Packaging element and packaging method for robots with parallel connecting rod

Abstract

The present invention provides a packaging element (1) for a parallel link robot, wherein the packaging element is removably installed in a subassembly (60) when the subassembly (60) is packaged. The subassembly (60) comprises at least one pair of parallel passive link rods (42) constituting the parallel link robot, and at least one link element (50) connecting the pair of passive link rods (42). The link element (50) is a member connected to the pair of passive link rods (42) so as to be rotatable about individual axes orthogonal to a plane comprising longitudinal axes of the pair of passive link rods (42), and which can be separated when a gap between the axes is less than or equal to a predetermined disassembly distance.The packaging element (1) holds the pair of passive connecting rods (42) in relative positions in which the gap is greater than the disassembly distance.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a packaging member and a packaging method for a parallel link rod robot. STATE OF THE ART

[0002] A delta robot is known which comprises three pairs of arm mechanisms connecting a base suspended and fixed to a frame with a support to which an end effector is attached for performing work on a workpiece (see, for example, PTL 1).

[0003] The arm mechanisms each include a pair of connecting rod members arranged parallel to each other with a gap therebetween. A biasing member having hook-shaped hooks formed at both ends thereof is arranged between the connecting rod members. The hooks arranged on both sides of the biasing member at both ends are hooked onto sleeves provided on the connecting rod members, whereby the pair of connecting rod members are connected by the biasing member while being pulled in directions in which the connecting rod members approach each other. LITERATURE LISTPATENT LITERATURE

[0004] PTL 1 Japanese Unexamined Patent Application, Publication No. 2011-194534 SUMMARY OF THE INVENTION TECHNICAL TASK

[0005] When such a robot is transported, the robot is packaged in a state where the three pairs of arm mechanisms are removed from the base and bracket, and in some cases, the preload member is also removed from the two connecting rod members of each of the three pairs of arm mechanisms. In these cases, labor is required at the destination to assemble the connecting rod members and the preload member, thereby increasing the number of assembly man-hours. Furthermore, if the preload member comprises relatively small parts, there is a possibility that the parts may be lost during transportation or during the assembly phase.

[0006] Therefore, it is desirable to be able to transport a parallel linkage robot, including a delta robot, in a compact package and reduce an increase in assembly man-hours and the risk of part loss. SOLUTION TO THE TASK

[0007] According to one aspect, the present disclosure provides a packaging member for a parallel link robot, the packaging member being removably mounted to a subassembly when the subassembly is packaged. The subassembly includes at least one pair of parallel passive link rods constituting the parallel link robot, and at least one link member connecting the pair of passive link rods. The link member is a member connected to the pair of passive link rods so as to be rotatable about individual axes orthogonal to a plane including longitudinal axes of the pair of passive link rods, and capable of being separated when a distance between the axes becomes less than or equal to a predetermined disassembly distance. The packaging member maintains the pair of passive link rods in relative positions where the distance is greater than the disassembly distance. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing a parallel link rod type robot to which a packaging member according to a first embodiment of the present disclosure is applied. Fig. 2 is a front view showing a pair of passive connecting rods and prestressing elements on the Fig. 1 shows the robot with parallel connecting rod. Fig. 3 is a front view showing one of the Fig. 1 shows the subassembly removed from the robot with the parallel link rod. Fig. 4 is a perspective view showing the packaging member according to the first embodiment of the present disclosure. Fig. 5 is a cross-sectional view showing a state in which a passive connecting rod is inserted into a slot formed on the Fig. 4 shown packaging element is fitted into the groove provided. Fig. 6 is a front view showing a state in which two packaging members provided with the Fig. 4 are identical, in the Fig. 3 shown subassembly. Fig. 7 is a perspective view showing a state in which the subassembly in which the packaging elements as shown in Fig. 6 are mounted, is housed in a packaging box. Fig. 8 is a perspective view showing an exemplary packaging form for the Fig. 1 shown robot with parallel connecting rod using the Fig. 7 shows the packaging box. Fig. 9 is a perspective view showing a modification of the Fig. 4 shows the packaging element shown. Fig. Fig. 10 is a partially enlarged view showing a modification of a connecting element on the Fig. 1 shows the robot with parallel connecting rod. Fig. 11 is a perspective view showing a modification of the Fig. 4 shows the packaging element shown. Fig. 12 is a perspective view showing a packaging member according to a second embodiment of the present disclosure. Fig. 13 is a perspective view showing a modification of the Fig. 12 shows the packaging element. DESCRIPTION OF EMBODIMENTS

[0008] Hereinafter, a packaging member 1 and a packaging method for a parallel link rod type robot 100 according to a first embodiment of the present disclosure will be described with reference to the drawings.

[0009] First, the parallel link rod type robot 100 (hereinafter also referred to as robot 100) to which the packaging member 1 of this embodiment is applied is described with reference to the Fig. 1 and Fig. 3 described.

[0010] The robot 100 includes, for example, a base part 20 suspended and fixed to a ceiling or the like, a movable part 30 arranged below the base part 20 with a space therebetween, and three pairs of arms 40 connecting the base part 20 to the movable part 30 in parallel.

[0011] Three servomotors 21 are installed on the base section 20 for individually driving the three pairs of arms 40. The individual servomotors 5a, 5b, 5c are arranged at equal intervals in the circumferential direction around an axis A that passes through a center of the base section 20 and extends in the vertical direction. Furthermore, the servomotors 21 have individual shafts (not shown) that rotate about horizontal axes B. The axes B extend along tangential directions of the same circle centered on the axis A.

[0012] As in Fig. 1 and Fig. 2, the arms 40 comprise drive connecting rods 41, which are individually connected to the shafts of the servomotors 21 via reduction gears (not shown) and are thus driven to rotate about the axes B. Furthermore, the arms 40 each comprise a pair of passive connecting rods 42 arranged parallel to each other for connecting the corresponding drive connecting rod 41 to the movable part 30.

[0013] Each pair of passive connecting rods 42 comprises a round rod-shaped connecting rod body 42a and socket parts 43b and 44b attached to both ends of the connecting rod body 42a.

[0014] Ball parts 43a are fixed to both ends of a distal end in the direction of the axis B of each drive connecting rod 41. In addition, on the circumference of the movable part 30, projecting parts 30a projecting radially outward are provided at three circumferentially equally spaced locations, and ball parts 44a are also fixed to both side surfaces of each projecting part 30a.

[0015] The socket portions 43b at one end of each pair of passive connecting rods 42 are removably fitted onto the ball portions 43a on the corresponding drive connecting rod 41, thereby forming ball joints 43. Furthermore, the socket portions 44b at the other end of the pair of passive connecting rods 42 are removably fitted onto the ball portions 44a on the corresponding protruding portion 30a, thereby forming ball joints 44.

[0016] Accordingly, one end of each pair of passive connecting rods 42 and the corresponding drive connecting rod 41 are rotatably connected by the ball joints 43. Furthermore, the other end of the pair of passive connecting rods 42 and the movable part 30 are rotatably connected by the ball joints 44.

[0017] Pins 45p extending in both directions orthogonal to a plane encompassing the longitudinal axis of each pair of connecting rod bodies 42a are provided on the peripheries of the socket portions 43b and 44b of the pair of passive connecting rods 42. Sleeves 45 arranged coaxially with the corresponding pins 45p are mounted on the pins 45p so as to be rotatable about their central axes (axes).

[0018] A biasing member (connecting member) 50 is then arranged between the socket parts 43b of each pair of passive connecting rods 42 to pull the socket parts 43b in directions in which the socket parts 43b come close to each other, and another biasing member (connecting member) 50 is arranged between the socket parts 44b thereof to pull the socket parts 44b in directions in which the socket parts 44b come close to each other.

[0019] Each biasing element 50 is, for example, a coil spring and comprises hook-shaped hooks 51 at both ends thereof.

[0020] The hooks 51 at both ends of the biasing members 50, which are mounted between a pair of passive connecting rods 42 in the state to be attached to the drive connecting rod 41 and the movable part 30, are individually hooked to the sleeves 45 on the pair of socket parts 43b and the sleeves 45 on the pair of socket parts 44b. At this time, the biasing members 50, in the slightly extended free length state, individually connect the socket parts 43b and 44b to press the socket parts 43b and 44b toward the ball parts 43a and 44a, respectively, in the direction of the axis B.

[0021] Therefore, in the assembled state of the robot 100, each pair of passive connecting rods 42 is pulled by the biasing members 50 in directions where the passive connecting rods 42 approach each other, thereby regulating the gap between the passive connecting rods 42 so as not to expand. Furthermore, each biasing member 50 is maintained in a slightly stretched state, and inner surfaces of the hooks 51 at both ends are brought into close contact with outer peripheral surfaces of the corresponding sleeves 45 by the elastic force corresponding to the amount of extension of the biasing member 50.

[0022] That is, in the state where the robot 100 is assembled, the biasing members 50 maintain a situation in which the pair of passive connecting rods 42 does not detach from the corresponding drive connecting rod 41 and the movable part 30. On the other hand, the distance between the center axes of each pair of pins 45p supporting the hooks 51 of each biasing member 50 is maintained at a certain predetermined distance, thereby holding the biasing member 50 from detaching from the sleeves 45.

[0023] Furthermore, when the robot 100 is transported, the three pairs of passive connecting rods 42 can be removed from the base part 20 and the movable part 30. The distances between the socket parts 43b and between the socket parts 44b are increased against the elastic forces of the biasing members 50 using, for example, a jig, and the fittings between the socket parts 43b and 44b and the ball parts 43a and 44a are loosened. Accordingly, each pair of passive connecting rods 42 can be removed from the corresponding drive connecting rod 41 and the movable part 30.

[0024] When each pair of passive connecting rods 42 is removed from the corresponding drive connecting rod 41 or the movable part 30, the relative positional relationship between the passive connecting rods 42 is not maintained due to the ball joints 43 and 44. That is, the distance between each pair of pins 45p supporting the hooks 51 at both ends of the biasing member 50 is reduced to a disassembly distance smaller than the predetermined distance, thereby allowing the biasing member 50 to be easily removed from the passive connecting rods 42.

[0025] The disassembly distance here is, for example, a distance W0 between the center axes of each pair of pins 45p, which is obtained when the two preload elements 50 mounted on each pair of passive connecting rods 42 have free lengths, as in Fig. 3 is shown.

[0026] Next, the packaging element 1 according to the first embodiment of the present disclosure will be described with reference to Fig. 4 to 6.

[0027] The packaging element 1 consists of an elastically deformable material, such as urethane foam, rubber or polystyrene, and is formed, for example, into a rectangular block with a length dimension L1, a width dimension W and a thickness dimension D, as shown in Fig. 4 is shown.

[0028] As in Fig. 4 and Fig. As shown in Fig. 5, grooves 3 are formed longitudinally at both ends of the packaging element 1 along the thickness direction, the cross-sectional shapes of which are substantially semicircular. The inner diameter dimensions of the inner wall surfaces (contact surfaces) 4 of both grooves 3 are set to be the same as the outer diameter dimensions of the corresponding connecting rod bodies 42a. In addition, a distance L2 between the grooves 3 is set, for example, slightly larger than a distance W1 (see Fig. 3) between facing surfaces of both connecting rod bodies 42a, which is obtained when the distance between the center axes of each pair of pins 45p of the pair of passive connecting rods 42 becomes the disassembly distance W0.

[0029] In addition, the thickness dimension D of the packaging member 1 is set as large as possible so that an operator can grip the packaging member 1 with one hand, and so that a diagonal dimension in the thickness and length directions becomes large enough with respect to the length dimension L1.

[0030] The packaging method used when the parallel link rod robot 100 is transported using the thus structured packaging member 1 of this embodiment will be described below.

[0031] First, the distance between each pair of passive connecting rods 42 mounted on the robot 100 is increased using a tool, a special jig, or the like, thereby disassembling the individual ball joints 43 and 44. Accordingly, a subassembly 60, which is an assembly consisting of a pair of passive connecting rods 42 and two biasing members 50, is removed from the drive connecting rod 41 and the movable part 30.

[0032] Since individual subassemblies 60 have the same structure, the packaging method for one subassembly 60 is described below and a description of the packaging method for the other two subassemblies 60 is omitted.

[0033] To remove the subassembly 60, an operator applies forces to the pair of connecting rod bodies 42a, for example, near the drive connecting rod 41, in directions that pull the connecting rod bodies 42a apart to temporarily stretch the biasing member 50. Then, the socket portions 43b are separated from the ball portions 43a.

[0034] Thereafter, in the state where the socket parts 43b are separated from the ball parts 43a, the packing element 1 is placed between the two connecting rod bodies 42a, and the forces applied to the connecting rod bodies 42a are released. Then, as shown in Fig. 5, the facing surfaces of the pair of connecting rod bodies 42a are brought into close contact with the inner wall surfaces 4 of the grooves 3 of the packaging member 1 from outside.

[0035] Similarly, an operator applies forces to the pair of connecting rod bodies 42a near the movable part 30 in directions that pull the connecting rod bodies 42a apart to temporarily stretch the biasing member 50 and separate the socket parts 44b from the ball parts 44a. Then, in the state where the socket parts 44b are separated from the ball parts 44a, another packing member 1 is interposed between the two connecting rod bodies 42a, and the facing surfaces of the connecting rod bodies 42a are brought into close contact with the inner wall surfaces 4 at both ends of the packing member 1 from the outside.

[0036] Accordingly, as in Fig. 6, the packaging elements 1 arranged individually between the pair of passive connecting rods 42 in the vicinity of the joint socket parts 43b and 44b are clamped by the connecting rod bodies 42a. In this state, the preloading elements 50 press with their elastic forces against the inner wall surfaces 4 of both grooves 3 of the individual packaging elements 1.

[0037] On the other hand, the packaging elements 1 push the pair of connecting rod bodies 42a outward with their elastic restoring forces. Thus, the subassembly 60, which includes the pair of passive connecting links 42 and the two biasing elements 50, and the two packaging elements 1 are maintained in an integrally assembled state without being disassembled.

[0038] Furthermore, in this state, the distance between the facing surfaces of the pair of connecting rod bodies 42a is greater than the distance W1, and the gaps between the pairs of sleeves 45 are maintained even in the state where they are slightly larger than the disassembly distance W0. Therefore, even in the state of the subassembly 60, the biasing members 50 are held so as not to detach from the passive connecting rods 42.

[0039] The operator then places the subassembly 60 in the state in which the two packaging elements 1 are clamped, in a packaging box 5, as shown in Fig. 7. Then the operator brings, as shown in Fig. 8, the packing box 5, in which the subassembly 60 has been housed, is placed in a larger packing box 7 to accommodate the packing box 5 together with the base part 20, to which the drive connecting rods 41 are connected, and a packing box 6, in which the movable part 30, etc., is housed. The other two subassemblies 60 are likewise housed in the packing box 7. In the Fig. In the example shown in Figure 8, three packaging boxes 5 are accommodated in the packaging box 7 in a three-level stacking form.

[0040] In this way, when packaging the robot 100, the individual subassemblies 60 are removed from the drive connecting rods 41 and the movable part 30, allowing the individual components to be formed into more compact shapes. Thus, space efficiency during transportation or storage can be improved compared to a case where the robot 100 is packaged without disassembly.

[0041] Furthermore, since the packaging element 1 is set to a size that fits between a pair of passive connecting rods 42, it is sufficient that the packaging box 5 for accommodating each of the subassemblies 60 has a relatively small height dimension. As shown in Fig. 8, even if three packing boxes 5 are stacked in the height direction, no large space is required and the packing box 7 can be made small.

[0042] Furthermore, since the thickness dimension D of the packaging element 1 is set large enough, even if forces act individually in opposite longitudinal directions on the pair of passive connecting rods 42 with the packaging elements 1 clamped therebetween, the packaging elements 1 will not tip over and detach. Accordingly, it is possible to stably maintain the subassembly 60 in an assembled state, thereby facilitating the handling of the subassembly 60.

[0043] In this way, by adopting the packaging members 1 of this embodiment, the urging members 50 in the subassemblies 60 can be maintained in a slightly stretched state even when the subassemblies 60 are removed from the robot 100. That is, the gaps between the pairs of sleeves 45 to which the urging members 50 are attached can be maintained in the state of being larger than the disassembly distance W0. Thus, the urging members 50 can be prevented from inadvertently detaching from the subassembly 60.

[0044] Accordingly, the biasing members 50 are in the state of being attached to the pairs of passive connecting rods 42 when the robot 100 is transported with the subassemblies 60 removed therefrom, whereby the number of assembly man-hours for the robot 100 at the destination can be reduced.

[0045] Furthermore, since the packaging elements 1 are clamped and secured between each pair of passive connecting rods 42, the subassembly 60 and the packaging elements 1 can be handled as an integrated item. That is, when each subassembly 60 is removed from the drive connecting rod 41 and the movable part 30, when the subassembly 60 is housed in the packaging box 5, or when the robot 100 is assembled at the destination, the subassembly 60 and the packaging elements 1 can be handled in an integrated manner. Accordingly, it is possible to minimize the risk of losing the biasing elements 50.

[0046] Furthermore, in this embodiment, since the inner wall surfaces 4 of the grooves 3 at both ends of the packaging member 1 have shapes that are brought into close contact with the outer peripheral surfaces of the corresponding connecting rod bodies 42a, the packaging member 1 can be more reliably fixed between the pair of connecting rod bodies 42a. Accordingly, when handling the subassembly 60, it is not necessary to be concerned about the packaging member 1 falling out from the pair of connecting rod bodies 42a.

[0047] It should be noted that although the packaging element 1 in this embodiment is formed of an elastically deformable material, the packaging element 1 may instead be formed of a material that is not elastically deformed, such as hard plastic or wood.

[0048] Furthermore, although the packaging element 1 formed into a rectangular block has been illustrated, the present disclosure is not limited thereto. As in Fig. 9, it is also possible to use a packaging element 1 in which grooves 3 are formed at both ends in the longitudinal direction by bending a metal sheet.

[0049] In addition, although grooves whose cross-sectional shapes are substantially semicircular have been illustrated above, it is also possible to employ grooves having any shapes, such as V-shaped grooves, as long as the grooves are stably brought into close contact with the outer surfaces of the connecting rod bodies 42a of the passive connecting rods 42.

[0050] In addition, as in Fig. 10, the packaging elements 1 can also be applied to a case where the pair of passive connecting rods 42 are connected by connecting elements 70, each including a screw mechanism 71 capable of adjusting the gap between the passive connecting rods 42, instead of the biasing elements 50.

[0051] In the Fig. In the example shown in Figure 10, hooks 72 at both ends of the connecting member 70 are hooked onto the sleeves 45 provided on the pair of passive connecting rods 42 to enclose the sleeves 45 from the outer sides in the gap direction. That is, the screw mechanism 71 of the connecting member 70 is actuated to increase the distance between the hooks 72, thereby separating the hooks 72 from the outer peripheral surfaces of the sleeves 45.

[0052] In this case, instead of a specific disassembly distance obtained when the biasing member 50 has the free length, the distance between the passive connecting rods 42 obtained in the state where contacts between the sleeves 45 on the passive connecting rods 42 and the hooks 72 are released becomes a disassembly distance. Therefore, the packaging members 1 formed of an elastic material or an inelastic material are clamped between the pair of passive connecting rods 42, and the screw mechanism 71 is actuated to pull the hooks 72 provided at both ends thereof toward each other. Accordingly, the gap between the pair of passive connecting rods 42 is narrowed, whereby the packaging members 1 can be reliably clamped therebetween.

[0053] Furthermore, although in this embodiment the pre-tensioning elements 50 in the sub-assembly 60 in which the packaging elements 1 are clamped are slightly stretched beyond the free length, the pre-tensioning elements 50 can be stretched far beyond the free length.

[0054] For example, if the transportation time of the robot 100 is short, the packaging members 1 may be clamped to enlarge the spaces between the pair of socket parts 43b and between the pair of socket parts 44b to the extent that these socket parts 43b and 44b can be attached to the corresponding ball parts 43a and 44a, respectively.

[0055] At this time, when assembling the robot 100 at the destination, the pairs of socket parts 43b and 44b with the packaging elements 1 clamped in the subassembly 60 only need to be brought up to the corresponding ball parts 43a and 44a, respectively. Then, in the state where the pairs of socket parts 43b and 44b are arranged in positions to clamp the corresponding ball parts 43a and 44a, respectively, the packaging elements 1 are removed. Accordingly, the gaps between the pairs of socket parts 43b and 44b are reduced by the elastic forces of the biasing members 50, thereby fitting the ball parts 43a and 44a, respectively, into the socket parts 43b and 44b.

[0056] Therefore, since it is not necessary to use a jig or the like to increase the gap between each pair of passive connecting rods 42 when assembling the robot 100 at the destination, there is an advantage in that the assembly work for the robot 100 can be performed more easily.

[0057] In addition, it is also possible, as in Fig. 11, a protruding part 2a and a recessed part 2b are provided on both side surfaces of the packaging element 1 in the width direction, which engage with each other when other packaging elements 1 are stacked on the packaging element 1 in the width direction. Here, the packaging elements 1 are assembled, for example, at both ends of the three pairs of passive connecting rods 42 into three sub-assemblies 60. Thereafter, three packaging elements 1 installed at both ends of the three pairs of passive connecting rods 42 are stacked in the width direction. Subsequently, the protruding parts 2a and the recessed parts 2b of the three packaging elements 1 stacked in the width direction engage with each other, whereby the three sub-assemblies 60 can be stacked and integrally connected in the width direction of the packaging elements 1.

[0058] One advantage here is that the three subassemblies 60 can be accommodated in a packaging box 5 and packaged more compactly.

[0059] Furthermore, although the case where a pair of grooves 3 is provided on the packaging member 1 has been illustrated, a plurality of pairs of grooves 3 may be provided on the packaging member 1 instead.

[0060] For example, it is also possible that the width dimension W of the Fig. 4 is enlarged by 3 times or more, and three pairs of grooves 3 are provided on both side surfaces of the packaging element 1 in the length direction at equal intervals along the width direction.

[0061] Here, a common packaging element 1 is clamped between three pairs of passive connecting rods 42 at one end, and the three pairs of connecting rod bodies 42a are fitted into the three pairs of grooves 3 provided on the packaging element 1. Similarly, another common packaging element 1 is clamped between the three pairs of passive connecting rods 42 at the other end.

[0062] That is, with only two packing members 1, all the gaps between the three pairs of connecting rod bodies 42a can be kept in the state larger than the distance W1.

[0063] In addition, the three subassemblies 60 can be handled in an integrated manner and packaged more compactly.

[0064] Furthermore, although two packaging elements 1 are clamped between a pair of passive connecting rods 42, in this embodiment one or three or more packaging elements 1 may be clamped instead.

[0065] For example, when the packaging member 1 has a thickness dimension D almost equal to the length of a pair of connecting rod bodies 42a, only one packaging member 1 can be clamped between the pair of connecting rod bodies 42a, thereby further improving work efficiency.

[0066] Next, a packaging member 10 and a packaging method according to a second embodiment of the present disclosure will be described below with reference to the drawings.

[0067] Since a description will be given below of a case where a parallel link rod robot 100, which is the same as the one described above, is treated as a packaging target, identical reference numerals and symbols are assigned to the components of the parallel link rod robot 100, and their descriptions are omitted. Furthermore, identical reference numerals and symbols are also assigned to the components of the packaging member 10 having the same structures as those of the packaging member 1 described above, and their descriptions are omitted.

[0068] For example, in Fig. 12, the packaging member 10 of this embodiment is obtained by attaching two packaging members 1 to a bottom surface of a packaging box (box body) 5 for accommodating a subassembly 60.

[0069] The packaging box 5 is designed in a size that can accommodate, for example, an assembly 60 with a small gap around it.

[0070] The two packaging members 1 are arranged on the bottom surface inside the packaging box 5 with a space therebetween along the longitudinal direction of the packaging box 5 and are fixed thereto with an adhesive, etc. Accordingly, the packaging members 1 are arranged at positions that are clamped between a pair of connecting rod bodies 42a when a subassembly 60 is to be accommodated in the packaging box 5.

[0071] Therefore, when a subassembly 60 is housed in the packaging box 5, the facing surfaces of the pair of connecting rod bodies 42a are brought into close contact with the pairs of inner wall surfaces 4 of the two packaging members 1, thereby maintaining the relative positional relationship between both connecting rod bodies 42a.

[0072] The packaging method for the parallel link rod robot 100 using the thus structured packaging member 10 of this embodiment will be described below.

[0073] First, an operator removes three subassemblies 60 from the robot 100 in the same manner as above.

[0074] Next, the two packaging elements 1 are inserted between the two connecting rod bodies 42a on the bottom surface of the packaging box 5, while one of the removed subassemblies 60 is housed in the packaging box 5 while maintaining the gap between the connecting rod bodies 42a in the state larger than the distance W1. The other two subassemblies 60 are packaged in the same manner.

[0075] Accordingly, it is possible to simultaneously perform the work of assembling the two packaging elements 1 to the subassembly 60 and the work of accommodating the subassembly 60 into the packaging box 5 in which the packaging elements 1 are assembled. Therefore, the packaging work becomes easier, which can reduce the time required for the packaging work.

[0076] It should be noted that in this embodiment it is also possible to raise or deepen a portion of the bottom surface inside the packaging box 5 to form contact surfaces 4.

[0077] For example, in Fig. 13, the packing box 5 may have a camber part 5b formed by folding a portion of a bottom plate 5a along the width direction of the packing box 5, the bottom plate 5a forming the bottom surface.

[0078] Here, the pair of contact surfaces 4 are formed on both sides of the camber portion 5b in the width direction and are brought into contact with the facing surfaces of a pair of connecting rod bodies 42a in a subassembly 60 to be housed inside the packaging box 5. Accordingly, the distance between the connecting rod bodies 42a housed inside the packaging box 5 can be maintained in the state larger than the distance W1.

[0079] This makes it possible to dispense with the packaging elements 1 and reduce the costs of the packaging elements 1. Thus, the overall costs of the packaging element 10 are reduced, which further reduces the transport costs of the robot 100.

[0080] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. In these embodiments, various additions, replacements, modifications, and partial eliminations can be made without departing from the scope of the invention or without deviating from the spirit and essence of the present invention, which are derived from the content specified in the scope of the claims and the equivalent thereof. For example, in the embodiments described above, the order of operations and the order of processing methods are shown as examples and are not limited thereto.

[0081] The following notes are further disclosed with respect to the embodiments and modifications described above. (Note 1)

[0082] Packaging element (1) for a robot with a parallel connecting rod (100), wherein the packaging element (1) is removably installed in a subassembly (60) when the subassembly (60) is packaged.The subassembly (60) comprises at least a pair of parallel passive connecting rods (42) constituting the parallel connecting rod robot (100), and at least one connecting element (50), (70) connecting the pair of passive connecting rods (42), wherein the connecting element (50), (70) is a member connected to the pair of passive connecting rods (42) so as to be rotatable about individual axes orthogonal to a plane comprising longitudinal axes of the pair of passive connecting rods (42), and which can be separated when a gap between the axes becomes less than or equal to a predetermined disassembly distance (W0), and the packaging element (1) holds the pair of passive connecting rods (42) in relative positions in which the gap is greater than the disassembly distance (W0). (Note 2)

[0083] A packaging member (1) for a parallel link rod robot (100) according to claim 1, wherein the packaging member (1) is installed in the subassembly (60) at a position clamped between the pair of passive link rods (42), and the packaging member (1) comprises a pair of contact surfaces (4) brought into contact with facing surfaces of the pair of passive link rods (42). (Note 3)

[0084] A packaging element (1) for a robot with a parallel connecting rod (100) according to note 2, wherein the contact surfaces (4) have shapes that can be brought into close contact with the facing surfaces of the pair of passive connecting rods (42). (Note 4)

[0085] Packaging element (1) for a robot with a parallel connecting rod (100) according to note 2 or 3, wherein the packaging element (1) is formed from an elastically deformable material. (Note 5)

[0086] Packaging element (1) for a robot with a parallel link rod (100) according to one of the claims 1 to 4, wherein the packaging element (1) is fixed to a bottom surface of a box body (5) which can accommodate the subassembly (60). (Note 6)

[0087] A packaging member (1) for a parallel link rod type robot (100) according to any one of claims 1 to 4, wherein the packaging member (1) is integrally formed on a bottom surface of a box body capable of accommodating the subassembly (60) (5). (Note 7)

[0088] A packaging method for packaging a subassembly (60) comprising at least one pair of parallel passive connecting rods (42) forming a parallel connecting rod robot (100), and at least one connecting element (50), (70) connecting the pair of passive connecting rods (42). The connecting element (50), (70) is a member connected to the pair of passive connecting rods (42) so as to be rotatable about individual axes orthogonal to a plane comprising longitudinal axes of the pair of passive connecting rods (42), and which can be separated when a distance between the axes is less than or equal to a predetermined disassembly distance (W0). The packaging method comprises removably incorporating into the subassembly (60) a packaging element (1) that holds the pair of passive connecting rods (42) in relative positions in which the distance is greater than the disassembly distance (W0). LIST OF REFERENCE SYMBOLS 1 packaging element 3 grooves 4 Inner wall surface (contact surface) 5 Packaging box (box body) 10 Packaging element 42 passive connecting rod 50 Preloading element (connecting element) 60 subassembly 70 connecting element 100 robots with parallel connecting rod W0 Disassembly distance QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2011-194534

[0004]

Claims

[1] Packaging element for a robot with a parallel connecting rod, the packaging element being removably incorporated in a subassembly when the subassembly is packaged, wherein the subassembly comprises at least one pair of parallel passive connecting rods forming a parallel connecting rod robot and at least one connecting element connecting the pair of passive connecting rods, the connecting element is an element that is connected to the pair of passive connecting rods so as to be rotatable about individual axes orthogonal to a plane comprising longitudinal axes of the pair of passive connecting rods, and that can be separated when a distance between the axes is less than or equal to a predetermined disassembly distance, and the packaging element holds the pair of passive connecting rods in relative positions in which the distance is greater than the disassembly distance. [2] Packaging element for a robot with a parallel connecting rod according to claim 1, wherein the packaging element is installed in the subassembly at a position clamped between the pair of passive connecting rods, and the packaging element has a pair of contact surfaces which are brought into contact with facing surfaces of the pair of passive connecting rods. [3] A packaging member for a parallel link rod robot according to claim 2, wherein the contact surfaces have shapes that can be brought into close contact with the facing surfaces of the pair of passive link rods. [4] A packaging member for a parallel link rod robot according to claim 2 or 3, wherein the packaging member is formed of an elastically deformable material. [5] A packaging member for a parallel link rod type robot according to any one of claims 1 to 4, wherein the packaging member is fixed to a bottom surface of a box body capable of accommodating the subassembly. [6] A packaging member for a parallel link rod type robot according to any one of claims 1 to 4, wherein the packaging member is integrally formed on a bottom surface of a box body capable of accommodating the subassembly. [7] A packaging method for packaging a subassembly comprising at least one pair of parallel passive connecting rods forming a parallel connecting rod robot and at least one connecting element connecting the pair of passive connecting rods, wherein the connecting element is an element connected to the pair of passive connecting rods to be rotatable about individual axes orthogonal to a plane comprising longitudinal axes of the pair of passive connecting rods, and which can be separated when a distance between the axes is less than or equal to a predetermined disassembly distance, the packaging method comprises removably incorporating into the subassembly a packaging element that holds the pair of passive connecting rods in relative positions in which the gap is greater than the disassembly distance.

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