Parallel Link Robot Phase-Marking Visibility
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Solution Overview
Problem
Existing parallel link robots face inefficiencies in phase-matching operations due to marks being hidden by end effectors or difficult to access, especially in restricted spaces, leading to increased work time and man-hours.
Innovation Solution
Providing a pair of marks on the movable portion and wrist shaft at positions visible from the upper side or lateral side, allowing for easy phase-matching without detaching the end effector, and optionally providing marks on the drive shaft and shaft casing for enhanced precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If marks are provided on the wrist shaft and movable portion for phase-matching, then phase-matching precision is improved, but the marks become hidden by the end effector and difficult to access in restricted spaces
Solution Approach 1:
The patent applies dimensionality change by moving the mark positions from the traditional location on the wrist shaft to the movable portion, specifically on surfaces visible from the upper side or lateral side. This spatial relocation in a different dimensional perspective allows operators to view and adjust phase-matching marks without interference from the end effector, resolving the contradiction between precision measurement and operational accessibility
2Ease of operation
If marks are positioned for easy visibility from upper or lateral side, then ease of operation is improved, but additional structural features (through-holes, protrusions) are required
Solution Approach 1:
The movable portion is designed to serve multiple functions: it supports the wrist shaft assembly, provides visible surfaces for phase-matching marks, and maintains structural integrity. The through-hole and protrusion features are integrated into the existing movable portion design, allowing it to simultaneously achieve mark visibility and mechanical functionality without adding separate dedicated components
Data Source
AI summary
A parallel link robot includes a base portion; a movable portion that is disposed below the base portion; a plurality of arms that link the base portion and the movable portion so as to be parallel to each other; and a wrist shaft that is supported by the movable portion so as to be rotatable about a rotation axis in a substantially vertical direction. A pair of marks indicate a relative phase between the movable portion and the wrist shaft about the rotation axis are on the movable portion and the wrist shaft, at positions visible from the upper side or the lateral side.