Parallel Link Robot Phase Matching Jig
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Solution Overview
Problem
Existing parallel link robots require manual phase matching of the movable part and the wrist shaft, which can be cumbersome and inaccurate, especially when tools are attached to the wrist flange.
Innovation Solution
A parallel link robot system that includes a positioning jig mountable on the movable part or wrist shaft, allowing for precise phase matching by detecting contact with a contact surface or contact member, enabling accurate alignment without removing attached tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual phase matching is performed by visually confirming marker alignment, then phase matching can be performed from above the movable part without removing tools, but the phase matching process becomes cumbersome and inaccurate
Solution Approach 1:
The patent replaces the visual marker alignment method with a mechanical detection system. A detection device with a detection unit is mounted on the wrist shaft, and it mechanically detects the position of a detection mark on the movable part. This mechanical detection system provides precise phase matching data without requiring visual confirmation, thereby improving both ease of operation and measurement precision.
Solution Approach 2:
The patent introduces a detection mark as an intermediary element between the wrist shaft and the movable part. The detection mark is disposed on the movable part and is detected by the detection device on the wrist shaft. This intermediary enables accurate phase matching by providing a specific detection target, eliminating the need for direct visual alignment of markers while maintaining operational simplicity.
2Productivity
If tools are attached to the wrist flange, then the robot can perform tasks, but manual phase matching becomes more difficult and time-consuming
Solution Approach 1:
The patent implements preliminary action by pre-mounting the detection device on the wrist shaft and pre-disposing the detection mark on the movable part. This preparation is done once during setup, and then phase matching can be quickly performed by simply operating the detection device, without needing to remove tools or perform complex visual alignment procedures each time.
Solution Approach 2:
The patent replaces the time-consuming manual visual alignment process with an automated mechanical detection system. The detection device mechanically detects the detection mark position, providing precise phase matching data quickly and accurately, thereby reducing phase matching time and improving operational efficiency even when tools are attached.
3Ease of operation
If visual marker alignment is used for phase matching, then no tools need to be removed, but the alignment accuracy is insufficient
Solution Approach 1:
The patent replaces the imprecise visual marker alignment with a precise mechanical detection system. The detection device with detection unit mechanically detects the detection mark position on the movable part, providing accurate alignment data. This mechanical detection method maintains the convenience of not removing tools while significantly improving alignment accuracy.
Solution Approach 2:
The patent uses a detection mark as an intermediary that provides a precise detection target. The detection mark is specifically designed to be detected by the detection device, enabling accurate phase matching through mechanical detection rather than visual confirmation, thereby improving alignment accuracy while maintaining operational convenience.
Data Source
AI summary
A parallel link robot includes a base unit, a movable part disposed below the base unit, a plurality of arms that connect the base unit and the movable part in parallel, and a wrist shaft that penetrates through the movable part along an axis extending in a vertical direction and is driven and rotated about the axis with respect to the movable part. A jig mount for detachably mounting a positioning jig is provided on one of an upper surface of the movable part and an upper portion of the wrist shaft exposed on the upper surface. A contact surface with which the positioning jig mounted on the jig mount makes contact is provided on the other one of the movable part and the wrist shaft, or a contact member having the contact surface can be detachably mounted onto the other one of the movable part and the wrist shaft.