Parallel link robot and operation machine

Abstract

To provide a parallel link robot and an operation machine that can be miniaturized.SOLUTION: A parallel link robot 1 includes: a base plate 11 that has a top plate section 11a; a plurality of link mechanisms 12 that are respectively assembled to the base plate 11, the plurality of link mechanisms 12 being arranged so as to surround a center of the top plate section 11a when viewed along a direction substantially perpendicular to the top plate section 11a; end plates 13 that are mounted in the plurality of link mechanisms 12 and can support the end effector; and a driving source 14 for changing positions and postures of the end plates 13. A longitudinal direction of the driving source 14 is substantially perpendicular to the top plate section 11a.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a parallel link robot and an operating machine. [Background technology]

[0002] Conventionally, there has been a demand for miniaturization of parallel link robots. Patent Document 1 discloses a rotation drive motor that rotates a workpiece, and the longitudinal direction of this rotation drive motor is perpendicular to the base plate. Patent Document 2 discloses an attitude control actuator that arbitrarily changes the attitude of a link hub on the distal end side, and that the longitudinal direction of this attitude control actuator is perpendicular to the link hub on the proximal end side. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-74630 [Patent Document 2] Japanese Patent Application Laid-Open No. 2018-167350 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in both Patent Document 1 and Patent Document 2, there is room for improvement in reducing the size of the parallel link robot by devising the longitudinal direction of the drive source for changing the position and posture of the parallel link robot.

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a parallel link robot and an operating machine that can be made smaller. [Means for solving the problem]

[0006] One aspect of the present disclosure is a parallel link robot comprising: a base plate having a top panel portion; a plurality of link mechanisms each assembled to the base plate, the plurality of link mechanisms being arranged to surround the center of the top panel portion when viewed along a direction approximately perpendicular to the top panel portion; end plates attached to the plurality of link mechanisms and capable of supporting end effectors; and a drive source for changing the position and posture of the end plates, wherein the longitudinal direction of the drive source is approximately perpendicular to the top panel portion. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a parallel link robot and an operating machine that can be made smaller. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a state in which a parallel link robot according to an embodiment is attached to an industrial robot. [Figure 2] FIG. 2 is a perspective view of an operating device that operates the parallel link robot. [Figure 3] FIG. 1 is a front view of the parallel link robot with the link mechanism extended. [Figure 4] FIG. 10 is a view of the parallel link robot with its link mechanism extended, viewed in a direction substantially perpendicular to the top plate. [Figure 5] 4 is a diagram showing a state in which a cover is removed from the parallel link robot shown in FIG. 3. FIG. [Figure 6] 5 is a diagram showing a state in which a cover is removed from the parallel link robot shown in FIG. 4. FIG. [Figure 7] FIG. 1 is a front view of the parallel link robot with the link mechanism folded. [Figure 8] FIG. 10 is a view of the parallel link robot with its link mechanism folded, viewed in a direction substantially perpendicular to the top plate. [Figure 9] 8 is a diagram showing a state in which a cover is removed from the parallel link robot shown in FIG. 7. FIG. [Figure 10] 9 is a diagram showing a state in which a cover is removed from the parallel link robot shown in FIG. 8. FIG. [Figure 11] This is a modified example of a cable arranged on the top panel. [Figure 12] FIG. 1 is a detailed view of one of the transmission mechanisms. [Figure 13] FIG. 10 is a diagram showing a state in which the end plate of the parallel link robot is separated from the positioning pin. [Figure 14] FIG. 10 is a diagram showing a state in which the end plate of the parallel link robot is aligned with the positioning pin. [Figure 15] FIG. 2 is a front view of an operating device that operates the parallel link robot. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a parallel link robot and an operating machine according to an embodiment of the present disclosure will be described with reference to the drawings. The parallel link robot according to this embodiment is used to perform some kind of work using an end effector attached to the parallel link robot. That is, the parallel link robot is used to bring the end effector close to an object. Alternatively, the parallel link robot may be used to apply a force to an object by pressing the end effector against the object.

[0010] Specifically, for example, when an end effector attached to a parallel link robot is capable of grasping an object, the parallel link robot is used to transport an object by means of the end effector. For example, when the end effector attached to the parallel link robot is a tool such as a grinder, the parallel link robot may be used to process an object by appropriately moving the end effector.

[0011] (Overview of the parallel link robot and its control unit) FIG. 1 is a diagram showing a state in which a parallel link robot 1 according to an embodiment is attached to an industrial robot 2. FIG. 2 is a perspective view of the operating device 3 that operates the parallel link robot 1. As shown in FIG. As shown in FIG. 1, a parallel link robot 1 according to this embodiment is attached to an industrial robot 2. A well-known six-axis vertical articulated robot, for example, is suitably used as the industrial robot 2. As shown in FIG. 1, the parallel link robot 1 is attached to a wrist 21 provided on the industrial robot 2. The wrist 21 is a portion of the industrial robot 2 where attachments are attached and detached. In this way, the parallel link robot 1 is moved toward an object (not shown) by the industrial robot 2. After the parallel link robot 1 has been brought sufficiently close to the object by the industrial robot 2, the parallel link robot 1 performs work using an end effector (not shown in FIG. 1). In this embodiment, the wrist 21 provided in the industrial robot 2 may be rotatable around the base 21a of the wrist 21 as the center of rotation, or may not be rotatable.

[0012] In this embodiment, the parallel link robot 1 is operated by an operating device 3 shown in Fig. 2. In this embodiment, the operating device 3 has a structure similar to that of the parallel link robot 1. This allows the user to intuitively operate the parallel link robot 1. The operating device 3 is installed, for example, at a location sufficiently distant from the work site where the parallel link robot 1 and the industrial robot 2 are installed. This allows remote control of the parallel link robot 1. This configuration is particularly suitable, for example, when the work site where the parallel link robot 1 and the industrial robot 2 are installed is a dangerous place where workers cannot enter. Alternatively, the operating device 3 may be provided near the work site where the parallel link robot 1 and the industrial robot 2 are provided. This type of configuration is particularly suitable, for example, when a worker performs work while directly visually checking the work target.

[0013] (About the structure of a parallel link robot) FIG. 3 is a front view of the parallel link robot 1 with the link mechanism 12 extended. FIG. 4 is a view of the parallel link robot 1 with the link mechanism 12 extended, viewed in a direction substantially perpendicular to the top plate 11a. FIG. 5 is a diagram showing the parallel link robot 1 shown in FIG. 3 with the cover 16 removed. FIG. 6 is a diagram showing the parallel link robot 1 shown in FIG. 4 with the cover 16 removed. FIG. 7 is a front view of the parallel link robot 1 with the link mechanism 12 folded. FIG. 8 is a view of the parallel link robot 1 with the link mechanism 12 folded, viewed in a direction substantially perpendicular to the top plate 11a. FIG. 9 is a diagram showing the parallel link robot 1 shown in FIG. 7 with the cover 16 removed. FIG. 10 is a diagram showing the parallel link robot 1 shown in FIG. 8 with the cover 16 removed. FIG. 11 shows a modified example of a cable 14d arranged on the top panel portion 11a.

[0014] As shown in FIGS. 3 to 10, the parallel link robot 1 includes a base plate 11, a link mechanism 12, an end plate 13, a drive source 14, a transmission mechanism 15, a cover 16, and a positioning pin 17. 3 to 10, the parallel link robot 1 can change, for example, the position of the end plate 13. In addition, the parallel link robot 1 can change, for example, the posture of the end plate 13. In other words, the parallel link robot 1 according to this embodiment is a so-called six-degree-of-freedom parallel link robot. Below, we will explain in detail each component of the parallel link robot 1. In the following explanation, it may be said that two objects that intersect with each other are approximately perpendicular. "Approximately perpendicular" means, for example, that the intersecting angle between the two objects that intersect with each other is between 85° and 95°.

[0015] (About the base plate) The base plate 11 is a portion to which each component of the parallel link robot 1 is attached. As shown in Figures 5 and 6, the base plate 11 includes a top plate portion 11a, an attachment portion 11b, and a transmission portion 11c. As shown in Fig. 5, the top plate 11a is a plate-shaped member to which a main body 14a (described later) of the drive source 14 is attached on one surface in the thickness direction and a transmission unit 11c is attached on the other surface. When the parallel link robot 1 is in use, both surfaces in the thickness direction of the top plate 11a are covered with covers 16, as shown in Figs. 3 and 4.

[0016] In this embodiment, as shown in FIG. 6, when the parallel link robot 1 is viewed in a direction substantially perpendicular to the top plate 11a, it is preferable that no other components are located outside the top plate 11a. When the parallel link robot 1 is in use, the parallel link robot 1 may approach an obstacle such as a wall. In this case, since no components of the parallel link robot 1 are located outside the top plate 11a, the top plate 11a comes into contact with the obstacle before the other components. This allows the top plate 11a to protect the other components. To ensure this, it is preferable that the top plate 11a has sufficient strength to prevent damage even when it comes into contact with an obstacle. The top plate 11a is, for example, a circle with a linearly cutout portion, and the attachment portion 11b is provided in the cutout portion of the circle.

[0017] The mounting portion 11b is a portion that is attached to the wrist 21 of the industrial robot 2. That is, in this embodiment, the base plate 11 is attached to the wrist 21 of the industrial robot 2 via the mounting portion 11b. In this way, the parallel link robot 1 is attached to the industrial robot 2. The mounting portion 11b and the industrial robot 2 are connected by, for example, bolts. As shown in FIGS. 7 and 8, the mounting portion 11b is composed of, for example, a plate-shaped support portion 11b1 that is attached to the other surface of the top plate portion 11a so as to be perpendicular to the top plate portion 11a, and a flange portion 11b2 that is provided so as to be perpendicular to the top plate portion 11a and the support portion 11b1. The flange portion 11b2 is connected to the wrist 21 of the industrial robot 2 by bolts.

[0018] 5, the transmission unit 11c is a plate-like member provided to support the transmission mechanism 15. The transmission unit 11c is provided on the other surface of the top plate 11a so as to be perpendicular to the top plate 11a. The transmission unit 11c has a plurality of engagement units 11c1 for engaging with rotation shafts 15aS, 15bS (described later) of the transmission mechanism 15. The engagement units 11c1 may be, for example, through holes, or may have a structure in which bearings (not shown) are provided in the through holes.

[0019] (About the link mechanism) Link mechanism 12 supports end plate 13. As shown in Fig. 5, for example, link mechanism 12 is composed of a pair of plate-shaped members, a first link 12a and a second link 12b that is pin-connected to first link 12a by a pin P. Hereinafter, the end of first link 12a that is not pin-connected to second link 12b will be referred to as one end of link mechanism 12. The end of second link 12b that is not pin-connected to first link 12a will be referred to as the other end of link mechanism 12.

[0020] A plurality of link mechanisms 12 are provided in the parallel link robot 1. Each of the plurality of link mechanisms 12 is assembled to the base plate 11. Specifically, one end of the link mechanism 12 is attached to the transmission mechanism 15. The link mechanism 12 is assembled to the base plate 11 by attaching the transmission mechanism 15 to the transmission part 11c.

[0021] In this embodiment, there are provided six link mechanisms 12. The six link mechanisms 12 include three combinations in which two link mechanisms 12 are driven in the same direction, as shown in Fig. 8, for example. 8, the plurality of link mechanisms 12 are arranged to surround the center of the top panel 11a when viewed in a direction substantially perpendicular to the top panel 11a. Specifically, as described above, a combination of two link mechanisms 12 is arranged at intervals of 120° with the center of the top panel 11a as the reference.

[0022] (About the end plate) 7, the end plate 13 is attached to a plurality of link mechanisms 12 and is capable of supporting an end effector (not shown). As shown in Fig. 7, the end plate 13 includes, for example, an upper plate 13a, a lower plate 13b, and a force sensor 13c. The upper plate 13a is a plate-like member located on the upper side of the end plate 13. The upper plate 13a is a portion connected to the link mechanism 12. The lower plate 13b is a plate-like member located below the end plate 13. The lower plate 13b is a portion to which an end effector (not shown) is attached. Force sensor 13c is provided between upper plate 13a and lower plate 13b. Force sensor 13c is connected to, for example, an end effector (not shown) and detects a reaction force or the like that the end effector receives from a work object. To enable connection between force sensor 13c and the end effector, a through-hole (not shown) is preferably provided in lower plate 13b. In this embodiment, the end plate 13 is formed by, for example, joining an upper plate 13a and a lower plate 13b with bolts so as to sandwich the force sensor 13c therebetween. The upper plate of the end plate 13 is pin-connected to the other ends of the multiple link mechanisms 12. Specifically, as described above, a combination of two link mechanisms 12 is arranged at 120° intervals with the center of the end plate 13 as the reference. A positioning hole 13h that engages with a positioning pin 17 is provided in the center of the end plate 13 (details will be described later).

[0023] The position and posture of the end plate 13 are controlled as follows by the plurality of link mechanisms 12 provided as described above. That is, for example, as shown in Figures 3 and 7, when the direction perpendicular to the top plate portion 11a is defined as the reference direction D1, the position of the end plate 13 changes by changing the angle of the link mechanism 12 provided as described above with respect to the reference direction D1. At this time, if the angles of the multiple link mechanisms 12 provided relative to the reference direction D1 are the same, then as shown in, for example, FIGS. 3 and 7, the posture of the end plate 13 remains unchanged, and only the position changes. Furthermore, by making the angles of the plurality of link mechanisms 12 with respect to the reference direction D1 different from one another, the posture of the end plate 13 changes. This ensures six degrees of freedom for the parallel link robot 1 according to this embodiment.

[0024] (About the driving source) The driving source 14 changes the position and posture of the end plate 13. Specifically, the driving source 14 operates the six link mechanisms 12 provided as described above independently of one another via the transmission mechanism 15. In this way, the position and posture of the end plate 13 attached to the link mechanisms 12 are changed.

[0025] In this embodiment, the driving source 14 is, for example, a known servo motor. The driving source 14 is provided on one surface of the top plate 11a in the thickness direction, as shown in FIG. 5 . More specifically, a main body 14a of the driving source 14 is provided on one surface of the top plate 11a in the thickness direction. A rotation shaft 14b of the driving source 14 is positioned so as to extend from one surface to the other surface in the thickness direction through a through-hole (not shown) formed in the top plate 11a. As shown in FIG. 5 , a bevel gear 14c is provided on the end of the rotation shaft 14b on the other side in the thickness direction of the top plate 11a. The bevel gear 14c transmits the rotational force of the driving source 14 to the transmission mechanism 15. Instead of the bevel gear 14c, any other gear, such as a screw gear, may be used as long as it is capable of changing the direction of rotation of the driving source 14.

[0026] In this embodiment, the longitudinal direction of the driving source 14 is approximately perpendicular to the top plate 11a, as shown in Fig. 5, for example. More specifically, the longitudinal direction of the main body 14a of the driving source 14 is approximately perpendicular to the top plate 11a. This prevents the driving source 14 from being positioned outside the top plate 11a when viewed in a direction approximately perpendicular to the top plate 11a, as shown in Fig. 6, for example. 1, in this embodiment, the longitudinal direction of the driving source 14 is approximately perpendicular to the direction in which the wrist 21 of the industrial robot 2 extends. The direction in which the wrist 21 extends refers to the direction from the base 21a of the wrist 21 toward the attachment part (attachment part 11b) between the wrist 21 and the parallel link robot 1. As shown in FIG. 1, when the wrist 21 of the industrial robot 2 is in its initial state, the direction in which the wrist 21 of the industrial robot 2 extends is the direction in which the arm 22 to which the wrist 21 of the industrial robot 2 is attached extends. The wrist 21 of the industrial robot 2 being in its initial state means that the direction from the base 21a of the wrist 21 toward the attachment portion (attachment portion 11b) between the wrist 21 and the parallel link robot 1 is along the extension direction of the arm 22. In this embodiment, the extension direction of the arm 22 is, for example, the horizontal direction. In this case, when the wrist 21 of the industrial robot 2 is in its initial state, the wrist 21 extends in the horizontal direction. The parallel link robot 1 according to this embodiment is mounted so that the longitudinal direction of the drive source 14 attached to the top plate 11a is approximately perpendicular to the extension direction of the wrist 21 of the industrial robot 2. This preferably enables the center of gravity 1G of the parallel link robot 1 shown in FIG.

[0027] In this embodiment, as shown in Fig. 5, a plurality of drive sources 14 are provided for each of the plurality of link mechanisms 12. That is, one drive source 14 is provided for each of the six link mechanisms 12 provided as described above. Therefore, in this embodiment, six drive sources 14 are provided. This preferably ensures that the force for operating the link mechanisms 12 is sufficient, making it easier to handle tasks that require greater force, for example.

[0028] As described above, the parallel link robot 1 is provided with a plurality of driving sources 14. As shown in Fig. 6 and Fig. 11, each of the plurality of driving sources 14 is connected to a cable 14d for supplying electricity to the driving source 14 or transmitting control information for the driving source 14. The cable 14d is arranged in one of the following two examples. 6, as a first example of the arrangement of the cables 14d, the multiple cables 14d connected to the multiple driving sources 14 respectively are arranged in an area A1 surrounded by the multiple driving sources 14. This makes it easier to bundle the multiple cables 14d, for example. As a second example of the arrangement of the cables 14d, or as shown in Fig. 11, the multiple cables 14d connected to the multiple driving sources 14 respectively are arranged to surround the multiple driving sources 14. In other words, the multiple cables 14d are arranged outside the area A1 surrounded by the multiple driving sources 14. This makes it possible to prevent the multiple cables 14d from becoming crowded and to facilitate maintenance of the cables 14d, for example. In either of the above two examples, in this embodiment, the multiple cables 14d overlap the top plate 11a when viewed along the longitudinal direction of the drive source 14 attached to the parallel link robot 1, as shown in Figures 6 and 11. In other words, the multiple cables 14d are arranged so as not to be located outside the top plate 11a when viewed along a direction approximately perpendicular to the top plate 11a. This makes it easier to reduce the size of the parallel link robot 1 when viewed along a direction approximately perpendicular to the top plate 11a.

[0029] (About the transmission mechanism) FIG. 12 is a detailed view of one of the transmission mechanisms 15. The transmission mechanism 15 transmits the rotational force from the driving source 14. The rotational force of the driving source 14 transmitted to the transmission mechanism 15 is then transmitted to the link mechanism 12 attached to the transmission mechanism 15. As a result, the link mechanism 12 operates. In this embodiment, the transmission mechanism 15 includes two gears: a first gear 15a and a second gear 15b.

[0030] The first gear 15a includes a first bevel gear 15a1 and a reduction gear 15a2. The first gear 15a rotates around a rotation axis 15aS shown in Fig. 12. The first bevel gear 15a1 meshes with a bevel gear 14c attached to the drive source 14. The rotation transmitted to the first gear 15a is transmitted to the second gear 15b by a reduction gear 15a2 having a smaller diameter than the first bevel gear 15a1. The second gear 15b meshes with the reduction gear 15a2. The second gear 15b rotates around a rotation axis 15bS shown in FIG. 12. One end of the link mechanism 12, i.e., the end of the first link 12a that is not connected to the second link 12b by a pin, is attached to both side surfaces of the second gear 15b. At this time, both side surfaces of the second gear 15b and one end of the link mechanism 12 are connected, for example, by bolts. As a result, the first link 12a of the link mechanism 12 rotates around the rotation axis 15bS of the second gear 15b due to the rotational force of the drive source 14 transmitted by the transmission mechanism 15.

[0031] The above configuration operates the link mechanism 12. Preferably, the transmission mechanism 15 includes two gears, and the rotational force of the drive source 14 is transmitted to the second gear 15b via the reduction gear 15a2 of the first gear 15a, thereby further increasing the force that moves the link mechanism 12. Alternatively, the transmission mechanism 15 may be configured with one gear if the driving source 14 has sufficient force to operate the link mechanism 12. Alternatively, to further increase the force to operate the link mechanism 12, the transmission mechanism 15 may be configured with three or more transmission mechanisms 15.

[0032] One transmission mechanism 15 having such a configuration is provided for each link mechanism 12. That is, one transmission mechanism 15 is provided for each of the six link mechanisms 12 and drive sources 14 provided as described above. This allows the six link mechanisms 12 to be operated independently by the six transmission mechanisms 15. 12, the rotation axes of the transmission mechanism 15, i.e., the rotation axes 15aS and 15bS of the first gear 15a and the second gear 15b, respectively, intersect approximately perpendicularly to the longitudinal direction of the main body 14a of the driving source 14 attached to the parallel link robot 1. By arranging the transmission mechanism 15 in this manner, it is preferable to reduce the area occupied by the transmission mechanism 15 when viewed in a direction approximately perpendicular to the top plate 11a.

[0033] (About the cover) The cover 16 is attached to the base plate 11, for example, as shown in Fig. 3. The cover 16 covers the above-described components of the parallel link robot 1. In this embodiment, the cover 16 is arranged so as not to be located outside the top plate 11a when viewed in a direction substantially perpendicular to the top plate 11a. In this embodiment, the cover 16 includes a first cover 16a and a second cover 16b. 3, the first cover 16a is provided on one surface in the thickness direction of the top panel portion 11a of the base plate 11. In this way, the first cover 16a covers the drive source 14 and the like.

[0034] 3, the second cover 16b is provided on the other surface in the thickness direction of the top panel portion 11a of the base plate 11. Specifically, the second cover 16b is attached to the transmission portion 11c of the base plate 11, and mainly covers the transmission mechanism 15 and the like. The second cover 16b includes a notch 16b1, as shown in Fig. 3, for example. The notch 16b1 is aligned with the drive direction of one of the multiple link mechanisms 12, i.e., the rotation direction of the second gear 15b of the transmission mechanism 15 shown in Fig. 5. This ensures an area in which the link mechanism 12 can operate even when the cover 16 is installed on the base plate 11. One notch 16b1 is provided in the second cover 16b for each of the multiple link mechanisms 12. In this embodiment, the size of the notch 16b1 along the drive direction of the link mechanism 12 is smaller than the range along the drive direction over which one of the multiple link mechanisms 12 can be driven. Also, as shown in Fig. 3, a first stopper plate 16b2 and a second stopper plate 16b3 are provided on both ends of the notch 16b1 of the cover 16 in the direction along the drive direction of one of the link mechanisms 12. When there is no need to distinguish between the first stopper plate 16b2 and the second stopper plate 16b3, they are referred to as stopper plates. As shown in Fig. 3, the first stopper plate 16b2 is provided along the upper portion of the notch 16b1 of the second cover 16b. The first stopper plate 16b2 is located inside the upper end of the notch 16b1 within the drive range of the link mechanism 12. This allows the link mechanism 12 to come into contact with the first stopper plate 16b2, for example, when the link mechanism 12 attempts to drive upward beyond the size of the notch 16b1 provided in the cover 16. This makes it possible to limit the drive range of the link mechanism 12. As shown in Fig. 3, the second stopper plate 16b3 is provided below the notch 16b1 of the second cover 16b. The second stopper plate 16b3 is located inside the lower end of the notch 16b1 within the drive range of the link mechanism 12. This allows the link mechanism 12 to come into contact with the second stopper plate 16b3 when, for example, the link mechanism 12 attempts to drive downward beyond the size of the notch 16b1 provided in the cover 16b. This makes it possible to limit the drive range of the link mechanism 12. The second stopper plate 16b3 not only limits the range in which the link mechanism 12 can be driven, but also has the function of fixing the lower part of the second cover 16b. Here, if the driveable range of the link mechanism 12 is limited by directly contacting the link mechanism 12 with the notch 16b1 of the second cover 16b without providing a stopper plate, the second cover 16b must have sufficient strength. In this case, increasing the thickness of the second cover 16b increases the weight of the second cover 16b and the entire parallel link robot 1. By providing a stopper plate on the second cover 16b, the second cover 16b can be protected by the stopper plate. This reduces the strength required of the second cover 16b, which contributes to suppressing an increase in the weight of the second cover 16b and the entire parallel link robot 1. 8 and 10, when the link mechanism 12 is folded by the drive source 14, a part of the link mechanism 12, that is, for example, the periphery of the pin P connecting the first link 12a and the second link 12b, may be located outside the connecting part when viewed in a direction substantially perpendicular to the top plate 11a. In this case, for example, when the parallel link robot 1 approaches an obstacle such as a wall, the link mechanism 12 may come into contact with the obstacle before the top plate 11a, and a load may be applied to the link mechanism 12. Therefore, as described above, it is preferable to limit the range in which the link mechanism 12 can be driven by the size of the cutout 16b1 so that even when the link mechanism 12 is folded by the drive source 14, the link mechanism 12 is not positioned outside the top plate portion 11a when viewed along a direction approximately perpendicular to the top plate portion 11a.

[0035] (Regarding positioning pins) FIG. 13 is a diagram showing a state in which the end plate 13 of the parallel link robot 1 is separated from the positioning pin 17. FIG. 14 is a diagram showing a state in which the end plate 13 of the parallel link robot 1 is aligned with the positioning pin 17. The positioning pin 17 is a rod-shaped member provided in the center of the top plate 11a when viewed in a direction substantially perpendicular to the top plate 11a. The positioning pin 17 is provided to align the end plate 13. That is, as shown in FIGS. 13 and 14, by folding the link mechanism 12, the positioning pin 17 is engaged with a positioning hole 13h provided in the center of the end plate 13. That is, the positioning pin 17 is inserted into the positioning hole 13h. This allows, for example, zero-point adjustment of the end plate 13 to be performed. Alternatively, it can prevent the position of the end plate 13 from shifting when the parallel link robot 1 is transported.

[0036] The parallel link robot 1 according to this embodiment is configured with the above components. In order to make it easier for the industrial robot 2 to move the parallel link robot 1, it is preferable that the center of gravity 1G of the parallel link robot 1 is located at the center of the top plate 11a when viewed in a direction perpendicular to the top plate 11a, as shown in FIG. 6, for example, and it is more preferable that the center of gravity 1G be located near the center of the flange 11b2 attached to the wrist 21 of the industrial robot 2. In order to satisfy the above, it is preferable that the parallel link robot 1 has a symmetrical structure with respect to the direction perpendicular to the flange 11b2 from the center of the flange 11b2 attached to the wrist 21 of the industrial robot 2.

[0037] (About the structure of the controller) FIG. 15 is a front view of the operating device 3 that operates the parallel link robot 1. As shown in Figure 15, the operating device 3 includes an operating device side base plate 31, an operating device side link mechanism 32, an operating device side end plate 33, a joystick 34, an operating device side drive source 35, and an operating device side transmission mechanism 36. In this embodiment, the operating device 3 has a structure similar to that of the parallel link robot 1. That is, unless otherwise specified below, the structure of the operating device 3 is the same as that of the parallel link robot 1, or differs only in size. By making the structure of the operating device 3 similar to that of the parallel link robot 1, for example, it becomes possible to directly reflect the operation of the operating device 3 by a worker in the operation of the parallel link robot 1. Alternatively, it becomes possible for a worker to intuitively operate the parallel link robot 1.

[0038] (Regarding the base plate on the controller side) The operator-side base plate 31 has a configuration equivalent to the base plate 11 of the parallel link robot 1. The operator-side base plate 31 has a configuration similar to that of the base plate 11 of the parallel link robot 1. That is, as shown in FIG. 15 , the operator-side base plate 31 includes an operator-side top plate portion 31a equivalent to the top plate portion 11a, an operator-side mounting portion 31b equivalent to the mounting portion 11b, and an operator-side transmission portion 31c equivalent to the transmission portion 11c. The operating device side base plate 31 differs in that, for example, a portion corresponding to the mounting portion 11b of the base plate 11 is mounted on the support stand 3B as shown in FIG.

[0039] (Regarding the link mechanism on the controller side) The operator-side link mechanism 32 has a configuration equivalent to the link mechanism 12 of the parallel link robot 1. That is, as shown in FIG. 15 , a plurality of operator-side link mechanisms 32 are provided in the operator machine 3. Each of the plurality of operator-side link mechanisms 32 is assembled to the operator-side base plate 31. Each of the plurality of operator-side link mechanisms 32 is arranged so as to surround the center of the operator-side top plate 31a when viewed along a direction substantially perpendicular to the operator-side top plate 31a. In this way, the operating device side link mechanism 32 has a configuration similar to that of the link mechanism 12 of the parallel link robot 1.

[0040] (Regarding the end plate on the controller side) The operator side end plate 33 has a configuration equivalent to the end plate 13 of the parallel link robot 1. The operator side end plate 33 differs from the end plate 13 of the parallel link robot 1 in that a joystick 34 is attached to the lower part, as shown in FIG.

[0041] (About the joystick) The joystick 34 is attached to a plurality of controller-side link mechanisms 32. More specifically, as shown in Fig. 15, the joystick 34 is attached via a joystick connecting portion 34a to the lower side of the controller-side end plate 33 attached to the controller-side link mechanism 32. The joystick 34 is a rod-shaped member that an operator grasps when operating the parallel link robot 1. That is, for example, an operator grasps and moves the joystick 34 with his or her hand to change the position and orientation of the joystick 34. This changes the position and orientation of the operator-side end plate 33 in conjunction with the changes in the position and orientation of the joystick 34. The changes in the position and orientation of the operator-side end plate 33 are detected by an operator-side drive source 35 and an operator-side transmission mechanism 36, which will be described next, and are reflected in the position and orientation of the end plate 13 of the parallel link robot 1.

[0042] (Regarding the drive source on the controller side) The operator-side drive source 35 detects the amount of change in the position and attitude of the joystick 34. In this embodiment, the operator-side drive source 35 is, for example, a servo motor. As shown in FIG. 15 , one operator-side drive source 35 is provided for one operator-side link mechanism 32, similar to the drive source 14 of the parallel link robot 1. When the position and attitude of the controller-side end plate 33 is changed by the joystick 34 as described above, each of the multiple controller-side link mechanisms 32 deforms to match the position and attitude of the controller-side end plate 33. The deformation of the controller-side link mechanism 32 described above is transmitted to the controller-side drive source 35 by the controller-side transmission mechanism 36. The controller-side drive source 35 detects, for example, the amount of deformation of the controller-side link mechanism 32. The amount of change in the position and attitude of the controller-side end plate 33 can be found by calculation by the multiple controller-side drive sources 35 detecting the amount of deformation of the multiple controller-side link mechanisms 32. In this embodiment, the longitudinal direction of the controller-side drive source 35 is approximately perpendicular to the controller-side top panel 31a. This prevents the controller-side drive source 35 from being located outside the controller-side top panel 31a when viewed along a direction approximately perpendicular to the controller-side top panel 31a. This contributes to the miniaturization of the controller 3.

[0043] (Regarding the controller side transmission mechanism) The operator-side transmission mechanism 36 transmits the deformation of the link mechanism 12 to the operator-side drive source 35. The operator-side transmission mechanism 36 is, for example, a gear. As a result, the operator-side transmission mechanism 36 rotates in accordance with the deformation of the link mechanism 12. The rotation by the operator-side transmission mechanism 36 is transmitted to the operator-side drive source 35, making it possible for the operator-side drive source 35 to detect the amount of deformation of the link mechanism 12. The operator-side drive source 35 and the operator-side transmission mechanism 36 mesh with each other via a bevel gear (not shown), for example, similar to the drive source 14 and transmission mechanism 15 of the parallel link robot 1. As described above, the transmission mechanism 15 of the parallel link robot 1 is provided with two gears, thereby increasing the force that moves the link mechanism 12. In contrast, the operator's side link mechanism 32 is passively deformed when the operator operates the joystick 34. Therefore, the operator 3 does not require a large force to move the operator's side link mechanism 32, and therefore the operator's side transmission mechanism 36 may be provided with, for example, only one gear. Alternatively, the present invention is not limited to this, and the operator's side transmission mechanism 36 may be configured with any number of gears.

[0044] As described above, in the parallel link robot 1 according to this embodiment, the longitudinal direction of the driving source 14 for changing the position and posture of the end plate 13 is approximately perpendicular to the top plate 11a of the base plate 11. As a result, even if the longitudinal length of the driving source 14 is increased, it is possible to prevent the layout of the driving source 14 in the direction along the top plate 11a from being affected. Therefore, when viewed in a direction approximately perpendicular to the top plate 11a, it is possible to prevent the driving source 14 from being positioned outside the top plate 11a. Therefore, it is possible to reduce the size of the parallel link robot 1 when viewed in a direction approximately perpendicular to the top plate 11a. Therefore, it is possible to reduce the size of the parallel link robot 1.

[0045] When, for example, gears or pulleys are used as the transmission mechanism 15, adjusting the output of the transmission mechanism 15 may increase the area of ​​the transmission mechanism 15 in a direction approximately perpendicular to the rotation axes 15aS and 15bS due to the need to adjust the diameter of the gears or pulleys. The rotation axes 15aS and 15bS of the transmission mechanism 15, which transmits the rotational force from the drive source 14, intersect approximately perpendicularly to the longitudinal direction of the drive source 14 attached to the parallel link robot 1. By arranging the transmission mechanism 15 in this manner, even if the transmission mechanism 15 is enlarged in a direction approximately perpendicular to the rotation axes 15aS and 15bS, for example, to adjust the output as described above, it is possible to minimize the effect on the layout of the transmission mechanism 15 in the direction along the top plate 11a. Therefore, for example, compared to when the rotation axes 15aS and 15bS of the transmission mechanism 15 are arranged along the longitudinal direction of the drive source 14 attached to the parallel link robot 1, it is possible to easily reduce the area occupied by the transmission mechanism 15 when viewed in a direction approximately perpendicular to the top plate 11a. This makes it easier to further reduce the size of the parallel link robot 1 when viewed in a direction approximately perpendicular to the top plate 11a. This makes it easier to further miniaturize the parallel link robot 1.

[0046] Furthermore, multiple drive sources 14 are provided for each of the multiple link mechanisms 12 provided in the parallel link robot 1. This allows, for example, one drive source 14 to be provided for one link mechanism 12. This allows the output of the parallel link robot 1 to be increased, making it easier to handle tasks that require greater force, for example.

[0047] Furthermore, the base plate 11 of the parallel link robot 1 is attached to the wrist 21 of the industrial robot 2 via the attachment portion 11b. The longitudinal direction of the driving source 14 attached to the parallel link robot 1 is approximately perpendicular to the direction in which the wrist 21 extends. In this way, by positioning the longitudinal direction of the driving source 14 attached to the parallel link robot 1 approximately perpendicular to the wrist 21 of the industrial robot 2, even if the longitudinal length of the driving source 14 is longer, it is possible to make it difficult for the center of gravity 1G of the parallel link robot 1 to move in a direction along the top plate portion 11a, compared to, for example, a case in which the longitudinal direction of the driving source 14 attached to the parallel link robot 1 is positioned along the wrist 21 of the industrial robot 2. Therefore, it is possible to make it difficult for the center of gravity 1G of the parallel link robot 1 to move relative to the wrist 21 of the industrial robot 2, and it is possible to easily position the center of gravity 1G near the wrist 21 of the industrial robot 2. Therefore, it is possible to reduce the magnitude of the moment of force due to the weight of the parallel link robot 1, with the wrist 21 of the industrial robot 2 as the origin. This reduces the burden on the industrial robot 2 caused by the parallel link robot 1. Furthermore, it is possible to make it easier for the industrial robot 2 to move the parallel link robot 1.

[0048] There are also multiple drive sources 14. Multiple cables 14d connected to the multiple drive sources 14 are arranged in an area A1 surrounded by the multiple drive sources 14. This makes it easier to bundle the multiple cables 14d, for example. Therefore, for example, it is possible to improve the arrangement of wiring in the parallel link robot 1. Furthermore, the multiple cables 14d overlap the top plate 11a when viewed along the longitudinal direction of the drive source 14 attached to the parallel link robot 1. This prevents the multiple cables 14d from being positioned outside the top plate 11a. This makes it easier to reduce the size of the parallel link robot 1 when viewed along a direction approximately perpendicular to the top plate 11a. This makes it easier to make the parallel link robot 1 even more compact.

[0049] Furthermore, there are a plurality of drive sources 14. A plurality of cables 14d connected to each of the plurality of drive sources 14 are arranged so as to surround the plurality of drive sources 14. In other words, the plurality of cables 14d are arranged outside the area A1 surrounded by the plurality of drive sources 14. This, for example, can prevent the plurality of cables 14d from becoming crowded. Therefore, for example, it can be made easier to perform maintenance on the cables 14d. Furthermore, the multiple cables 14d overlap the top plate 11a when viewed along the longitudinal direction of the drive source 14 attached to the parallel link robot 1. This prevents the multiple cables 14d from being positioned outside the top plate 11a. This makes it easier to reduce the size of the parallel link robot 1 when viewed along a direction approximately perpendicular to the top plate 11a. This makes it easier to make the parallel link robot 1 even more compact.

[0050] Furthermore, the cover 16 attached to the base plate 11 includes a notch 16b1 that is aligned with the driving direction of one of the link mechanisms 12. This ensures that an area in which the link mechanisms 12 can operate can be secured even when the cover 16 is attached to the base plate 11. Furthermore, the size of the notch 16b1 along the drive direction of one of the link mechanisms 12 is smaller than the drive range of one of the multiple link mechanisms 12 along the drive direction. This allows, for example, the cover 16 to limit the drive range of the link mechanism 12. This prevents the link mechanism 12 from being positioned outside the top plate 11a when viewed in a direction substantially perpendicular to the top plate 11a. This makes it easier to reduce the size of the parallel link robot 1 when viewed in a direction substantially perpendicular to the top plate 11a. This makes it easier to further miniaturize the parallel link robot 1. Furthermore, for example, when the parallel link robot 1 approaches an obstacle such as a wall, the top plate 11a can come into contact with the obstacle before the link mechanism 12. This makes it easier to protect the link mechanism 12.

[0051] The parallel link robot 1 further includes a stopper plate. The stopper plate is provided at one of both ends of the cutout 16b1 of the cover 16 in a direction along one of the drive directions of the link mechanism 12. This causes the link mechanism 12 to come into contact with the stopper plate when the link mechanism 12 attempts to drive beyond the size of the cutout 16b1 provided in the cover 16. This makes it possible to limit the range in which the link mechanism 12 can be driven while protecting the cover 16. Furthermore, providing the stopper plate reduces the strength required for the entire cover 16. This therefore makes it possible to reduce, for example, the weight of the entire cover 16. This contributes to reducing the weight of the entire parallel link robot 1.

[0052] The parallel link robot 1 also includes a positioning pin 17 provided in the center of the top plate 11a when viewed in a direction approximately perpendicular to the top plate 11a. This makes it possible to adjust the zero point of the end plate 13, for example, by aligning the reference position of the end plate 13 with the positioning pin 17. Also, by aligning the reference position of the end plate 13 with the positioning pin 17, it is possible to prevent the position of the end plate 13 from shifting when the parallel link robot 1 is transported.

[0053] The above-described controller 3 includes a controller-side base plate 31, a controller-side link mechanism 32, and a controller-side drive source 35. This allows the structure of the controller 3 to be similar to the structure of the parallel link robot 1 according to the present disclosure, for example. A joystick 34 is attached to the controller-side link mechanism 32. In other words, the controller 3 has a structure similar to that of the parallel link robot 1, and the position and posture of the portion of the parallel link robot 1 that corresponds to the end plate 13 can be controlled by the joystick 34. This allows, for example, changes in the position and posture of the joystick 34 to be directly reflected in changes in the position and posture of the end plate 13. Therefore, for example, an operator can intuitively control the position and posture of the end plate 13 of the parallel link robot 1 by grasping and moving the joystick 34 with his or her hand. Furthermore, the longitudinal direction of the controller-side drive source 35, which detects the amount of change in the position and attitude of the joystick 34, is approximately perpendicular to the controller-side top panel 31a of the controller-side base plate 31. This prevents the controller-side drive source 35 from being located outside the controller-side top panel 31a when viewed in a direction approximately perpendicular to the controller-side top panel 31a. This makes it possible to reduce the size of the controller 3 when viewed in a direction approximately perpendicular to the controller-side top panel 31a. This allows the controller 3 to be made smaller.

[0054] The technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present disclosure. For example, in the operating device 3, any configuration may be used in place of the operating device side drive source 35 and the operating device side transmission mechanism 36, as long as it is possible to detect the amount of deformation of the operating device side link mechanism 32. For example, in the parallel link robot 1, as long as it can be ensured that the transmission mechanism 15 is not positioned outside the top plate portion 11a, the rotation axes 15aS, 15bS of the transmission mechanism 15 and the longitudinal direction of the main body portion 14a of the drive source 14 do not have to be approximately perpendicular. For example, in order to increase the force that moves the link mechanism 12, a plurality of drive sources 14 may be provided for one link mechanism 12. For example, the longitudinal direction of the main body 14a of the driving source 14 does not always have to be approximately perpendicular to the direction in which the wrist 21 extends. That is, for example, when the parallel link robot 1 is moved by the industrial robot 2, the longitudinal direction of the main body 14a of the driving source 14 does not have to be approximately perpendicular to the direction in which the wrist 21 extends. For example, as long as the zero point adjustment of the end plate 13 can be reliably performed, the positioning pin 17 does not have to be located at the center of the top plate 11a when viewed in a direction substantially perpendicular to the top plate 11a. In this case, the positioning hole 13h of the end plate 13 does not have to be located at the center of the end plate 13. Furthermore, the parallel link robot 1 may not be attached to the industrial robot 2, but may be immovably fixed at any location. In this case, for example, an object to be worked on by the parallel link robot 1 may be attached to the industrial robot. Then, the parallel link robot 1 and the industrial robot to which the object is attached may be operated cooperatively, allowing the parallel link robot 1 to efficiently work on the object. Furthermore, in this embodiment, the parallel link robot 1 has been described as having six degrees of freedom, but depending on the application, the parallel link robot 1 may have three degrees of freedom. In such a case, for example, as shown in FIGS. 13 and 14, a combination of two link mechanisms 12 may be connected to each other using a connecting portion 12C. In this way, the combination of two link mechanisms 12 may be driven uniformly to ensure the three degrees of freedom of the parallel link robot 1. Also, the second cover 16b does not need to be provided with a stopper plate. In this case, the second cover 16b may have a strength sufficient to prevent deformation even when the link mechanism 12 comes into contact with it, so that the drive range of the link mechanism 12 can be limited.

[0055] In addition, within the scope of the present disclosure, the components in the above-described embodiments may be replaced with well-known components as appropriate, and the above-described modified examples may be combined as appropriate.

[0056] (Addendum) The parallel link robot and the operating machine according to the above embodiment can be understood, for example, as follows.

[0057] <1> A parallel link robot according to one aspect of the present disclosure is a parallel link robot comprising: a base plate having a top plate portion; a plurality of link mechanisms each assembled to the base plate, the plurality of link mechanisms being arranged to surround the center of the top plate portion when viewed along a direction approximately perpendicular to the top plate portion; end plates attached to the plurality of link mechanisms and capable of supporting end effectors; and a drive source for changing the position and posture of the end plates, wherein the longitudinal direction of the drive source is approximately perpendicular to the top plate portion.

[0058] According to the above-described parallel link robot, the longitudinal direction of the drive source for changing the position and orientation of the end plates is approximately perpendicular to the top plate portion of the base plate. This makes it possible to suppress, for example, an increase in the longitudinal length of the drive source without affecting the layout of the drive source in the direction along the top plate portion. This prevents the drive source from being positioned outside the top plate portion when viewed in a direction approximately perpendicular to the top plate portion. This makes it possible to reduce the size of the parallel link robot when viewed in a direction approximately perpendicular to the top plate portion. This allows for a reduction in the size of the parallel link robot.

[0059] <2> the above <1> The parallel link robot according to the above aspect may further include a transmission mechanism that transmits rotational force from the drive source, and a rotation axis of the transmission mechanism may intersect the longitudinal direction substantially perpendicularly.

[0060] When a gear or pulley is used as the transmission mechanism, for example, adjusting the output of the transmission mechanism may increase the area of ​​the transmission mechanism in a direction approximately perpendicular to the rotation axis, due to the need to adjust the diameter of the gear or pulley, etc. The rotation axis of the transmission mechanism that transmits rotational force from the drive source intersects approximately perpendicularly with the longitudinal direction of the drive source attached to the parallel link robot. By arranging the transmission mechanism in this manner, even if the transmission mechanism is enlarged in a direction approximately perpendicular to the rotation axis, for example, for the purpose of adjusting the output as described above, it is possible to minimize the impact on the layout of the transmission mechanism in the direction along the tabletop. Therefore, for example, compared to when the rotation axis of the transmission mechanism is arranged along the longitudinal direction of the drive source attached to the parallel link robot, it is possible to easily reduce the area occupied by the transmission mechanism when viewed in a direction approximately perpendicular to the tabletop. This makes it easier to further reduce the size of the parallel link robot when viewed in a direction approximately perpendicular to the tabletop. This makes it easier to further miniaturize the parallel link robot.

[0061] <3> the above <1> or <2> In the parallel link robot according to the above aspect, a configuration may be employed in which the plurality of drive sources are provided in each of the plurality of link mechanisms.

[0062] Furthermore, multiple drive sources are provided for each of the multiple link mechanisms provided in the parallel link robot. This allows, for example, one drive source to be provided for each link mechanism. This allows the parallel link robot to have a higher output, making it easier to handle tasks that require greater force, for example.

[0063] <4> the above <1> from <3> In the parallel link robot according to any one of the above aspects, a configuration may be adopted in which the base plate further includes an attachment portion, the base plate is attached to a wrist portion of an industrial robot via the attachment portion, and the longitudinal direction is approximately perpendicular to a direction in which the wrist portion extends.

[0064] The base plate of the parallel link robot is attached to the wrist of the industrial robot via an attachment portion. The longitudinal direction of the drive source attached to the parallel link robot is approximately perpendicular to the direction in which the wrist extends. By positioning the longitudinal direction of the drive source attached to the parallel link robot approximately perpendicular to the wrist of the industrial robot in this manner, the center of gravity of the parallel link robot is less likely to move in a direction along the top plate, even if the longitudinal length of the drive source is longer, compared to when the longitudinal direction of the drive source attached to the parallel link robot is positioned along the wrist of the industrial robot. This makes it possible to make the center of gravity of the parallel link robot less likely to move relative to the wrist of the industrial robot, making it easier to position the center of gravity near the wrist of the industrial robot. This reduces the magnitude of the moment of force due to the weight of the parallel link robot, with the wrist of the industrial robot as the origin. This reduces the load on the industrial robot caused by the parallel link robot. Furthermore, it is easier to move the parallel link robot using the industrial robot.

[0065] <5> the above <1> from <4> In the parallel link robot according to any one of the above aspects, a configuration may be adopted in which there are a plurality of drive sources, a plurality of cables connected to each of the plurality of drive sources are arranged in an area surrounded by the plurality of drive sources, and the plurality of cables overlap with the top plate portion when viewed along the longitudinal direction.

[0066] Furthermore, there are multiple drive sources. The multiple cables connected to the multiple drive sources are arranged in an area surrounded by the multiple drive sources. This makes it easier to bundle the multiple cables, for example. This makes it possible to improve the arrangement of wiring in a parallel link robot, for example. Furthermore, the multiple cables overlap with the top plate when viewed along the longitudinal direction of the drive source attached to the parallel link robot. This prevents the multiple cables from being positioned outside the top plate. This makes it easier to reduce the size of the parallel link robot when viewed along a direction approximately perpendicular to the top plate. This makes it easier to make the parallel link robot even more compact.

[0067] <6> the above <1> from <4> In the parallel link robot according to any one of the above aspects, a configuration may be adopted in which there are a plurality of drive sources, a plurality of cables connected to each of the plurality of drive sources are arranged to surround the plurality of drive sources, and the plurality of cables overlap with the top plate portion when viewed along the longitudinal direction.

[0068] Furthermore, there are multiple drive sources. The multiple cables connected to the multiple drive sources are arranged so as to surround the multiple drive sources. In other words, the multiple cables are arranged outside the area surrounded by the multiple drive sources. This, for example, can prevent the multiple cables from becoming too crowded. Therefore, for example, it can make cable maintenance easier. Furthermore, the multiple cables overlap with the top plate when viewed along the longitudinal direction of the drive source attached to the parallel link robot. This prevents the multiple cables from being positioned outside the top plate. This makes it easier to reduce the size of the parallel link robot when viewed along a direction approximately perpendicular to the top plate. This makes it easier to make the parallel link robot even more compact.

[0069] <7> the above <1> from <6> The parallel link robot according to any one of the above aspects may further include a cover installed on the base plate, wherein the cover includes a notch along a drive direction of one of the plurality of link mechanisms, and the size of the notch along the drive direction is smaller than a range along the drive direction in which one of the plurality of link mechanisms can be driven.

[0070] Furthermore, the cover attached to the base plate includes a notch aligned with the drive direction of one of the link mechanisms, ensuring an area in which the link mechanism can operate even when the cover is attached to the base plate. Furthermore, the size of the cutout along the drive direction of one of the link mechanisms is smaller than the drive range of one of the multiple link mechanisms along the drive direction. This makes it possible to limit the drive range of the link mechanism, for example, by using a cover. This makes it possible to prevent the link mechanism from operating and being positioned outside the top plate when viewed in a direction approximately perpendicular to the top plate. This makes it easier to reduce the size of the parallel link robot when viewed in a direction approximately perpendicular to the top plate. This makes it easier to further miniaturize the parallel link robot. Furthermore, for example, when the parallel link robot approaches an obstacle such as a wall, the top plate can come into contact with the obstacle before the link mechanism. This makes it easier to protect the link mechanism.

[0071] <8> the above <7> The parallel link robot according to the above aspect may further include a stopper plate provided on one of both ends of the cutout in the driving direction.

[0072] The robot further includes a stopper plate. The stopper plate is provided at one of the two ends of the notch in the cover in a direction along one of the drive directions of the link mechanism. This causes the link mechanism to come into contact with the stopper plate when the link mechanism attempts to drive beyond the size of the notch provided in the cover. This limits the range in which the link mechanism can be driven while protecting the cover. Furthermore, providing the stopper plate reduces the strength required for the entire cover. This therefore reduces, for example, the weight of the entire cover. This contributes to reducing the weight of the entire parallel link robot.

[0073] <9> the above <1> from <8> In the parallel link robot according to any one of the above aspects, a configuration may be adopted in which the parallel link robot further includes a positioning pin provided at the center of the top plate portion when viewed along a direction approximately perpendicular to the top plate portion.

[0074] The parallel link robot also includes a positioning pin 17 provided in the center of the top plate when viewed in a direction substantially perpendicular to the top plate. This allows, for example, zero point adjustment of the end plate by aligning the reference position of the end plate with the positioning pin 17. Also, for example, by aligning the reference position of the end plate with the positioning pin 17, it is possible to prevent the position of the end plate from shifting when the parallel link robot is transported.

[0075] <10> An operating device according to one aspect of the present disclosure includes: <1> from <9> an operator side base plate having an operator side top plate portion; a plurality of operator side link mechanisms respectively attached to the operator side base plate, the plurality of operator side link mechanisms being arranged to surround the center of the operator side top plate portion when viewed along a direction approximately perpendicular to the operator side top plate portion; joysticks attached to the plurality of operator side link mechanisms; and an operator side drive source that detects an amount of change in the position and attitude of the joystick, wherein the longitudinal direction of the operator side drive source is approximately perpendicular to the operator side top plate portion.

[0076] The above-described controller includes a controller-side base plate, a controller-side link mechanism, and a controller-side drive source. This allows the structure of the controller to be similar to the structure of the parallel link robot according to the present disclosure, for example. A joystick is attached to the controller-side link mechanism. In other words, the controller has a structure similar to that of the parallel link robot, and the position and orientation of the portion of the parallel link robot that corresponds to the end plate can be controlled by the joystick. This allows, for example, changes in the position and orientation of the joystick to be directly reflected in changes in the position and orientation of the end plate, allowing, for example, an operator to intuitively control the position and orientation of the end plate of the parallel link robot by gripping and moving the joystick with their hand. Furthermore, the longitudinal direction of the controller-side drive source, which detects the amount of change in the position and attitude of the joystick, is approximately perpendicular to the controller-side top plate portion of the controller-side base plate. This prevents the controller-side drive source from being located outside the controller-side top plate portion when viewed in a direction approximately perpendicular to the controller-side top plate portion. This makes it possible to reduce the size of the controller when viewed in a direction approximately perpendicular to the controller-side top plate portion. This allows for a more compact controller. [Explanation of symbols]

[0077] 1 Parallel link robot 1G center of gravity 2. Industrial robots 3 Control device 3B Support stand 11 Base Plate 11a Top plate 11b Mounting part 11b1 Support part 11b2 Flange part 11c Transmission section 11c1 Engagement part 12 Link mechanism 12a Link 1 12b 2nd link 13 End plate 13a Upper plate 13b Lower plate 13c Force sensor 13h Positioning hole 14 Power Source 14a Main body 14b Rotation axis 14c bevel gear 14d Cable 15 Transmission Mechanism 15a 1st gear 15a1 First bevel gear 15a2 reduction gear 15aS Rotating Axis 15b 2nd gear 15bS Rotating Axis 16 Cover 16a 1st cover 16b 2nd cover 16b1 notch 16b2 First stopper plate 16b3 Second stopper plate 17 Locating pin 21 Wrist part 21a base 22 Arm 31 Controller side base plate 31a Control unit side top plate 31b Controller side mounting part 31c Controller side transmission section 32 Link mechanism on the operating unit side 33 End plate on the control unit side 34 Joystick 34a Joystick connector 35 Operating device side drive source 36 Operator side transmission mechanism A1 area D1 Reference direction P-pin

Claims

1. a base plate having a top plate portion; a plurality of link mechanisms respectively assembled to the base plate, the link mechanisms being arranged to surround a center of the top plate portion when viewed in a direction substantially perpendicular to the top plate portion; an end plate attached to the plurality of link mechanisms and capable of supporting an end effector; a drive source for changing the position and posture of the end plate; A parallel link robot comprising: The longitudinal direction of the drive source is approximately perpendicular to the top plate portion. A parallel link robot characterized by:

2. a transmission mechanism that transmits rotational force from the drive source; Further provided with The rotation axis of the transmission mechanism intersects the longitudinal direction substantially perpendicularly.

2. The parallel link robot according to claim 1 .

3. The plurality of drive sources are provided in the plurality of link mechanisms, respectively.

3. The parallel link robot according to claim 2.

4. the base plate further comprises a mounting portion; the base plate is attached to a wrist of an industrial robot via the attachment portion, The longitudinal direction is approximately perpendicular to the direction in which the wrist portion extends.

4. The parallel link robot according to claim 1, wherein the parallel link robot is a parallel link robot.

5. There are a plurality of drive sources, a plurality of cables connected to the plurality of driving sources, respectively, are arranged in an area surrounded by the plurality of driving sources; The plurality of cables overlap with the top plate portion when viewed along the longitudinal direction.

4. The parallel link robot according to claim 1, wherein the parallel link robot is a parallel link robot.

6. There are a plurality of drive sources, a plurality of cables connected to the plurality of driving sources, respectively, are arranged so as to surround the plurality of driving sources; The plurality of cables overlap with the top plate portion when viewed along the longitudinal direction.

4. The parallel link robot according to claim 1, wherein the parallel link robot is a parallel link robot.

7. a cover mounted on the base plate; Further provided with the cover includes a notch that is aligned along a drive direction of one of the plurality of link mechanisms, a size of the notch along the drive direction is smaller than a range along the drive direction in which one of the plurality of link mechanisms can be driven; 4. The parallel link robot according to claim 1, wherein the parallel link robot is a parallel link robot.

8. a stopper plate provided at one of both ends of the notch in the driving direction; The parallel link robot according to claim 7, further comprising:

9. a positioning pin provided at the center of the top plate portion when viewed along a direction substantially perpendicular to the top plate portion; The parallel link robot according to any one of claims 1 to 3, further comprising:

10. An operating machine for operating the parallel link robot according to any one of claims 1 to 3, an operating device side base plate having an operating device side top plate portion; a plurality of controller-side link mechanisms respectively attached to the controller-side base plate, the plurality of controller-side link mechanisms being arranged to surround a center of the controller-side top plate when viewed in a direction substantially perpendicular to the controller-side top plate; joysticks attached to the plurality of controller-side link mechanisms; an operating device drive source that detects the amount of change in the position and attitude of the joystick; Equipped with The longitudinal direction of the controller-side drive source is approximately perpendicular to the controller-side top plate portion. An operating device characterized by:

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