PARALLEL LINK ROBOT

• US 20190210220A1
• Filed: 12/28/2018
• Published: 07/11/2019
• Est. Priority Date: 01/09/2018
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Wu, Yunfeng
• Granted Patent: US 10,639,788 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 17/0266 comprising more than two actuating or connecting rods
• CPC Class Codes: B25J 17/0275 Universal joints, e.g. Hooke, Cardan, ball joints
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B25J 19/0066 Means or methods for maintaining or repairing manipulators
• CPC Class Codes: B25J 9/0051 with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
• CPC Class Codes: B25J 9/1065 with parallelograms
• CPC Class Codes: B25J 9/1623 Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base

Abstract

A parallel link robot is provided with: 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, wherein a pair of marks that indicate a relative phase between the movable portion and the wrist shaft about the rotation axis are provided on the movable portion and the wrist shaft, at positions visible from the upper side or the lateral side.

Claims

1. A parallel link robot comprising:

a base portion;

a movable portion 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;

a wrist shaft that is supported by the movable portion so as to be rotatable about a rotation axis in a substantially vertical direction; and

wherein a pair of marks that indicate a relative phase between the movable portion and the wrist shaft about the rotation axis are provided on the movable portion and the wrist shaft, at positions visible from the upper side or the lateral side.

2. The parallel link robot according to claim 1, wherein:

the movable portion has a through-hole that allows the wrist shaft to penetrate therethrough in a substantially vertical direction;

one of the marks is provided on an upper end surface of the movable portion; and

the other one of the marks is provided on an outer circumferential surface or an upper end surface of the wrist shaft protruding from an upper end of the through-hole.

3. The parallel link robot according to claim 1, further comprising:

a drive shaft that is disposed between the base portion and the movable portion in a vertical direction and that rotationally drives the wrist shaft about the rotation axis via rotation about a longitudinal axis;

wherein the movable portion is provided with a shaft casing that supports a lower end portion of the drive shaft so as to be rotatable about the longitudinal axis;

wherein one of the marks is provided on an upper end surface of the shaft casing; and

wherein the other one of the marks is provided on an outer circumferential surface of the drive shaft.