip; and a movable link (5), the base end of which is connected to the moving body and the tip end of which is connected to the rotating body, so that the rotating body rotates in accordance with the movement of the moving body, and the guide member is inclined so as to be closer to the rotating body as the guide member is farther from the center of the base body (11).

Description

Technical Field

[0001] The present invention relates to a parallel link mechanism, a transport device and a working robot. Background Art

[0002] In the past, there is a known table stabilization device described in Patent Document 1. The table stabilization device includes a base, a table, a central support, a first lifting support, and a second lifting support. The central support supports the table in such a manner that the distance between the base and the center of the lower surface of the table is maintained constant and the angle of the table relative to the base can be freely changed. The first lifting support is arranged in front of or behind the direction of travel with an appropriate interval relative to the central support. The second lifting support is arranged in a direction orthogonal to the direction of travel with an appropriate interval relative to the central support. Each lifting support is controlled to rise and fall via a connecting rod mechanism. The connecting rod mechanism includes a driving arm that rotates by the rotational driving force of a servo motor and a lifting shaft connected to the top end of the driving arm via a spherical bearing, and the top end of the lifting shaft is connected to the back side of the table via a spherical bearing.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Publication No. 2019-93981 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] It is expected that such a transport device that uses a parallel linkage mechanism to keep the table horizontal will be used in various places. However, in the prior art such as the above, the rotation range of the table relative to the base is small, and it is sometimes impossible to keep the table horizontal on a slope that is inclined to a large extent. Therefore, the prior art is difficult to use in industries such as forestry that involve operations on steep slopes. On the other hand, by increasing the mechanism that tilts the table, the rotation range of the table relative to the base can be increased to a certain extent. However, if the mechanism becomes larger, the transport device will be enlarged as a whole. For example, new problems may arise, such as the table being too high to load and unload the load, or being too wide to pass through the road. In addition, the problem of the compromise between such a rotation range and the size of the mechanism has also become a subject in the field of working robots.

[0008] One aspect of the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to increase the rotation range of a rotating body without enlarging the size of the mechanism in a parallel link mechanism that rotates a rotating body by the operation of a movable link.

[0009] Solutions for solving problems

[0010] In order to solve the above-mentioned problems, a parallel linkage mechanism of one embodiment of the present invention is characterized in that the parallel linkage mechanism comprises: a base, which includes a base body and a plurality of guide members, the plurality of guide members respectively extending from the central part of the base body toward the peripheral part of the base body in directions away from the central part of the base body and in directions different from each other; a plurality of movable bodies, which can move along each of the guide members; a fixed link, whose base end portion is fixed to the central part of the base body and extends in a direction away from the base; a rotating body, whose central part is connected to the top end portion of the fixed link and can capable of rotating around the top end portion; a plurality of movable links, whose base ends are respectively connected to the movable body and whose top ends are respectively connected to the peripheral edge portion of the rotating body, so that the rotating body rotates along with the movement of the movable body; a sensor, which detects the inclination of the rotating body relative to a horizontal plane; and a processor, which controls the movement of the plurality of movable bodies based on the detection result of the sensor so that the inclination of the rotating body relative to the horizontal plane becomes a desired size, and at least one of the plurality of guide members is inclined in a manner that the farther away from the central portion of the base body, the closer to the rotating body.

[0011] In order to solve the above-mentioned problems, a transport device according to another aspect of the present invention includes: a moving mechanism that is movable on the ground; and the parallel link mechanism that is mounted on the moving mechanism.

[0012] In order to solve the above-mentioned problems, a working robot according to another aspect of the present invention includes: the parallel link mechanism; and a tool attached to a lower surface of a rotating body of the parallel link mechanism.

[0013] Effects of the Invention

[0014] According to each aspect of the present invention, in a parallel link mechanism that rotates a rotating body by the operation of a movable link, the rotation range of the rotating body can be increased without enlarging the size of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a perspective view showing an example of the transport device according to the first embodiment of the present invention.

[0016] Figure 2 It is a block diagram showing the electrical configuration of a parallel link mechanism included in the transport device (working robot according to the second embodiment of the present invention).

[0017] Figure 3 It is a perspective view showing a base, a moving body, and a fixed link included in the parallel linkage mechanism.

[0018] Figure 4It is a magnified representation Figure 3 A stereogram of a portion of.

[0019] Figure 5 It is a perspective view showing the tip end portion of a fixed link included in the parallel linkage mechanism.

[0020] Figure 6 This is a flowchart showing the flow of processing executed by the processor of the parallel link mechanism.

[0021] Figure 7 Shown is a side view of a handling device moving on an inclined plane.

[0022] Figure 8 It is a perspective view showing an example of a working robot according to a second embodiment of the present invention.

[0023] Fig. 9 This is a flowchart showing the flow of processing executed by a processor of the parallel link mechanism included in the working robot. DETAILED DESCRIPTION

[0024] <First Embodiment>

[0025] Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.

[0026] <Structure of the transport device>

[0027] The first embodiment of the present invention is a transport device 100. The transport device 100 transports a load. The load is not particularly limited, and the transport device 100 is suitable for transporting, for example, working tools of forestry workers, cut wood, etc. Figure 1 As shown, the transport device 100 includes a parallel link mechanism 100a and a moving mechanism 100b.

[0028] [Mobile mechanism]

[0029] The mobile mechanism 100b is configured to be movable on the ground. The mobile mechanism 100b of the present embodiment includes a power source 101 and a pair of left and right tracks 102. The power source 101 is an engine or a motor. The tracks 102 include a starting wheel (not shown) that rotates using the power from the power source 101, a guide wheel and a supporting wheel (not shown), and a cover plate 102a that surrounds them and moves with the rotation of the starting wheel. Thus, the mobile mechanism 100b can move on bad roads such as mountains and forests (roads with obstacles such as stones, and slopes with a large degree of inclination). In addition, the mobile mechanism 100b includes an operating unit (not shown) for controlling the power source 101. In addition, the mobile mechanism 100b may not include the cover plate 102a and may be composed of the power source 101 and the drive wheel. In addition, the mobile mechanism 100b may not be a dedicated device but a commercially available vehicle.

[0030] [Structure of the parallel linkage mechanism]

[0031] The parallel link mechanism 100 is mounted on the moving mechanism 100b. The parallel link mechanism 100a includes a base 1, a plurality of moving bodies 2, a fixed link 3, a rotating body 4, and a plurality of movable links 5. Figure 2 As shown, the parallel linkage mechanism 100a further includes a sensor 6, a power supply 7 and a control board 8. The power supply 7 and the control board 8 may be dedicated to the parallel linkage mechanism 100a or may be shared with the moving mechanism 100b.

[0032] 〔Base〕

[0033] like Figure 3 As shown, the base 1 includes a base body 11 and a plurality of support members 12. The base 1 of this embodiment includes four support members 12. In addition, the number of support members 12 included in the base 1 may be three or less, or five or more.

[0034] (Base body)

[0035] The base body 11 fixes the parallel link mechanism 100a to the moving mechanism 100b. The base body 11 of this embodiment is composed of a plurality of rod-shaped fixing members 111. The plurality of fixing members 111 are arranged in the front-rear direction ( Figure 3 Each fixing member 111 is arranged in the left-right direction ( Figure 3 The fixing members 111 are arranged so as to extend in a direction (connecting the upper right and lower left directions) and are mounted between the pair of crawlers 102. Moreover, the left and right ends of each fixing member 111 are fixed to the pair of crawlers 102. A support portion 111a for supporting the base end portion of the fixing link 3 is provided in the central portion of the fixing member 111 which is arranged so as to pass through the central portion of the moving mechanism 100b when viewed from above. In addition, the base body 11 may also be composed of a single member. In addition, the support portion 111a may be provided on the moving mechanism 100b (for example, on the power source 101) instead of on the fixing member 111.

[0036] (Supporting member)

[0037] like Figure 4 As shown, the support member 12 of the present embodiment includes a first support column 121 , a second support column 122 , a beam portion 123 , a guide member 124 , and a rack 125 .

[0038] ·pillar

[0039] The first support 121 and the second support 122 support the beam portion 123. Figure 3As shown, one of the first pillars 121 is mounted on the left end of the fixed member 111 passing through the central portion of the moving mechanism 100b in a manner extending upward, another of the first pillars 121 is mounted on the right end of the fixed member 111 passing through the central portion of the moving mechanism 100b in a manner extending upward, yet another of the first pillars 121 is mounted on the central portion of the fixed member 111 passing through the front end portion of the moving mechanism 100b in a manner extending upward, and yet another of the first pillars 121 is mounted on the central portion of the fixed member 111 passing through the rear end portion of the moving mechanism 100b in a manner extending upward. Figure 4 As shown, the height of the first pillar 121 is higher than the height of the second pillar 122. Each second pillar 122 is respectively installed in a portion of a corresponding one of the fixing members 111 between the support portion 111a of the fixing member 111 and the corresponding one of the first pillars 121 in a manner extending upward. The height of the second pillar 122 in a corresponding relationship is lower than the height of the first pillar 121. In addition, at least one of the first pillar 121 and the second pillar 122 may also be installed in the moving mechanism 100b. In addition, in this case, the base 1 may not include the fixing member 111.

[0040] ·Beam

[0041] Each cross beam 123 is arranged so as to extend from the support portion 111a of the fixing member 111 to each first pillar 121 (front, back, left, and right). Two opposite ends of each cross beam 123 are fixed to the upper end of a corresponding first pillar 121 among the first pillars 121 and the upper end of a corresponding second pillar 122 among the second pillars 122. Thus, each cross beam 123 extends forward, backward, left, and right from the central portion of the base body 11. As described above, the first pillar 121 supporting the cross beam 123 on the side farther from the support portion 111a is higher than the second pillar 122. Therefore, each cross beam 123 is inclined so as to rise as it is farther away from the central portion of the base body 11. The inclination angle of the cross beam 123 (the angle between the upper surface of the cross beam 123 and the horizontal plane) is preferably set within a range of 10° to 20°. The inclination angle of the present embodiment is 15°. In addition, the beam portion 123 may be supported by the first support column 121 and the support portion 111a of the fixing member 111. In this case, the base 1 may not include the second support column 122.

[0042] Guidance components

[0043] The guide member 124 guides the moving body 2. Each guide member 124 is provided on the upper surface of the beam portion 123 in a manner extending along the extension direction of a corresponding one of the beam portions 123. As described above, each beam portion 123 extends forward, backward, left and right, respectively. Therefore, the plurality of guide members 124 of the present embodiment also extend from the central portion (support portion 111a) of the base body 11 to the front, rear, left and right sides, respectively. In addition, as described above, each beam portion 123 is inclined. Therefore, all of the plurality of guide members 124 are inclined in a manner that they rise as they are away from the central portion of the base body 11. In addition, each guide member 124 may also be provided on the side or lower surface of a corresponding one of the beam portions 123.

[0044] ·rack

[0045] The rack 125 is provided on the upper surface of each beam portion 123 so as to extend in parallel with the guide member 124. In addition, each rack 125 may be provided on the side surface or the lower surface of a corresponding one of the beam portions 123. In addition, each rack 125 may be provided on a surface of a corresponding one of the beam portions 123 different from the surface on which the guide member 124 is provided.

[0046] (Base and others)

[0047] In addition, the plurality of beams 123 (the plurality of guide members 124, the plurality of racks 125) only need to extend in directions different from each other, away from the center of the base body 11, toward the peripheral portion of the base 1 (base body 11). Therefore, at least a portion of the plurality of beams 123 may be arranged so as to extend from the center of the base body 11 to (oblique) sides other than the front, rear, left, and right. In addition, at least any one of the plurality of beams 123 (the plurality of racks 125, the plurality of guide members 124) may be inclined so as to rise as it moves away from the center of the base body 11. That is, a portion of the plurality of beams 123 may not be inclined.

[0048] 〔Mobile body〕

[0049] The plurality of moving bodies 2 can move along the guide members 124, respectively. Figure 4 As shown in FIG. 1 , each moving body 2 includes a motor 21, a pinion 22, a speed reducer 23, and a connecting portion 24. Figure 2 As shown, each moving body 2 further includes an encoder 25 .

[0050] (motor)

[0051] The motor 21 rotates according to the control of the processor 84 of the control board 8 described later. The motor 21 of the present embodiment is a direct drive motor. Therefore, the motor 21 can move the moving body 2 (the base end of the movable link 5) at high speed and high precision. In addition, the motor 21 can fix the position of the moving body 2 only by stopping the supply of power. In addition, the motor 21 can also be a motor other than a direct drive motor.

[0052] (Small gear)

[0053] like Figure 4 As shown, each pinion 22 meshes with a corresponding one of the racks 125 and rotates according to the rotation of a corresponding one of the motors 21. As the pinion 22 rotates, a corresponding one of the moving bodies 2 moves along a corresponding one of the racks 125.

[0054] (reducer)

[0055] The speed reducer 23 is provided between the motor 21 and the pinion gear 22. Each speed reducer 23 has another gear interposed between a gear directly mounted on the rotating shaft of a corresponding one of the motors 21 and a corresponding one of the pinion gears 22. The speed reducer 23 increases the torque of the pinion gear 22 by using the other gear.

[0056] (Connection)

[0057] The connecting portion 24 is connected to the base end of the movable link 5. The connecting portion 24 of the present embodiment is composed of a ball joint. Each connecting portion 24 of the present embodiment is engaged with the guide member 124 of a corresponding one of the supporting members 12, and can slide relative to the guide member 124. In addition, the member engaged with the guide member 124 may also be a member other than the connecting portion 24 in the moving body 2.

[0058] (Encoder)

[0059] Each encoder 25 detects the rotation direction and rotation angle of a corresponding one of the motors 21. The encoder 25 outputs the detection result to the processor 84 of the control board 8.

[0060] 〔Fixed connecting rod〕

[0061] like Figure 3 As shown in the figure, the base end of the fixed link 3 is fixed to the central part of the base body 11 and extends in a direction away from the base 1. The fixed link 3 of this embodiment extends upward from the central part of the base body 11. The fixed link 3 of this embodiment has a link body 31 and a movable joint 32. The movable joint 32 is mounted on the link body 31. That is, the top end of the fixed link 3 becomes the movable joint 32.

[0062] like Figure 5 As shown, the movable joint 32 of the present embodiment includes a first member 321, a second member 322, a first shaft portion 323, a third member 324, and a second shaft portion 325. The first member 321 is fixed to the top end of the connecting rod body 31. The second member 322 is supported on the first member 321 in a pivotable manner by the first shaft portion 323 extending in the front-rear direction. Thus, the second member 322 can rotate relative to the first member 321 with the first shaft portion 323 as a rotation axis. The third member 324 is supported on the second member 322 in a pivotable manner by the second shaft portion 325 extending in a direction orthogonal to the extension direction of the first shaft portion 323 (in the left-right direction when the second member 322 is not rotated). Thus, the third member 324 can rotate relative to the second member 322 with the second shaft portion 325 as a rotation axis. In addition, the movable joint 32 may include one of the first shaft portion 323 and the second shaft portion 325 (or may not include the other). In addition, the first shaft portion 323 of the movable joint 32 may extend in the left-right direction. In addition, the movable joint 32 may include a shaft portion extending in a direction different from the first shaft portion 323 and the second shaft portion 325.

[0063] 〔Rotating body〕

[0064] like Figure 1 As shown, the center of the rotating body 4 is connected to the top end (movable joint 32) of the fixed link 3. The rotating body 4 of this embodiment is arranged above the base 1, and is connected to the top end of the fixed link 3 at the center of the lower surface. As described above, the top end of the fixed link 3 becomes the movable joint 32. Therefore, the rotating body 4 can rotate around the top end of the fixed link 3. Specifically, the rotating body 4 is connected to the fixed link 3 in a manner that it can rotate around the first shaft 323 of the movable joint 32 as the rotation axis and can rotate around the second shaft 325 of the movable joint 32 as the rotation axis. As a result, the rotating body 4 can be tilted in all directions relative to the base 1 in the same manner as when a ball joint is used. On the other hand, the movable joint 32 does not have a shaft extending in the extension direction of the fixed link 3. Therefore, the rotation of the rotating body 4 with the shaft extending in the extension direction of the fixed link 3 as the rotation axis is restricted. That is, the "rotation" action of the rotating body 4 does not include rotation with the straight line extending in the extension direction of the fixed link 3 as the rotation axis. The rotating body 4 of the present embodiment is a shelf on which objects can be placed. Hereinafter, the rotating body 4 of the present embodiment is referred to as a shelf 4. The shelf 4 of the present embodiment is formed in a rectangular plate shape in plan view. The upper surface of the shelf 4 is a placing surface 4a on which objects are placed.

[0065] 〔Movable connecting rod〕

[0066] like Figure 4As shown in FIG. 1 , the base ends of the plurality of movable links 5 are respectively connected to the moving bodies 2 (connecting parts 24). As described above, each moving body 2 is arranged on a guide member 124 extending forward, backward, left, and right from the center of the base body 11. Figure 1 As shown, the plurality of movable links 5 are arranged so as to surround the fixed link 3. The base end of the movable link 5 of this embodiment is connected to the moving body 2 via a ball joint. In addition, the top end of the plurality of movable links 5 is connected to the peripheral edge of the shelf 4. Figure 1 As shown, each top end portion of the movable link 5 of the present embodiment is respectively connected to the front, rear, left, and right ends of the shelf 4. Specifically, the top end portion of the movable link 5 whose base end portion is connected to the moving body 2 arranged in the front (rear) is connected to the front end portion (rear end portion) of the shelf 4. In addition, the top end portion of the movable link 5 whose base end portion is connected to the moving body 2 on the right (left) side is connected to the right end portion (left end portion) of the shelf 4. The top end portion of the movable link 5 of the present embodiment is connected to the shelf 4 via a ball joint. In addition, the top end portion of the movable link 5 may also be connected to a portion other than the front, rear, left, and right ends of the shelf 4 (for example, a portion closer to the center than the end portion, the four corners of the shelf 4, etc.).

[0067] Thus, each of the left and right front and rear ends of the shelf 4 is supported by the movable connecting rod 5 located below each end. Therefore, even when a load is loaded on the end of the loading surface 4a, the shelf 4 can continue to load the load stably. Therefore, a person who wants to load a load on the shelf 4 can do so without worrying about where the load is placed on the loading surface 4a. That is, according to the transport device 100 having the shelf 4 as described above, the efficiency of the operation of placing the load can be improved. In addition, the peripheral portion of the shelf 4 is supported by a plurality of movable connecting rods 5 as a whole. Moreover, the plurality of movable connecting rods 5 connected to the moving body 2 and the shelf 4 rotate the shelf 4 as the moving body 2 moves. Therefore, the shelf 4 can more reliably keep the loading surface 4a horizontal.

[0068] 〔sensor〕

[0069] The sensor 6 detects the inclination of the loading surface 4a of the shelf 4 relative to the horizontal plane. The sensor 6 of this embodiment is composed of a first angle sensor and a second angle sensor. The first angle sensor detects the inclination of the loading surface 4a in the front-to-back direction (the angle of the angle α formed by the intersection of the plane extending in the front-to-back direction and the vertical direction and the loading surface 4a and the intersection of the plane and the horizontal plane). The second angle sensor detects the inclination of the loading surface 4a in the left-to-right direction (the angle of the angle β formed by the intersection of the plane extending in the left-to-right direction and the vertical direction and the loading surface 4a and the intersection of the plane and the horizontal plane). Each angle sensor repeatedly detects the rotation angle at a predetermined period and repeatedly outputs the detection result to the processor 84. In addition, the sensor 6 can also be composed of a gyro sensor that detects angular velocity and angular acceleration and a processor that calculates the angle formed by the horizontal plane and the loading surface 4a based on its detection results. In addition, the sensor 6 can also be composed of a plurality of position sensors that detect the height of each part of the shelf 4 and a processor that calculates the angle formed by the horizontal plane and the loading surface 4a based on their detection results.

[0070] 〔power supply〕

[0071] The power source 7 is composed of a battery (not shown) and a power circuit (not shown). The power circuit always supplies power from the battery to the sensor 6 and the control board 8. In addition, the power circuit supplies power from the battery to the motor 21 according to an instruction from the processor 84.

[0072] 〔Control Panel〕

[0073] like Figure 2 As shown, the control board 8 includes an input / output interface 81 , a primary memory 82 , a secondary memory 83 , and a processor 84 . These components are electrically connected via a bus 85 .

[0074] (Input and output interface)

[0075] The input / output interface 81 connects the encoder 25, the sensor 6, and the power supply circuit of the power supply 7 to the processor 84. In addition, the input / output interface 81 connects the encoder 25 and the sensor 6 to the secondary memory 83.

[0076] (Memory)

[0077] The primary memory 82 stores at least a control program for operating the parallel link mechanism 100a. The secondary memory 83 is configured to store detection results of the encoder 25 and the sensor 6.

[0078] (processor)

[0079] The processor 84 controls the movement of each of the plurality of moving bodies 2 based on the detection result of the sensor 6 so that the inclination of the shelf 4 relative to the horizontal plane becomes the desired size. When the processor 84 of the present embodiment detects the inclination of the loading surface 4a of the shelf 4, the processor 84 controls the movement of each of the plurality of moving bodies 2 in such a way that the inclination of the loading surface 4a disappears. Specifically, the processor 84 performs the front-to-back direction processing and the left-to-right direction processing in parallel when the predetermined starting condition is satisfied. As the starting condition, the power supply 7 of the transport device 100 (parallel linkage mechanism 100a) is turned on, the load is loaded on the shelf 4, the operating unit is operated, the transport device 100 starts to move, etc.

[0080] like Figure 6 As shown, in the front-to-back direction processing, the processor 84 repeatedly performs the acquisition step A1, the first judgment step A2, the calculation step A3, the control step A4 and the second judgment step A5. In the initial acquisition step A1, the processor 84 acquires the output value α of the first angle sensor (the detected front-to-back tilt). In the next first judgment step A2, the processor 84 determines whether the output value α is greater than a specified value (for example, 0°). When the processor 84 determines that the output value α is less than the specified value (A2: No), it returns to the acquisition step A1. On the other hand, when the processor 84 determines that the output value α is greater than the specified value (A2: Yes), it transfers to the calculation step A3. In the calculation step A3, the processor 84 calculates the movement amount of the mobile body 2 located in front of the fixed link 3 and the movement amount of the mobile body 2 located behind the fixed link 3, respectively, which causes the third member 324 of the movable joint 32 to tilt by -α relative to the second member 322. In the next control step A4, the processor 84 controls the motor 21 of the moving body 2 located in front of the fixed link 3 so that the moving body 2 approaches the central part of the base body 11 or moves away from the central part by the movement amount calculated in the operation step A3. In addition, in the control step A4, the processor 84 controls the motor 21 of the moving body 2 located behind the fixed link 3 so that the moving body 2 moves away from the central part of the base body 11 or moves closer to the central part until the loading surface 4a of the shelf 4 becomes horizontal. In the next second judgment step A5, the processor 84 judges whether the conveying device 100 (moving mechanism 100b) is moving. When the processor 84 judges that the conveying device 100 is moving (A5: Yes), it returns to the acquisition step A1. On the other hand, when the processor 84 judges that the conveying device 100 is not moving (A5: No), the processor 84 ends the front-back direction processing.

[0081] In the left and right direction processing, the processor 84 repeatedly performs the acquisition step B1, the first judgment step B2, the calculation step B3, the control step B4 and the second judgment step B5. In the initial acquisition step B1, the processor 84 acquires the output value β of the second angle sensor (the detected left and right tilt). In the next first judgment step B2, the processor 84 determines whether the output value β is greater than a specified value (for example, 0°). When the processor 84 determines that the output value β is less than the specified value (B2: No), it returns to the acquisition step B1. On the other hand, when the processor 84 determines that the output value β is greater than the specified value (B2: Yes), it transfers to the calculation step B3. In the calculation step B3, the processor 84 calculates the movement amount of the mobile body 2 located on the right side of the fixed link 3 and the movement amount of the mobile body 2 located on the left side of the fixed link 3, which causes the second member 322 of the movable joint 32 to tilt by -β relative to the first member 321. In the next control step B4, the processor 84 controls the motor 21 of the mobile body 2 located on the right side of the fixed link 3 so that the mobile body 2 approaches the central part of the base body 11 or moves away from the central part by the movement amount calculated in the operation step B3. In addition, in the control step B4, the processor 84 controls the motor 21 of the mobile body 2 located on the left side of the fixed link 3 so that the mobile body 2 moves away from the central part of the base body 11 or approaches the central part until the loading surface 4a of the shelf 4 becomes horizontal. In the next second judgment step B5, the processor 84 judges whether the conveying device 100 is moving. When the processor 84 judges that the conveying device 100 is moving (B5: Yes), it returns to the acquisition step B1. On the other hand, when the processor 84 judges that the conveying device 100 is not moving (B5: No), the processor 84 ends the left and right direction processing.

[0082] The processor 84 of this embodiment rotates the motor 21 based on the detection result of the encoder 25. Therefore, the processor 84 does not need to grasp the rotation direction and rotation angle of the motor 21 (for example, measure the power supply time of the motor 21). Therefore, the control performed by the processor 84 can be simplified.

[0083] <Operation of the transport device (parallel linkage mechanism)>

[0084] The transport device 100 constructed as described above loads the load onto the loading surface 4a of the shelf 4. As described above, the transport device 100 (parallel linkage mechanism 100a) supports the center portion of the shelf 4 using the fixed link 3. That is, the overall rigidity of the transport device 100 (parallel linkage mechanism 100a) is relatively high. In addition, in the transport device 100 (parallel linkage mechanism 100a), the fixed link 3 replaces the movable link 5 to bear the load of the load acting on the center portion of the shelf 4. In addition, as described above, a speed reducer 23 is provided between the motor 21 and the pinion 22. Therefore, the moving body 2 will not move due to the load from the shelf 4. Therefore, the transport device 100 can stably load a heavy load.

[0085] When the user operates an operating unit not shown in the figure, the power source 101 supplies power to a pair of tracks 102, and the transport device 100 starts to move in a direction corresponding to the operation performed on the operating unit and at a speed corresponding to the operation. When the transport device 100 starts to move, the sensor 6 repeatedly detects the inclination of the loading surface 4a of the shelf 4 relative to the horizontal plane. When the transport device 100 drives onto an obstacle or a slope, etc., the transport device 100 tilts as a whole. At this time, the shelf 4 also tilts, and the sensor 6 detects the inclination of the loading surface 4a. Then, the processor 84 controls the motor 21 of the moving body 2 to move the moving body 2. When the moving body 2 moves, the movable link 5 moves, and the shelf 4 rotates around the first shaft portion 323 and / or the second shaft portion 325 of the movable joint 32 of the fixed link 3. Moreover, as Figure 7 As shown, even if the moving mechanism 100b is tilted according to the condition of the road surface R, the parallel link mechanism 100a can keep the loading surface 4a horizontal. As described above, the four guide members 124 for the movement of the moving body 2 extend from the central part of the base body 11 to the front, rear, and left and right sides. Therefore, no matter in which direction the base 1 is tilted, the transport device 100 can keep the loading surface 4a horizontal.

[0086] Especially in the mountains and forests, the inclination of the slope sometimes changes sharply or frequently with the movement. However, as mentioned above, each of the motors 21 is a direct drive motor. Therefore, even when the base 1 tilts sharply or the inclination of the base 1 changes frequently, the transport device 100 (parallel linkage mechanism 100a) can move the movable link 5 at high speed and high precision to continuously keep the loading surface 4a of the shelf 4 level. In addition, as mentioned above, a speed reducer 23 is provided between the motor 21 and the pinion 22. Therefore, even if the self-shelf 4 is instantly subjected to a large load due to the change in inclination, the movable body 2 will not move.

[0087] During the movement of the transport device 100 (parallel linkage mechanism 100a), if the tilt does not change, the processor 84 stops the power supply to the motor 21. As described above, each motor 21 is a direct drive motor. Therefore, the transport device 100 (parallel linkage mechanism 100a) can fix the moving body 2 (the base end of the connecting rod) in place by simply stopping the power supply to the motor 21.

[0088] <Effects of Parallel Link Mechanism and Transport Device>

[0089] As described above, in the parallel linkage mechanism 100a described above, the guide member 124 is inclined in a manner that the farther away from the central part of the base body 11, the more it rises (the closer it is to the shelf 4). Therefore, compared with the conventional parallel linkage mechanism in which the guide members of the same length are arranged horizontally, the width of the parallel linkage mechanism 100a in the horizontal direction is smaller. That is, the parallel linkage mechanism 100a is more compact. In other words, the parallel linkage mechanism 100a can make the length of the guide member 124 (the movable area of ​​the moving body 2) longer than the length of the guide member of the conventional parallel linkage mechanism by increasing the width in the horizontal direction within the range not exceeding that of the conventional parallel linkage mechanism. In addition, since the cross beam 123, the guide member 124 and the rack 125 are inclined, when the moving body 2 moves, the moving body 2 and the movable link 5 are also displaced in the extension direction of the fixed link 3. The displacement of the moving body 2 and the movable link 5 in the extension direction of the fixed link 3 is added to the action of the movable link 5 when the shelf 4 is rotated. Thus, compared with the case where the conventional parallel linkage mechanism in which the guide member is arranged horizontally moves the moving body 2 by a predetermined distance, the parallel linkage mechanism 100a can increase the rotation range of the shelf 4 when the moving body 2 moves the same distance. Thus, according to the parallel linkage mechanism 100a, the rotation range of the shelf 4 can be increased without increasing the size of the mechanism.

[0090] In addition, the transport device 100 is provided with the parallel link mechanism 100a, and thus, even without increasing the size of the device, it is possible to keep the loading surface 4a horizontal (stably transport the load) on an inclined surface that is difficult to keep the loading platform horizontal using conventional transport devices (e.g., about 20°). Therefore, the transport device 100 can also be used in industries such as forestry that involve operations on steep inclined surfaces. In addition, even if the rotation range of the rotating body 4 increases, the size (width, height) of the transport device 100 is smaller than that of conventional transport devices, and therefore, it is possible to load and unload loads and pass through roads as in the past.

[0091] <Second Embodiment>

[0092] Next, a second embodiment of the present invention will be described in detail. For convenience of description, components having the same functions as those described in the first embodiment are denoted by the same reference numerals, and description thereof will not be repeated.

[0093] <Structure of the working robot>

[0094] The second embodiment of the present invention is a working robot 200. Figure 8 As shown in FIG. 1 , the working robot 200 includes a parallel link mechanism 200a and a tool 200b. The parallel link mechanism 200a of the present embodiment is disposed above the tool 200b.

[0095] [Structure of the parallel linkage mechanism]

[0096] The parallel linkage mechanism 200a of this embodiment includes the same base 1, multiple moving bodies 2, fixed links 3, rotating bodies 4, multiple movable links 5, sensors 6 and power supply 7 as the first embodiment. Figure 2 As shown, it also includes a control board 8A. In addition, the parallel linkage mechanism 200a of this embodiment includes an input unit not shown. In addition, the power supply 7 of this embodiment can also be configured to be without a battery (composed of a power supply circuit and a power supply cable), and receive power supply from a device (factory, etc.) where the parallel linkage mechanism 200a is installed.

[0097] [Differences between base, moving body, fixed link, rotating body, and movable link]

[0098] like Figure 8 As shown, the arrangement of the parts of the parallel linkage mechanism 200a except the electrical structure, namely the base 1, the plurality of moving bodies 2, the fixed links 3, the rotating body 4 and the plurality of movable links 5 is vertically reversed from the arrangement of the parallel linkage mechanism 100a of the first embodiment.

[0099] That is, the fixed link 3 extends downward from the center of the base body 11. In addition, at least one of the plurality of guide members 124 is inclined so as to descend as it moves away from the center of the base body 11. In addition, the rotating body 4 is arranged below the base 1 and is connected to the top end of the fixed link 3 at the center of the upper surface. The rotating body 4 of this embodiment can be equipped with a tool 200b on the lower surface. Figure 8 In the figure, the same plate-shaped structure as in the first embodiment is illustrated for the rotating body 4, but it is not limited to the illustrated shape as long as the top end of the movable link 5 can be connected to the rotating body 4 and the tool 200b can be mounted on the rotating body 4. In addition, the movable body 2 of this embodiment may not have the speed reducer 23.

[0100] 〔Input section〕

[0101] The action instruction of the rotating body 4 is input to the input unit. The input unit can be a communication unit that receives the action instruction from the teaching device and the remote operation device, or it can be a terminal connected to the teaching device and the remote operation device. The teaching device is a device that generates action instructions based on the user's input (programming). The remote operation device is a device that detects the user's operation and the user's action, and generates an action instruction corresponding to the detection result. In addition, the input unit can be a driver that reads the operation instruction from a medium storing the operation instruction, or it can be an operation unit that directly receives the input operation of the user's action instruction.

[0102] like Figure 2 As shown, the control board 8A includes a primary memory 82A in addition to the input / output interface 81, secondary memory 83, processor 84, and bus 85 similar to the control board 8 of the first embodiment. The primary memory 82A stores a control program (different from the first embodiment) for operating the parallel linkage 200a.

[0103] When the processor 84 obtains the motion instruction of the rotating body 4, it controls the movement of each of the plurality of moving bodies 2 in such a way that the inclination of the rotating body 4 relative to the horizontal plane becomes a size corresponding to the motion instruction. Specifically, the processor 84 executes the second front-to-back direction processing and the second left-to-right direction processing in parallel when the predetermined starting condition is satisfied. As the starting condition, the power supply 7 of the working robot 200 (parallel linkage mechanism 200a) is turned on, the tool 200b starts to move, the operating unit is operated, etc.

[0104] like Fig. 9As shown, in the second front-to-back direction processing, the processor 84 repeatedly executes the second acquisition step C1, the third acquisition step C2, the third judgment step C3, the second operation step C4, the second control step C5 and the fourth judgment step C6. In the first second acquisition step C1, the processor 84 acquires the target value of the tilt in the front-to-back direction of the mounting surface 4b contained in the action instruction input to the input unit (the angle θ formed by the intersection line of the plane extending in the front-to-back direction and the vertical direction with the mounting surface 4b and the intersection line of the plane with the horizontal plane). In the next third acquisition step C2, the processor 84 acquires the output value α of the first angle sensor (the detected front-to-back tilt). In the next third judgment step C3, the processor 84 judges whether the output value α is equal to the target value θ. When the processor 84 judges that the output value α is equal to the target value θ (C3: Yes), it returns to the second acquisition step C1. On the other hand, when the processor 84 determines that the output value α is not equal to the target value θ (there is a difference) (C3: No), the process proceeds to the second operation step C4. In the second operation step C4, the processor 84 calculates the movement amount of the moving body 2 located in front of the fixed link 3 and the movement amount of the moving body 2 located behind so that the inclination of the third member 324 of the movable joint 32 relative to the second member 322 becomes θ. In the next second control step C5, the processor 84 controls the motor 21 of the moving body 2 located in front of the fixed link 3 so that the moving body 2 approaches the central part of the base body 11 or moves away from the central part by the movement amount calculated in the second operation step C4. In addition, in the second control step C5, the processor 84 controls the motor 21 of the mobile body 2 located behind the fixed link 3 to move the mobile body 2 away from the central part of the base body 11 or close to the central part until the inclination of the mounting surface 4b of the rotating body 4 in the front-to-back direction (the output value α of the first angle sensor) is equal to the target value θ. In the next fourth judgment step C6, the processor 84 judges whether the working robot 200 is in operation. When the processor 84 judges that the working robot 200 is in operation (C6: Yes), it returns to the second acquisition step C1. On the other hand, when the processor 84 judges that the working robot 200 is not in operation (C6: No), the processor 84 ends the second front-to-back direction processing.

[0105] In the second left-right direction processing, the processor 84 repeatedly executes the second acquisition step D1, the third acquisition step D2, the third judgment step D3, the second operation step D4, the second control step D5 and the fourth judgment step D6. In the first second acquisition step D1, the processor 84 acquires the target value of the left-right direction tilt of the mounting surface 4b included in the action instruction input to the input unit (the angle φ formed by the intersection of the plane extending in the left-right direction and the vertical direction with the mounting surface 4b and the intersection of the plane with the horizontal plane). In the next third acquisition step D2, the processor 84 acquires the output value β of the second angle sensor (the detected left-right tilt). In the next third judgment step D3, the processor 84 judges whether the output value β is equal to the target value φ. When the processor 84 judges that the output value β is equal to the target value φ (D3: Yes), it returns to the second acquisition step D1. On the other hand, when the processor 84 determines that the output value β is not equal to the target value φ (there is a difference) (D3: No), it transfers to the second operation step D4. In the second operation step D4, the processor 84 calculates the movement amount of the mobile body 2 located on the right side of the fixed link 3 and the movement amount of the mobile body 2 located on the left side so that the inclination of the second member 322 of the movable joint 32 relative to the first member 321 becomes φ. In the next second control step D5, the processor 84 controls the motor 21 of the mobile body 2 located on the right side of the fixed link 3 so that the mobile body 2 approaches the central part of the base body 11 or moves away from the central part by the movement amount calculated in the second operation step D4. In addition, in the second control step D5, the processor 84 controls the motor 21 of the mobile body 2 located on the left side of the fixed link 3 to move the mobile body 2 away from the central part of the base body 11 or close to the central part until the inclination of the mounting surface 4b of the rotating body 4 in the left-right direction (the output value β of the first angle sensor) is equal to the target value φ. In the next fourth judgment step D6, the processor 84 judges whether the working robot 200 is in operation. When the processor 84 judges that the working robot 200 is in operation (D6: Yes), it returns to the second acquisition step D1. On the other hand, when the processor 84 judges that the working robot 200 is not in operation (D6: No), the processor 84 ends the second left-right direction processing.

[0106] [tool]

[0107] The tool 200b is mounted on the lower surface of the rotating body 4 of the parallel link mechanism 200a. Figure 8 In the embodiment of the present invention, a hand grinder is illustrated as an example of the tool 200b, but the tool 200b is not limited thereto. The tool 200b may be, for example, a drill, a cutter, a screwdriver, a hammer, a welding torch, a suction cup, a gripping member, or the like.

[0108] <Operation of the working robot (parallel linkage mechanism)>

[0109] The working robot 200 constructed as described above installs the tool 200b below the mounting surface 4b of the rotating body 4. As described above, the working robot 200 (parallel linkage mechanism 200a) supports the center of the rotating body 4 using the fixed link 3. That is, the overall rigidity of the working robot 200 (parallel linkage mechanism 200a) is high. In addition, in the working robot 200 (parallel linkage mechanism 200a), the fixed link 3 replaces the movable link 5 to bear the load of the tool 200b acting on the center of the rotating body 4. Therefore, the working robot 200 can move even a heavy tool 200b.

[0110] When the user operates the operating part (not shown), the tool 200b starts to move. In the case where the tool 200b is a hand-cranked grinder, the disc (blade, grindstone) is rotated. When the tool 200b starts to move, the processor 84 repeatedly obtains the operation instruction. In addition, when the tool 200b starts to move, the sensor 6 repeatedly detects the inclination of the mounting surface 4b of the rotating body 4 relative to the horizontal plane. When the working robot 200 obtains the action instruction to rotate the rotating body 4, the processor 84 controls the motor 21 of the moving body 2 to move the moving body 2. When the moving body 2 moves, the movable connecting rod 5 moves, and the rotating body 4 rotates around the first shaft portion 323 and / or the second shaft portion 325 of the movable joint 32 of the fixed connecting rod 3. As described above, the four guide members 124 for the movement of the moving body 2 extend from the central part of the base body 11 to the front, rear, and left and right sides. Therefore, regardless of which direction, the parallel linkage mechanism 200a can tilt the rotating body 4.

[0111] Sometimes, an action instruction from the user is sent suddenly. In addition, the action instruction sometimes changes frequently. However, as described above, each of the motors 21 is a direct drive motor. Therefore, even in the case where an action instruction is received suddenly or the action instruction changes frequently, the working robot 200 (parallel linkage mechanism 200a) can move the movable link 5 at high speed and high precision, and tilt the rotating body 4 at a desired angle.

[0112] During the operation of the working robot 200 (parallel linkage mechanism 200a), if the action instruction does not change, the processor 84 stops the power supply to the motor 21. As described above, each motor 21 is a direct drive motor. Therefore, the working robot 200 (parallel linkage mechanism 200a) can fix the moving body 2 (the base end of the connecting rod) in place by simply stopping the power supply to the motor 21.

[0113] <Effects of Parallel Link Mechanism and Working Robot>

[0114] As described above, in the parallel linkage mechanism 200a described above, the guide member 124 is inclined in a manner that the farther away from the central part of the base body 11, the lower it is (the closer it is to the rotating body 4). Therefore, as with the parallel linkage mechanism 100a of the first embodiment, the parallel linkage mechanism 200a is more compact than the conventional parallel linkage mechanism in which the guide members of the same length are arranged horizontally. In addition, the parallel linkage mechanism 200a can make the length of the guide member 124 (the movable area of ​​the moving body 2) longer than the length of the guide member of the conventional parallel linkage mechanism by increasing the width in the horizontal direction within the range not exceeding that of the conventional parallel linkage mechanism. In addition, compared with the case where the conventional parallel linkage mechanism in which the guide member is arranged horizontally moves the moving body by a predetermined distance, the parallel linkage mechanism 200a can increase the rotation range of the rotating body 4 when the moving body 2 is moved by the same distance. In this way, according to the parallel linkage mechanism 200a, the rotation range of the rotating body 4 can be expanded without increasing the size of the mechanism.

[0115] In addition, the working robot 200 is provided with the parallel link mechanism 200a, so that the tool 200b can be tilted to a degree (e.g., about 20°) that is difficult to achieve with conventional working robots, even without increasing the size of the device. Therefore, according to the working robot 200, it is not necessary to increase the inclination of the tool 200b relative to the object by using a mechanism that tilts the object to be processed by the tool 200b. In addition, according to the working robot 200, at least a part of the finishing process that cannot be performed by conventional working robots and is performed manually can be automated.

[0116] <Variations of the First and Second Embodiments>

[0117] The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. That is, embodiments obtained by appropriately combining the technical means disclosed in the different embodiments are also included in the technical scope of the present invention.

[0118] For example, part or all of the functions of the processor can also be implemented by a logic circuit. For example, an integrated circuit having a logic circuit that functions as each of the control modules is also included in the scope of the present invention. In addition, for example, a quantum computer can also be used to implement the functions of each of the control modules.

[0119] [Note]

[0120] The parallel linkage mechanism of the first aspect of the present invention is configured as follows: the parallel linkage mechanism comprises: a base, which includes a base body and a plurality of guide members, the plurality of guide members respectively extending from the central portion of the base body toward the peripheral portion of the base body in directions away from the central portion of the base body and in directions different from each other; a plurality of moving bodies, which can move along each of the guide members; a fixed link, whose base end portion is fixed to the central portion of the base body and extends in a direction away from the base; a rotating body, whose central portion is connected to the top end portion of the fixed link and can rotate with the top end The base body is a main body of the base, and the main body is a plurality of movable links, each of which has a base end connected to the movable body and a top end connected to the peripheral edge of the rotating body, so that the rotating body rotates along with the movement of the movable body; a sensor, which detects the inclination of the rotating body relative to the horizontal plane; and a processor, which controls the movement of the plurality of movable bodies based on the detection result of the sensor so that the inclination of the rotating body relative to the horizontal plane becomes a desired size, and at least one of the plurality of guide members is inclined in a manner that the farther away from the central part of the base body, the closer to the rotating body.

[0121] The parallel linkage mechanism of mode 2 of the present invention can be constructed as follows: in the above-mentioned mode 1, the fixed link extends upward from the central part of the base body, the rotating body is a shelf, which is arranged above the base and is connected to the top end of the fixed link at the center of the lower surface, and can carry loads on the upper surface, at least any one of the multiple guide members is inclined in a manner that the farther away from the central part of the base body, the higher it rises, and when the processor detects the inclination of the rotating body, it controls the movement of the multiple movable bodies so that the inclination of the rotating body disappears.

[0122] The parallel linkage mechanism of mode 3 of the present invention can be constructed as follows: in the above-mentioned mode 1, the fixed link extends downward from the central part of the base body, the rotating body is arranged below the base, and is connected to the top end of the fixed link at the center of the upper surface, and a tool can be installed on the lower surface, and at least any one of the multiple guide members is inclined in a manner that the farther away from the central part of the base body, the lower it descends, and the processor controls the movement of the multiple movable bodies when obtaining an action indication of the rotating body so that the inclination of the rotating body relative to the horizontal plane becomes a size corresponding to the action indication.

[0123] The parallel linkage mechanism of mode 4 of the present invention can be constructed as follows: in any one of the above-mentioned modes 1 to 3, the multiple guide members respectively include racks extending parallel to the multiple guide members, and the multiple moving bodies respectively include: a motor, which rotates according to the control of the processor; and a pinion, which is respectively engaged with a corresponding one of the racks and rotates according to the rotation of the motor.

[0124] A parallel linkage mechanism according to a fifth aspect of the present invention may be configured such that, in the fourth aspect, each of the motors is a direct drive motor.

[0125] A parallel link mechanism according to a sixth aspect of the present invention may be configured such that, in the fourth or fifth aspect, each of the plurality of moving bodies includes a speed reducer between the motor and the pinion gear.

[0126] The parallel linkage mechanism of mode 7 of the present invention can be constructed as follows: in any one of the above-mentioned modes 4 to 6, the multiple moving bodies each have an encoder, which detects the rotation direction and rotation angle of a corresponding one of the motors, and the processor rotates the motor based on the detection result of the encoder.

[0127] The parallel linkage mechanism of mode 8 of the present invention can be constructed as follows: in any one of the above-mentioned modes 1 to 7, the multiple guide members extend from the central part of the base body to the front, rear, left and right sides respectively, and all are inclined in a manner that the farther away from the central part of the base body, the closer to the rotating body, and the top ends of the multiple movable links are respectively connected to the front, rear, left and right ends of the rotating body.

[0128] The parallel linkage mechanism of mode 9 of the present invention can be constructed as follows: in any one of the above-mentioned modes 1 to 8, the top end portion of the fixed link becomes a movable joint having an axis portion extending in a direction orthogonal to the extension direction of the fixed link at the center portion of the rotating body, and the rotating body is connected to the fixed link in a manner that it can rotate around the axis portion as a rotation axis.

[0129] The parallel linkage mechanism of mode 10 of the present invention can be constructed as follows: in the above-mentioned mode 9, the movable joint has: a first shaft portion, which extends in the front-to-back direction; and a second shaft portion, which extends in the left-to-right direction, and the rotating body is connected to the fixed link in a manner that it can rotate around the first shaft portion as a rotation axis and can rotate around the second shaft portion as a rotation axis.

[0130] The transport device according to aspect 11 of the present invention may be configured to include: a moving mechanism that is movable on the ground; and the parallel link mechanism according to aspect 2 mounted on the moving mechanism.

[0131] A working robot according to aspect 12 of the present invention may be configured to include: the parallel link mechanism according to aspect 3; and a tool attached to a lower surface of a rotating body of the parallel link mechanism.

Claims

1. A parallel linkage mechanism, characterized in that: The parallel linkage mechanism has: A base, comprising a base body and a plurality of guide members, wherein the plurality of guide members extend from a central portion of the base body toward a peripheral portion of the base body in directions away from the central portion of the base body and in directions different from each other; a plurality of moving bodies capable of moving along each of the guide members; A fixed connecting rod, the base end of which is fixed to the central portion of the base body and extends in a direction away from the base; A rotating body, the center portion of which is connected to the top end portion of the fixed link and can rotate around the top end portion; A plurality of movable links, the base ends of which are respectively connected to the moving body and the top ends of which are respectively connected to the peripheral edge of the rotating body, so that the rotating body rotates along with the movement of the moving body; a sensor that detects the inclination of the rotating body relative to a horizontal plane; and a processor that controls the movement of the plurality of moving bodies based on the detection result of the sensor so that the inclination of the rotating body relative to the horizontal plane becomes a desired size, At least one of the plurality of guide members is inclined so as to be closer to the rotating body as it is farther away from the central portion of the base body.

2. The parallel linkage mechanism according to claim 1, characterized in that: The fixing link extends upward from the central portion of the base body. The rotating body is a shelf, which is arranged above the base and connected to the top end of the fixed link at the center of the lower surface, and can carry loads on the upper surface. At least any one of the plurality of guide members is inclined so as to rise as it moves away from the central portion of the base body. When the processor detects the tilt of the rotating body, it controls the movement of the plurality of moving bodies so that the tilt of the rotating body disappears.

3. The parallel linkage mechanism according to claim 1, characterized in that: The fixing link extends downward from the central portion of the base body. The rotating body is arranged below the base and connected to the top end of the fixed link at the center of the upper surface, and a tool can be installed on the lower surface. At least any one of the plurality of guide members is inclined so as to be lowered as it moves away from the central portion of the base body. When the processor acquires the motion instruction of the rotating body, it controls the movement of the plurality of moving bodies so that the inclination of the rotating body with respect to the horizontal plane becomes a magnitude corresponding to the motion instruction.

4. The parallel linkage mechanism according to any one of claims 1 to 3, characterized in that: The base includes a plurality of racks extending in parallel with the plurality of guide members, respectively. The plurality of moving bodies respectively include: a motor that rotates according to control of the processor; and The pinions are respectively engaged with corresponding ones of the plurality of racks and rotated according to the rotation of the motor.

5. The parallel linkage mechanism according to claim 4, characterized in that: The motors are respectively direct drive motors.

6. The parallel linkage mechanism according to claim 4, characterized in that: Each of the plurality of moving bodies includes a speed reducer between the motor and the pinion gear.

7. The parallel linkage mechanism according to claim 4, characterized in that: Each of the plurality of moving bodies includes an encoder that detects a rotation direction and a rotation angle of a corresponding one of the motors. The processor rotates the motor based on a detection result of the encoder.

8. The parallel linkage mechanism according to claim 1, characterized in that: The plurality of guide members extend from the center of the base body to the front, rear, left and right sides, respectively, and are all inclined so as to be closer to the rotating body as they are farther away from the center of the base body. The top ends of the plurality of movable links are respectively connected to the front, rear, left and right ends of the rotating body.

9. The parallel linkage mechanism according to claim 1, characterized in that: The top end of the fixed link is a movable joint having a shaft portion extending in a direction orthogonal to the extension direction of the fixed link at the center of the rotating body. The rotating body is connected to the fixed link so as to be rotatable about the shaft portion as a rotation axis.

10. The parallel linkage mechanism according to claim 9, characterized in that: The movable joint has: a first shaft portion extending in the front-rear direction; and The second shaft portion extends in the left-right direction. The rotating body is connected to the fixed link so as to be rotatable about the first shaft portion as a rotation axis and to be rotatable about the second shaft portion as a rotation axis.

11. A transport device, characterized in that: The transport device has: a moving mechanism capable of moving above the ground; and The parallel linkage mechanism according to claim 2 is mounted on the moving mechanism.

12. A working robot, characterized in that: The robot for this operation has: The parallel linkage mechanism of claim 3; and A tool is mounted on the lower surface of the rotating body of the parallel linkage mechanism.

Images