PARALLEL LINK ROBOT, AND METHOD OF TEACHING PARALLEL LINK ROBOT
First Claim
Patent Images
1. A parallel link robot comprising:
- a base;
a movable body provided vertically below the base;
at least three link mechanisms each of which connects the base and the movable body and includes a joint between the base and the movable body;
a drive source which is provided in the base and moves the movable body relative to the base by flexing each of the at least three link mechanisms at the joint;
a suspension unit connecting the base and the movable body and configured to add, by extending and contracting the suspension unit itself, a force that resists gravity to the movable body; and
a processing unit configured to store information on movement of the movable body in a state where the drive source is in a non-drive state.
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Accused Products
Abstract
A parallel link robot (10) allows holding a movable body (13) in midair by connecting a center portion or a peripheral portion of the movable body (13) and a center portion or a peripheral portion of a base (12), using a suspension unit (17) having elasticity such as a constant load spring.
52 Citations
12 Claims
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1. A parallel link robot comprising:
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a base; a movable body provided vertically below the base; at least three link mechanisms each of which connects the base and the movable body and includes a joint between the base and the movable body; a drive source which is provided in the base and moves the movable body relative to the base by flexing each of the at least three link mechanisms at the joint; a suspension unit connecting the base and the movable body and configured to add, by extending and contracting the suspension unit itself, a force that resists gravity to the movable body; and a processing unit configured to store information on movement of the movable body in a state where the drive source is in a non-drive state. - View Dependent Claims (2, 3, 6, 7, 8, 9)
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4. A parallel link robot comprising:
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a base; a movable body provided vertically below the base; at least three link mechanisms each of which connects the base and the movable body and includes a joint between the base and the movable body; a drive source which is provided in the base and moves the movable body relative to the base by flexing each of the at least three link mechanisms at the joint; and a suspension unit connecting the base and the movable body and configured to add, by extending and contracting the suspension unit itself, a force that resists gravity to the movable body, wherein the suspension unit is attached to the base via a tilt mechanism that tilts with respect to the base.
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5. A parallel link robot comprising:
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a base; a movable body provided vertically below the base; at least three link mechanisms each of which connects the base and the movable body and includes a joint between the base and the movable body; a drive source which is provided in the base and moves the movable body relative to the base by flexing each of the at least three link mechanisms at the joint; a suspension unit connecting the base and the movable body and configured to add, by extending and contracting the suspension unit itself, a force that resists gravity to the base; and a slide mechanism with which an attachment support of the suspension unit is slidably attached to the base, the attachment support allowing the suspension unit to be attached to the base, wherein the slide mechanism is a mechanism of which a distance from the base increases as the attachment support approaches an outer edge portion of the base.
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10. A method of teaching a parallel link robot that includes:
- a base;
a movable body provided vertically below the base;
at least three link mechanisms each of which connects the base and the movable body and includes a joint between the base and the movable body; and
a drive source which is provided in the base and moves the movable body relative to the base by flexing each of the at least three link mechanisms at the joint, the method comprisingstoring, into a storage unit, an operating status of the movable body as operation information for teaching, in a state where a suspension unit connects the base and the movable body so that a force that resists gravity is added to the movable body by the suspension unit extending and contracting itself and where the drive source is in a non-drive state. - View Dependent Claims (11, 12)
- a base;
Specification