Method for assembling parallel link robot, method for conveying parallel link

Abstract

A method for assembling a parallel link robot in which a base unit and a movable part of the parallel link robot are connected by a linear body, the method including: connecting the base unit and the movable part by a connector in a state in which all driven links are detached from each of the drive links and the movable part; hoisting the foundation part unit; and connecting the driving link and the movable part by the driven link, and the connecting piece has a length at which the line body is loosened when the movable part is suspended below the base unit by the connecting piece.

Description

Technical Field

[0001] The invention relates to an assembling method, a transporting method, a disassembling method and an assembly kit of a parallel linkage robot. Background Art

[0002] A parallel link robot that is suspended from a ceiling or a gantry is known (see, for example, Patent Document 1). This parallel link robot includes a base portion fixed to a mounting surface such as a gantry, a movable portion disposed below the base portion, and a link portion connecting the base portion and the movable portion.

[0003] The link portion includes a plurality of driving links and driven links. The driving links are connected to the base portion, and the driven links connect the front ends of the driving links to the movable portion. The ends of the driven links are connected to the driving links and the movable portion respectively by ball joints, and are configured to be attachable and detachable.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2017-217709 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] When transporting such a parallel link robot, the driven link is sometimes removed to make it compact. In this case, if the base and movable parts are connected by a filament such as a cable, there is a possibility that a load may be applied to the filament during assembly, transportation, or disassembly, causing damage to the filament.

[0009] Therefore, it is desirable to prevent an excessive load from being applied to the umbilical cord when the driven link of the parallel link robot is detached.

[0010] Solutions for solving problems

[0011] One embodiment of the present invention is an assembling method of a parallel linkage robot, which comprises: a base unit, which comprises a base and a plurality of driving links, and the plurality of driving links are installed on the base in a manner that can rotate around a plurality of axes respectively; a movable part, which is arranged at intervals relative to the base unit; and a driven link, which is connected to each of the driving links and the movable part in a manner that can be loaded and unloaded, and the base unit and the movable part are connected by a line body. The assembling method of the parallel linkage robot includes: in a state where all the driven links are removed from each of the driving links and the movable part, connecting the base unit and the movable part by using a connecting member; lifting the base unit; and connecting the driving link and the movable part by using the driven link, the connecting member having the following length: when the movable part is hung below the base unit by the connecting member, the line body is relaxed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a front view showing an example of a parallel link robot to which an assembly method according to an embodiment of the present invention is applied.

[0013] Figure 2 It shows that Figure 1 A front view of a parallel link robot showing a driven link installed between a driving link and a movable part.

[0014] Figure 3 Yes Figure 1 A flowchart illustrating the assembly method.

[0015] Figure 4 It shows the connection using a connecting piece Figure 1 A three-dimensional view of the subassembly consisting of the base unit and movable part of the parallel linkage robot.

[0016] Figure 5 It is shown in Figure 3 A partially enlarged view of the connection step of the flowchart of FIG. 1 , wherein the connection member is installed on the ball stud.

[0017] Figure 6 It shows Figure 4 Side view of the cable in the subassembly at its longest stretch.

[0018] Figure 7 It shows Figure 1 A perspective view of the assembly kit of the parallel link robot.

[0019] Figure 8 It shows Figure 3 Flowchart of the lifting step and side view of the hanging step.

[0020] Figure 9 It shows Figure 5 A partially enlarged view of a modified example of a connecting member being installed on a ball stud.

[0021] Figure 10 It shows Figure 5 A partially enlarged view of another modified example of a connecting member being installed on a ball stud.

[0022] Figure 11 It shows Figure 5 A partially enlarged view of a modified example of a connecting member being installed on a drive connecting rod.

[0023] Figure 12 It shows Figure 5 A front view of a modified example of the connecting member.

[0024] Figure 13 This is a perspective view showing an example of a parallel link robot in a disassembled state being transported by a transport method according to an embodiment of the present invention.

[0025] Figure 14 Yes Figure 13 A flowchart illustrating the transport method.

[0026] Figure 15 It is shown based on Figure 13 A three-dimensional diagram of the handling form of the parallel linkage robot using the handling method.

[0027] Figure 16 This is a flowchart illustrating a method for disassembling a parallel link robot according to one embodiment of the present invention. DETAILED DESCRIPTION

[0028] Hereinafter, an assembling method of a parallel link robot 100 and an assembly kit 110 according to an embodiment of the present invention will be described with reference to the drawings.

[0029] First, according to Figure 1 as well as Figure 2 , a parallel link robot 100 to which the assembly method of this embodiment is applicable will be described.

[0030] The parallel link robot 100 includes, for example, a base 20 fixed to a ceiling, a movable portion 30 spaced apart and disposed below the base 20 , and three sets of arms 40 connecting the base 20 and the movable portion 30 in parallel.

[0031] The base 20 includes a base 21 fixed to a ceiling or the like, and three servo motors and reducers (not shown) housed within a housing 22 for driving each arm 40. The housing 22 is fixed to the base 21. The three servo motors and reducers are circumferentially spaced at equal intervals around a vertical axis A passing through the center of the base 20.

[0032] Each arm 40 includes a driving link 41 and a driven link 42. The driving link 41 is supported so as to be rotatable about an axis B extending tangentially to the same circle centered on the axis A. The driven link 42 connects the driving link 41 to the movable portion 30. The base 20 and the three driving links 41 attached to the three servo motors via speed reducers constitute the base unit 25.

[0033] Each driven link 42 includes: a link portion 42a, two of which are arranged in parallel for each driving link 41; and a biasing member 42b, which pulls the two link portions 42a toward each other. Figure 2 As shown, each link portion 42 a includes a round rod-shaped link body 43 and sockets 44 and 45 fixed to both ends of the link body 43 .

[0034] A ball stud 46 is fixed to each side of the front end of each drive link 41 in the direction of axis B. Furthermore, projections 31 projecting radially outward are provided at three locations circumferentially spaced evenly apart on the outer periphery of the housing 30a of the movable portion 30. A ball stud 47 is fixed to each side surface of each projection 31.

[0035] The sockets 44 at one end of each pair of link portions 42a are detachably fitted into the ball studs 46 of the corresponding drive links 41, thereby forming a ball joint 50. Furthermore, the sockets 45 at the other end of each pair of link portions 42a are detachably fitted into the ball studs 47 of the corresponding protrusions 31, thereby forming a ball joint 51.

[0036] The urging member 42b is, for example, a coil spring and has hooks 42c at both ends. The hooks 42c at both ends of the two urging members 42b are hooked on bushings 44b and 45b, respectively. The bushings 44b and 45b are provided in the sockets 44 and 45 of the two link parts 42a.

[0037] like Figure 2 As shown, the ball studs 46 and 47 include ball portions 46a and 47a and shaft portions 46b and 47b. In addition, the sockets 44 and 45 include recessed portions 44a and 45a into which the ball portions 46a and 47a are fitted, respectively.

[0038] In the assembled state, with the balls 46a, 47a of the ball studs 46, 47 fitted into the recesses 44a, 45a of the sockets 44, 45, the biasing member 42b is slightly stretched. Consequently, the biasing member 42b generates a force in a direction that pulls the link portions 42a closer together, pressing the inner surfaces of the recesses 44a, 45a of the sockets 44, 45 against the outer surfaces of the balls 46a, 47a of the ball studs 46, 47.

[0039] Therefore, in the assembled state of the parallel link robot 100 , the ball joints 50 and 51 are connected to each other by the force applying member 42 so as not to be disengaged, and the driven link 42 is held in the assembled state.

[0040] On the other hand, if a force is applied to each pair of link portions 42a in a direction that increases the distance therebetween, the engaged recesses 44a, 45a and the balls 46a, 47a are separated, and the coupling of the ball joints 50, 51 is released. This allows the driven link 42 to be removed from the drive link 41 and the movable portion 30.

[0041] like Figure 1 As shown, the movable unit 30 includes a wrist flange 32, for example, at the bottom of a housing 30a. The wrist flange 32 has a mounting surface 32a facing vertically downward. A workpiece or tool (not shown) is mounted on the mounting surface 32a of the wrist flange 32. Furthermore, the movable unit 30 includes a servo motor and a speed reducer (not shown) within the housing 30a for rotating the wrist flange 32 about a vertical axis C.

[0042] like Figure 1 As shown, a cable (filament) 60 having one end fixed to the base 20 is fixed to the housing 30a of the movable portion 30, and the other end thereof. The cable 60 is routed from the base 20 along a driving link 41 and a driven link 42 to the movable portion 30. As the filament, an arbitrary filament such as an air tube may be used instead of the cable 60, or in addition to the cable 60.

[0043] In the figure, reference numeral 61 denotes a clamp for holding the cable 60 to the drive link 41 at an appropriate position in the longitudinal direction of the drive link 41. Reference numeral 62 denotes a clamp for holding the cable 60 to one link portion 42a of the driven link 42 at an appropriate position in the longitudinal direction thereof.

[0044] The connection position (first connection position) of the cable 60 in the base unit 25 is the position of the clamp 61 in the drive link 41. The connection position (second connection position) of the cable 60 in the movable part 30 is the cable gland 33 fixed to the housing 30a of the movable part 30.

[0045] A joint is formed between the base 20 and the drive link 41, which rotates about the axis B relative to the housing 22 of the base 20. Furthermore, joints utilizing ball joints 50 and 51 are formed between the drive link 41 and the driven link 42, and between the driven link 42 and the movable portion 30, allowing for rotational movement. Therefore, the portion of the cable 60 passing through each joint is a movable cable with an extra length provided so as not to hinder rotational movement.

[0046] Next, an assembling method of the parallel link robot 100 and an assembly kit 110 according to this embodiment will be described with reference to the drawings.

[0047] like Figure 3 As shown, the assembly method of the present embodiment includes a connecting step S1 . In the connecting step S1 , the base unit 25 and the movable portion 30 are connected by a flexible connecting member 70 in a state where all the driven links 42 are removed.

[0048] The assembly method of this embodiment includes a hoisting step S2, in which the base unit 25 is hoisted, and a suspending step S3, in which the movable portion 30 is suspended vertically below the base unit 25 by applying tension to the connecting member 70. Furthermore, the assembly method of this embodiment includes an assembling step S4, in which the plurality of driven links 42 are assembled between the driving link 41 and the movable portion 30, and a disassembling step S5, in which the connecting member 70 is removed.

[0049] In the connection step S1, the cable 60 is loosely arranged near the base unit 25 and the movable part 30, and the two pairs of ball studs 46 and 47 to which one driven link 42 is to be mounted are connected by the connection member 70. Figure 4 As shown, the base unit 25 is mounted on a temporarily placed frame 80 before assembly. The frame 80 can float the base unit 25 from the ground to a height that does not directly touch the ground and stabilize its configuration. Figure 4 In the illustrated example, the driving link 41 of the base unit 25 is inclined diagonally upward at a predetermined angle relative to the horizontal direction.

[0050] The link 70 is formed into a ring shape by connecting both ends of a high-strength and high-flexibility strip of material made of, for example, polypropylene. The strip of material constituting each link 70 is approximately twice the length of the link portion 42 a of the driven link 42 .

[0051] like Figure 5As shown, the connector 70 is attached by fastening two nylon straps or other binding members 75, through which the loop of the connector 70 is passed, to the constricted portions of the shafts 46b and 47b of the ball studs 46 and 47. The connector 70 connects the two ball studs 46 (first connection location) of a single drive link 41 in parallel with the corresponding two ball studs 47 (second connection location) of the movable portion 30. Each connector 70 is doubled by being folded back at each ball stud 46 and 47, so its length between the ball studs 46 and 47 is set to be approximately the same as the length of the link portion 42a.

[0052] The connector 70 has a length such that the cable 60 is not tightened but is in a slack state when the movable portion 30 is suspended below the base unit 25 by the connector 70. In this embodiment, since the connector 70 extends between the ball studs 46 and 47 for a length substantially the same as that of the link portion 42a, the cable 60 is given the same slack as when the driven link 42 is assembled.

[0053] More specifically, the coupling 70 satisfies the following conditional formula (1).

[0054] L1<L2-L3-L4 (1)

[0055] Among them, such as Figure 6 As shown, L1 is the length of the connection member 70 between the ball studs 46 and 47. Furthermore, L2 is the length of the cable 60 between the clamp 61 of the drive link 41 and the cable gland 33 of the movable part 30. Furthermore, L3 is the distance between the ball stud 46 and the clamp 61, and L4 is the distance between the cable gland 33 and the ball stud 47.

[0056] like Figure 7 As shown, the assembly kit 110 of this embodiment includes a subassembly 111 and three driven links 42. The subassembly 111 is formed by connecting the base unit 25 and the movable part 30 connected by the cable 60 using the connector 70. In the connecting step S1, the subassembly 111 is formed by connecting the base unit 25 and the movable part 30 using the connector 70.

[0057] Then, if Figure 8 As shown, in the lifting step S2, the base unit 25, from which the frame 80 has been removed, is lifted using a crane or the like. Reference numeral 81 in the figure denotes a traction rope. As the lifting step S2 progresses, the base unit 25 rises, increasing the distance between the base unit 25 and the movable portion 30. This exerts tension on the two connecting members 70 connecting the two.

[0058] In the hanging step S3, the base unit 25 is further raised from this state, thereby hanging the movable part 30 by the tension applied to the connecting member 70. Since the two connecting members 70 have the same length, Figure 8 As shown, the movable portion 30 is suspended below the base unit 25 by balancing the tension of the two connecting members 70 .

[0059] In this state, the two connecting members 70 are stretched into a double straight shape between the two pairs of ball studs 46 and 47 due to the applied tension. As a result, the distance between the ball studs 46 and 47 connected to each connecting member 70 is set to half the length of the material constituting the connecting member 70, that is, equal to the length of the connecting rod portion 42a of the driven link 42.

[0060] In the assembly step S4, in this state, the driven link 42 is assembled to the driving link 41 and the corresponding protrusion 31. During assembly, a force is applied to the two link portions 42a of the driven link 42 in a direction of separating from each other, thereby widening the distance between the sockets 44 and arranging the two sockets 44 to a position where the pair of ball studs 46 are sandwiched from both sides.

[0061] Then, the applied force is gradually released, and the balls 46a of the pair of ball studs 46 are fitted into the recesses 44a of the corresponding two sockets 44. Similarly, the balls 47a of the ball studs 47 are fitted into the recesses 45a of the two sockets 45.

[0062] Thus, the driven link 42 is assembled between the driving link 41 and the corresponding protrusion 31. For the remaining two driven links 42, half of the weight of the movable part 30 is supported by the connecting member 70, and the movable part 30 is lifted with the remaining half of the force, and then assembled according to the same procedure.

[0063] Finally, in the disassembly step S5, after all the driven links 42 are assembled, the binding members 75 fixing the connecting members 70 to the ball studs 46 and 47 are cut. Thus, the connecting members 70 are removed from the parallel link robot 100, and the assembly work of the parallel link robot 100 is completed.

[0064] Thus, according to this embodiment, before the base unit 25 is lifted, the two pairs of ball studs 46 and 47 are connected using two high-strength connectors 70 having a predetermined length. Therefore, even if the base unit 25 is separated from the movable portion 30 by lifting the base unit 25, the connectors 70 are tightened before the cables 60, thereby preventing the application of load to the cables 60.

[0065] Furthermore, since the two connecting members 70 have the same length as the link portion 42a, when the movable portion 30 is suspended below the base unit 25 using the connecting members 70, the ball studs 46 and 47 can be positioned at the assembly position of the driven link 42. Therefore, when assembling the first driven link 42, the operator does not need to support the movable portion 30 from below while working, thereby improving workability.

[0066] Furthermore, because the two coupling members 70 connect the ball studs 46 and 47 to which the two link portions 42a are attached, respectively, the operator can prevent the operator from mistaking the phase of the movable portion 30 relative to the base unit 25 about the axis A. Specifically, because the movable portion 30 includes the protrusion 31 and the ball stud 47 that are rotationally symmetrical about the axis C, the driven link 42 can be assembled even if the phases are 120° apart. According to this embodiment, since the link portion 42a is attached between the ball studs 46 and 47 to which the coupling members 70 are connected, assembly of the movable portion 30 at an incorrect phase can be more reliably prevented.

[0067] Furthermore, when installing the driven link 42, the two connecting members 70, formed of a strip-like material, must be arranged parallel to and without twisting between the driving link 41 and the movable portion 30. According to this embodiment, any crossing of the two connecting members 70 or any twisting of the connecting members 70 themselves can be easily and visually confirmed, making it easy to identify problems such as misalignment of the movable portion 30 phase or twisting of the cable 60 before assembly. This prevents the parallel link robot 100 from being assembled with the movable portion 30 misaligned or with the cable 60 twisted.

[0068] Furthermore, as a load applied to the cable 60 during assembly, it is generally assumed that the movable portion 30 is suspended by the cable 60 below the base unit 25. According to this embodiment, in this case, the cable 60 is suspended by the connector 70, so no load is applied to the cable 60.

[0069] Unlike this case, the cable 60 is stretched the longest when Figure 6 That is, in this state, the clamp 61 of the drive link 41, the mounting position of the coupling 70 in the two ball studs 46 and 47, and the cable gland 33 of the movable part 30 are aligned in a straight line.

[0070] According to this embodiment, since the length of the connecting member 70 is set to satisfy the above-mentioned conditional formula (1), even if Figure 6 Even in the case of the cable 60 being loose, the connector 70 can be tightened. Thus, it is possible to more reliably prevent the cable 60 from being loaded.

[0071] In this embodiment, two pairs of ball studs 46 and 47 are connected using two connectors 70. Alternatively, only one pair of ball studs 46 and 47 may be connected using a single connector. This also allows the movable portion 30 to be suspended using the connector 70 without applying a load to the cable 60. Furthermore, using a single connector 70 allows the operator to use the connector 70 as a reference and assemble the driven link 42 without misaligning the phase of the movable portion 30.

[0072] In this embodiment, the example of connecting two pairs of ball studs 46 and 47 using two connecting members 70 is described. Alternatively, six pairs of ball studs 46 and 47 may be connected using six connecting members 70. This allows the three driven links 42 to be easily assembled while the movable portion 30 is stably maintained in an assembled position with the mounting surface 32a of the wrist flange 32 facing vertically downward.

[0073] In this embodiment, the case where the ball studs 46 and 47 are connected by the connector 70 is described as an example. Alternatively, the base unit 25 and the movable part 30 may be connected at any position by the connector 70 so that the cable 60 is loosened when the movable part 30 is suspended or so that the conditional formula (1) is satisfied.

[0074] The connection position of the cable 60 in the base unit 25 is set to the position of the clamp 61 of the drive link 41. Alternatively, the clamp 61 can be removed and the cable gland 23 provided on the housing 22 of the base 20 can be used as the connection position. Furthermore, the vicinity of the cable gland 23 can be connected by a connector 70 using screw holes or the like.

[0075] Furthermore, although a connection member 70 is formed by forming a belt-shaped material into a ring shape, the connection member is not limited to this.

[0076] For example, Figure 9 As shown in FIG. 1 , the connecting member 70 may be a belt-shaped member having rings provided at both ends thereof.

[0077] In this case, one binding member 75 is passed through each ring at both ends and fastened to the shaft portions 46 b and 47 b of the corresponding ball studs 46 and 47 , respectively.

[0078] Or, as Figure 10 As shown, if the rings at both ends of the connector 70 are large enough to allow the corresponding ball parts 46a and 47a to pass through, the rings at both ends can also be directly hooked on the shaft parts 46b and 47b. In this case, the binding piece 75 is not required, and the installation work of the connector 70 becomes easier.

[0079] In addition, if Figure 11 As shown, when the front end of the driving link 41 is in the shape of a ring that can hook the connecting member 70, the connecting member 70 can be directly hooked on the driving link 41 without using the binding member 75. This greatly improves the workability of installing the connecting member 70 on the driving link 41.

[0080] Furthermore, when the base portion 20 or the movable portion 30 is provided with holes or screw holes for weight reduction, for example, these holes may be used to attach the connector 70 .

[0081] In this embodiment, polypropylene is exemplified as the material of the connector 70, but the present invention is not limited thereto and any high-strength material may be used to form the connector 70. In addition, a soft connector 70 is exemplified, but a hard connector 70 may also be used.

[0082] And, as the connecting member 70, Figure 12 As shown, a wide belt-shaped connector 70 having rings (mounting portions) 71 at the four corners can also be used. In this case, the rings 71 can be tied to four locations: the ball studs 46 at two locations on the drive link 41 and the ball studs 47 at two corresponding locations on the movable part 30 using bindings 75 or the like. The wide belt-shaped connector 70 makes it easier to visually confirm the torsion.

[0083] In this embodiment, the length of the connector 70 can also be adjusted. That is, when the driven link 42 is installed, the length of the connector 70 can be adjusted so that the distance between the ball studs 46 and 47 matches the distance between the sockets 44 and 45 of the link portion 42a.

[0084] The movable portion 30 is exemplified as including a wrist flange 32 driven to rotate about the axis C. However, a movable portion having any other structure may be employed instead. The movable portion 30 preferably includes one or more servo motors.

[0085] Hereinafter, a method for transporting a parallel link robot 100 according to an embodiment of the present invention will be described with reference to the drawings. In the description of this embodiment, the same reference numerals are used for the same parts as those described in the above-mentioned assembly method, and description thereof will be omitted.

[0086] In the transport method of this embodiment, first, Figure 13 As shown, all the driven links 42 are removed from the driving links 41 and the movable portion 30. This includes removing all the driven links 42 when transporting the finished parallel link robot 100.

[0087] When all the driven links 42 are removed from between the base unit 25 and the movable unit 30, the transport method does not include removing the driven links 42. Removing the driven links 42 from the parallel link robot 100 also includes removing the clamps 62 holding the cables 60 to the driven links 42.

[0088] In addition, if Figure 14 As shown, the transport method of this embodiment includes a connecting step S11 in which the base unit 25 and the movable unit 30 are connected by a flexible connector 70. In addition, the transport method of this embodiment includes a transport step S12 in which the assembly kit 110, which is connected by the connector 70, is transported.

[0089] In the connecting step S11 , similarly to the connecting step S1 , two pairs of ball studs 46 and 47 to which one driven link 42 is to be attached are connected by the connecting member 70 .

[0090] In the transport step S12, Figure 15 As shown, the base unit 25 , the movable portion 30 , and the driven link 42 , which are connected by the connector 70 , are transported in a state of being packed with a packaging material 120 such as a cardboard box or foamed polystyrene.

[0091] When transporting, if Figure 4 As shown, the base unit 25 is mounted on a frame 80 .

[0092] The movable portion 30 and the driven link 42 are each housed in separate boxes 121 and 122, such as cardboard or foamed polystyrene, and packaged together with the base unit 25 using a large packaging material 120. The box 121 housing the movable portion 30 has a notch 123, through which the cable 60 and the connector 70 extend along the inside and outside of the box 121, maintaining the connection between the base unit 25 and the movable portion 30.

[0093] According to the transport method of this embodiment, since all driven links 42 are removed for transport, the robot can be transported in a smaller package volume than the finished parallel link robot 100. In this case, the base unit 25 and the movable part 30 are connected by a cable 60.

[0094] The base unit 25 is equipped with a battery (not shown) for storing zero-point calibration data for the encoders (not shown) attached to the servo motors. Connecting the base unit 25 to the movable unit 30 via a cable 60 prevents loss of zero-point calibration data for the encoders (not shown) attached to the servo motors of the movable unit 30. This eliminates the need for re-calibration after transport and subsequent setup, allowing the parallel link robot 100 to operate.

[0095] Furthermore, according to this embodiment, the base unit 25 and the movable portion 30 are connected by a connector 70. Since the connector 70 is formed of a flexible belt-like member, the base unit 25 and the movable portion 30 can be brought into close proximity and freely arranged within the narrow packaging material 120 by bending the connector 70 during packaging. This allows the packaging material 120 to be miniaturized.

[0096] On the other hand, due to an accident during transportation or the collapse of the cargo, external force may act in a direction that causes the base unit 25 to separate from the movable part 30. Alternatively, after transportation, when the base unit 25 is lifted by a crane or the like and removed from the packaging material 120, the base unit 25 may separate from the movable part 30.

[0097] In the transport method of this embodiment, the two pairs of ball studs 46 and 47 are transported while being connected by two high-strength connectors 70. Therefore, even if an external force acts in a direction that causes the base unit 25 and the movable unit 30 to separate during or after transport, the connectors 70 are tightened before the cables 60, thereby preventing the cables 60 from being loaded.

[0098] Next, a method for disassembling the parallel link robot 100 according to this embodiment will be described. In the description of this embodiment, the same reference numerals are used for the same parts as those described in the above-mentioned assembly method, and description thereof will be omitted.

[0099] The disassembly method of the present embodiment is used, for example, when disassembling one or more driven links 42 for maintenance or relocation of the parallel link robot 100 installed on a ceiling or the like.

[0100] like Figure 16 As shown, the disassembly method of this embodiment includes a connecting step S21, in which the base unit 25 and the movable part 30 are connected using the connecting member 70. In addition, the disassembly method of this embodiment includes a disassembly step S22, in which the driven link 42 is removed from at least one driving link 41 and the corresponding movable part 30.

[0101] In the connecting step S21 , after the parallel link robot 100 installed on a ceiling or the like is set to a predetermined disassembled posture, the two pairs of ball studs 46 and 47 are connected by the connecting members 70 .

[0102] In the disassembly step S22 , the driven link 42 connecting any one of the driving links 41 and the movable part 30 is disassembled. This completes the disassembly work of the parallel robot 100 .

[0103] According to this embodiment, when only the driven link 42 connected to the ball studs 46 and 47 connected by the connector 70 is removed, the driven link 42 can be removed without changing the posture of the movable part 30. Therefore, the operator can easily remove the driven link 42 without supporting the movable part 30 from below.

[0104] Furthermore, when removing a driven link 42 other than the driven link 42 connected to the ball studs 46 and 47 connected by the connector 70, the operator removes the driven link 42 while supporting the movable portion 30 from below. In this case, since part of the weight of the movable portion 30 is also supported by the connector 70, the operator does not need to support the entire weight of the movable portion 30, thereby improving workability.

[0105] In any of the above cases, the cable 60 can be maintained in a relaxed state by the coupling 70 , and the load applied to the cable 60 can be reduced.

[0106] Furthermore, by removing all the driven links 42 , even when the movable portion 30 is suspended by the connector 70 , the slack of the cable 60 can be maintained, thereby reducing the load applied to the cable 60 .

[0107] While the embodiments of the present invention have been described in detail above, the present invention is not limited to the aforementioned embodiments. Various additions, substitutions, changes, and partial deletions may be made to these embodiments without departing from the scope of the invention, or without departing from the spirit and scope of the invention as deduced from the claims and their equivalents. For example, the order of actions and processes in the aforementioned embodiments is shown merely as an example and is not intended to be limiting.

[0108] The following supplementary explanations are further disclosed regarding the above-mentioned embodiment and modifications.

[0109] (Supplementary Note 1)

[0110] A method for assembling a parallel linkage robot, the parallel linkage robot comprising:

[0111] a base unit including a base and a plurality of drive links mounted on the base so as to be rotatable about a plurality of axes;

[0112] a movable portion disposed at a distance from the base unit; and

[0113] The driven link is connected to each of the driving links and the movable part in a detachable manner, and the base unit and the movable part are connected by a linear body.

[0114] The assembly method of the parallel linkage robot is characterized by comprising:

[0115] Connecting the base unit and the movable part with a connecting member in a state where all the driven links are removed from the driving links and the movable part;

[0116] lifting the base unit; and

[0117] The driving link and the movable part are connected by the driven link.

[0118] The connecting piece has a length that allows the umbilical body to be slack when the movable portion is suspended below the base unit using the connecting piece.

[0119] (Supplementary Note 2)

[0120] The assembly method according to Supplementary Note 1 is characterized in that:

[0121] The driven links are provided in parallel with each driving link and two of them are provided between the driving link and the movable part.

[0122] The connecting member includes connecting a first connecting position of the base unit and a second connecting position of the movable part.

[0123] The first connection position is the installation position of at least one of the driven links in at least one of the driving links,

[0124] The second connection position is a mounting position of at least one of the driven links in the movable portion at a phase corresponding to the at least one driven link.

[0125] (Supplementary Note 3)

[0126] The assembly method according to Supplementary Note 2 is characterized in that:

[0127] The connecting using the connecting member includes: using different connecting members of the same length to respectively connect the first connecting positions at two locations and the second connecting positions at two locations in the same driving link.

[0128] (Supplementary Note 4)

[0129] The assembly method according to Supplementary Note 2 is characterized in that:

[0130] The connection using the connecting member includes connecting the first connection positions at two locations and the second connection positions at two locations in the same driving link using a single connecting member in a strip shape having mounting portions at four corners.

[0131] (Supplementary Note 5)

[0132] The assembly method according to any one of Supplementary Notes 2 to 4 is characterized in that:

[0133] The first connection position of the base unit and the second connection position of the movable part are connected by the fascia body and satisfy the following conditional formula:

[0134] L1 <L2-L3-L4,

[0135] Among them, L1 is the length of the connecting member configured between the first connecting position and the second connecting position, L2 is the length of the line body configured between the first connecting position and the second connecting position, L3 is the distance between the first connecting position and the first connecting position, and L4 is the distance between the second connecting position and the second connecting position.

[0136] (Supplementary Note 6)

[0137] A handling method for a parallel linkage robot, the parallel linkage robot comprising:

[0138] a base unit including a base and a plurality of drive links mounted on the base so as to be rotatable about a plurality of axes;

[0139] a movable portion disposed at a distance from the base unit; and

[0140] The driven link is connected to each of the driving links and the movable part in a detachable manner, and the base unit and the movable part are connected by a linear body.

[0141] The handling method of the parallel linkage robot is characterized by comprising:

[0142] connecting the base unit and the movable part with all the driven links removed from the driving links and the movable part using a flexible connector; and

[0143] transporting the base unit and the movable part connected by the connecting member and connected by the umbilical body,

[0144] The connecting piece has a length that allows the umbilical body to be slack when the movable portion is suspended below the base unit using the connecting piece.

[0145] (Supplementary Note 7)

[0146] A method for disassembling a parallel linkage robot, the parallel linkage robot comprising:

[0147] a base unit including a base and a plurality of drive links mounted on the base so as to be rotatable about a plurality of axes;

[0148] a movable portion disposed at a distance from the base unit; and

[0149] The driven link is connected to each of the driving links and the movable part in a detachable manner, and the base unit and the movable part are connected by a linear body.

[0150] The disassembly method of the parallel linkage robot is characterized by comprising:

[0151] connecting the base unit and the movable part using a connecting member; and

[0152] detaching the driven link from at least one of the driving links and the corresponding movable portion;

[0153] The connecting piece has a length that allows the umbilical body to be slack when the movable portion is suspended below the base unit using the connecting piece.

[0154] (Supplementary Note 8)

[0155] An assembly kit for a parallel linkage robot, the parallel linkage robot comprising:

[0156] a base unit including a base and a plurality of drive links mounted on the base so as to be rotatable about a plurality of axes;

[0157] a movable portion disposed at a distance from the base unit; and

[0158] A driven link is detachably connected to each of the driving links and the movable portion.

[0159] The assembly kit of the parallel linkage robot is characterized in that:

[0160] A subassembly having the following state: the base unit and the movable part are connected by a linear body, the base unit and the movable part are connected by a flexible connecting member, and the driven link is removed.

[0161] The connecting piece has a length that allows the umbilical body to be slack when the movable portion is suspended below the base unit using the connecting piece.

[0162] Description of reference numerals:

[0163] 20: Basic Department

[0164] 25: Basic Unit

[0165] 30: Movable part

[0166] 41: Driving connecting rod

[0167] 42: Driven connecting rod

[0168] 46: Ball stud (first connection position)

[0169] 47: Ball stud (second connection position)

[0170] 60: Cable (Line)

[0171] 70: Connectors

[0172] 71: Ring (mounting part)

[0173] 100: Parallel Link Robot

[0174] 110: Assembly Kit

[0175] 111: Subassembly

[0176] B: Axis

Claims

1. A method for assembling a parallel linkage robot, the parallel linkage robot comprising: a base unit including a base and a plurality of drive links mounted on the base so as to be rotatable about a plurality of axes; a movable portion disposed at a distance from the base unit; as well as The driven link is connected to each of the driving links and the movable part in a detachable manner, and the base unit and the movable part are connected by a linear body. The assembly method of the parallel linkage robot is characterized by comprising: Connecting the base unit and the movable part with a connecting member in a state where all the driven links are removed from the driving links and the movable part; lifting the base unit; and The driving link and the movable part are connected by the driven link. The connecting piece has a length that allows the umbilical body to be slack when the movable portion is suspended below the base unit using the connecting piece.

2. The assembly method according to claim 1, wherein: The driven links are provided in parallel with each other between the driving links and the movable part. The connecting member includes connecting a first connecting position of the base unit and a second connecting position of the movable part. The first connection position is the installation position of at least one of the driven links in at least one of the driving links, The second connection position is a mounting position of at least one of the driven links in the movable portion at a phase corresponding to the at least one driven link.

3. The assembly method according to claim 2, characterized in that: The connection using the connecting member includes connecting the first connection positions at two locations and the second connection positions at two locations in the same driving link using different connecting members of the same length.

4. The assembly method according to claim 2, characterized in that: The connection using the connecting member includes connecting the first connection positions at two locations and the second connection positions at two locations in the same driving link using a single connecting member in a strip shape having mounting portions at four corners.

5. The assembly method according to any one of claims 2 to 4, characterized in that: The first connection position of the base unit and the second connection position of the movable part are connected by the fascia body and satisfy the following conditional formula: L1 <L2-L3-L4, Among them, L1 is the length of the connecting member configured between the first connecting position and the second connecting position, L2 is the length of the line body configured between the first connecting position and the second connecting position, L3 is the distance between the first connecting position and the first connecting position, and L4 is the distance between the second connecting position and the second connecting position.

6. A method for transporting a parallel linkage robot, the parallel linkage robot comprising: a base unit including a base and a plurality of drive links mounted on the base so as to be rotatable about a plurality of axes; a movable portion disposed at a distance from the base unit; as well as The driven link is connected to each of the driving links and the movable part in a detachable manner, and the base unit and the movable part are connected by a linear body. The handling method of the parallel linkage robot is characterized by comprising: connecting the base unit and the movable part with all the driven links removed from the driving links and the movable part using a flexible connector; and transporting the base unit and the movable part connected by the connecting member and connected by the umbilical body, The connecting piece has a length that allows the umbilical body to be slack when the movable portion is suspended below the base unit using the connecting piece.

7. A method for disassembling a parallel linkage robot, the parallel linkage robot comprising: a base unit including a base and a plurality of drive links mounted on the base so as to be rotatable about a plurality of axes; a movable portion disposed at a distance from the base unit; as well as The driven link is connected to each of the driving links and the movable part in a detachable manner, and the base unit and the movable part are connected by a linear body. The disassembly method of the parallel linkage robot is characterized by comprising: connecting the base unit and the movable part using a connecting member; and detaching the driven link from at least one of the driving links and the corresponding movable portion; The connecting piece has a length that allows the umbilical body to be slack when the movable portion is suspended below the base unit using the connecting piece.

8. An assembly kit for a parallel linkage robot, the parallel linkage robot comprising: a base unit including a base and a plurality of drive links mounted on the base so as to be rotatable about a plurality of axes; a movable portion disposed at a distance from the base unit; as well as A driven link is detachably connected to each of the driving links and the movable portion. The assembly kit of the parallel linkage robot is characterized in that: A subassembly having the following state: the base unit and the movable part are connected by a linear body, the base unit and the movable part are connected by a flexible connecting member, and the driven link is removed. The connecting piece has a length that allows the umbilical body to be slack when the movable portion is suspended below the base unit using the connecting piece.

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