JP2016124081A - Parallel link robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parallel link robot configured to achieve a structure capable of highly accurately controlling the attitude of an end effector by a simple configuration.SOLUTION: The parallel link robot includes an output member having an output shaft, a fifth driving unit 200 connected to the output member, and a chuck unit 600 connected to the fifth driving unit 200. The parallel link robot further includes first to third attitude control means 100C to 100E for controlling the attitude of the chuck units 600 respectively corresponding to a fourth shaft 120, a fifth shaft 121 and a sixth shaft 122. The fifth shaft driving unit 200 connects, when the sixth shaft 122 is set in the same direction as that of the fourth shaft 120, the output shaft and the chuck unit 600 to a position where the sixth shaft 122 is coaxial to the fourth shaft 120.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a parallel link robot configured by combining a plurality of actuators and a link mechanism, and used for operations such as processing and assembly of articles.

  The parallel link robot is provided with a link mechanism as an arm between a plurality of actuators supported by a fixed member serving as a base and an output member. A plurality of actuators are driven to control the position and posture of the output member connected to the tip of each link and the end effector attached to the output member. In order to increase the degree of freedom of changing the attitude of the end effector, a structure has been proposed in which a drive mechanism different from a plurality of actuators for controlling the position and attitude of the end effector is provided to change the attitude of the end effector. (See Patent Document 1).

Japanese Patent No. 4659098

  However, in the case of the configuration described in Patent Document 1 described above, the drive mechanism that rotates the end effector with respect to the central axis of the end effector as a specific axis is at a position offset from the center of the movable portion of the parallel link robot. It is arranged. In such a configuration, the positioning error of each member constituting the drive mechanism that rotates the end effector greatly affects the positioning accuracy of the end effector, and the positioning accuracy of the end effector decreases. In the configuration described in Patent Document 1, the end effector is attached in order to avoid the occurrence of a singular point when the center axis of the end effector is directed in the same direction as the center axis of the movable part. A predetermined angle is given to the flange surface. For this reason, in the configuration described in Patent Document 1, only the end effector is rotated with respect to the central axis of the movable part in a state where the central axis of the end effector is oriented in the same direction as the central axis of the movable part. Has become difficult.

  In view of such circumstances, an object of the present invention is to provide a parallel link robot that realizes a structure capable of controlling the attitude of an end effector with high accuracy with a simple configuration.

  The present invention is provided between an output member having an output shaft, a plurality of movement actuators supported by a fixed member and moving the output member in a predetermined space, and the output shaft and the plurality of movement actuators. A plurality of link mechanisms, a control axis unit connected to the output member and having a control axis in a direction intersecting with a reference axis serving as a reference for positioning the output member, and one end connected to the control axis unit An end effector whose posture with respect to the output shaft is changed by rotating the control shaft unit with respect to the control shaft, the reference shaft, the control shaft, and a central axis of the tool portion Attitude control means for controlling the attitude of the end effector with respect to each of the control axis units, and the control axis unit has the attitude control means relative to the control axis. When the attitude of the end effector is controlled and the central axis is oriented in the same direction as the reference axis, the output shaft and the end effector are connected at a position where the central axis is on the same axis as the reference axis. This is a parallel link robot characterized by that.

  According to the present invention, when the central axis of the tool portion provided at one end of the end effector faces the same direction as the reference axis that serves as a reference for positioning the output member, the central axis of the tool portion is on the same axis as the reference axis. It becomes. As a result, the parallel link robot which can suppress the influence of positioning errors of the parts constituting the attitude control means on the positioning accuracy of the end effector and realizes a structure capable of controlling the attitude of the end effector with high accuracy with a simple configuration. Can be provided.

1 is a perspective view of a parallel link robot according to a first embodiment of the present invention. (A) is a front view of the parallel link robot which concerns on 1st Embodiment, (b) is a side view of a parallel link robot. (A), (b) is a schematic perspective view of the output member of the parallel link robot which concerns on 1st Embodiment. The schematic perspective view which shows the method of attaching a 5th axis drive unit and a chuck | zipper unit to the output member which concerns on 1st Embodiment. (A) is a schematic front view of the drive pulley housing which concerns on 1st Embodiment, (b) is a schematic side view of a drive pulley housing. The schematic sectional drawing of the driven pulley housing of 1st Embodiment. 1 is a schematic front view of a chuck unit according to a first embodiment. (A) is a schematic front view of the 5th axis drive unit concerning a 1st embodiment, and (b) is a schematic sectional view of the 5th axis drive unit. (A) is a schematic front view which shows the 5th axis drive unit which concerns on 2nd Embodiment, (b) is a schematic perspective view which shows a 5th axis drive unit. (A) is a schematic plan view which shows the chuck unit which concerns on the 3rd Embodiment of this invention, (b) is a schematic sectional drawing which shows a chuck unit. (A) is a schematic perspective view of the parallel link robot which concerns on the 4th Embodiment of this invention, (b) is a schematic front view of a parallel link robot. Among the enlarged perspective views of the output member of the parallel link robot according to the fourth embodiment, (a) is an enlarged perspective view showing a method of mounting the chuck unit on the same axis as the fourth axis, and (b) is the chuck. The expansion perspective view which shows the state which rotated the unit with respect to the 5th axis | shaft. The schematic sectional drawing of the output member and chuck | zipper unit which concern on 4th Embodiment. The schematic perspective view which shows the structure of the rotation means which concerns on 4th Embodiment. The schematic sectional drawing which shows the rotation means which concerns on the 5th Embodiment of this invention.

<First Embodiment>
A first embodiment of the present invention will be described with reference to FIGS. As shown in FIGS. 1 and 2, the parallel link robot 100 includes a base portion 100A as a fixed member, an output member 100B that moves within a predetermined space, a plurality of motors 107, 108, and 111, and a plurality of arms. 109, 110, 112. Here, the motor 107 corresponds to a first actuator, the motor 108 corresponds to a second actuator, and the motor 111 corresponds to a third actuator. The motors 107, 108, and 111 constitute a moving actuator in the present embodiment. The arm 109 corresponds to the first arm, the arm 110 corresponds to the second arm, and the arm 112 corresponds to the third arm. In the following description, the motor 107 is also referred to as a first motor 107, the motor 108 is also referred to as a second motor 108, and the motor 111 is also referred to as a third motor 111.

  The base portion 100A includes a horizontal plate 101 disposed in a substantially horizontal direction (substantially horizontal direction), and a vertical plate 102 provided in a substantially vertical direction (substantially vertical direction) from the horizontal plate 101. The first to third motors 107, 108, and 111 are supported. The first to third motors 107, 108, and 111 are fixed to predetermined positions on the vertical plate 102, respectively. In the present embodiment, the parallel link robot 100 includes the third motor 111 on the upper side in the center of the vertical direction of the vertical plate 102 and the third motor 111 on both sides of the vertical direction intermediate portion of the vertical plate 102 with the width direction center interposed therebetween. 1 motor 107 and 2nd motor 108 are arranged. On the horizontal plate 101, a workpiece, an assembly jig, and the like are arranged.

  The output member 100B is a manipulator for mounting a chuck unit 600, which is an end effector such as a robot hand that grips and moves a workpiece. The output member 100B includes an output shaft 105 to which link mechanisms constituting a plurality of arms are coupled, and an end effector support member 103 that supports the fifth shaft drive unit 200 and the chuck unit 600 via a driven pulley housing 400 described later. Have. Details of the link mechanism will be described later. Further, the end effector support member 103 constitutes the first connection portion in the present embodiment, and is provided on the same axis as the fourth axis 120 that is the central axis of the output shaft 105.

  At predetermined positions of the output shaft 105, joint shafts 134 and 135 as a plurality of first protrusions and joint shafts 136 and 137 as a plurality of second protrusions are mounted and fixed by press-fitting or the like. The joint shafts 134 to 137 may be formed integrally with the output shaft 105.

  The joint shafts 134 and 135 as the first projecting portions are provided so as to project in parallel to each other in a direction orthogonal to the output shaft 105. The joint shafts 134 and 135 are formed to have the same length and protrude in the same direction. The joint shafts 136 and 137 as the second projecting portions are provided so as to project in parallel to each other in a direction orthogonal to the output shaft 105. The joint shafts 136 and 137 are formed in the same length and project in the same direction. Here, the joint shafts 134 and 135 and the joint shafts 136 and 137 are all formed to have the same length, and are formed at the same position in the axial direction of the output shaft 105. Further, the joint shafts 134 and 135 and the joint shafts 136 and 137 are formed so as to be orthogonal to each other at an angle of 90 °.

  The first arm 109 includes two first links 109a that form a parallel link mechanism. One ends of the two first links 109a are connected to joint shafts 134 and 135 on virtual axes parallel to the output shaft 105 through joint portions 109B as first joint portions, respectively. The other ends of the two first links 109a are connected to a first link shaft 107b provided on a first rotating arm 107a driven by the motor 107 via a joint portion 109C. Accordingly, the first arm 109 is centered on an axis orthogonal to the axis to which the two first links 109a are connected and the arrangement direction of the links while the two first links 109a are maintained in the parallel state. Rotation is possible.

  The second arm 110 includes two second links 110a that form a parallel link mechanism. One ends of the two second links 110a are connected to joint shafts 136 and 137 on virtual axes parallel to the output shaft 105 via joint portions 110B as second joint portions, respectively. The other ends of the two second links 110a are connected to a second link shaft 108b provided on a second rotating arm 108a driven by the motor 108 via a joint portion 110C. As a result, the second arm 110 is centered on an axis orthogonal to the axis to which the two second links 110a are connected and the arrangement direction of the links while the two second links 110a are maintained in a parallel state. Rotation is possible.

  Joint shafts 138 and 139 that are orthogonal to the output shaft 105 are formed integrally with the output shaft 105 at the upper end portion of the output shaft 105. The joint shafts 138 and 139 face the output shaft 105 as a center and project on the same axis. The joint shafts 138 and 139 may be formed as separate members and attached and fixed to the output shaft 105 by press fitting or the like. Further, the joint shafts 138 and 139 may be configured such that one shaft-shaped member is attached to the output shaft 105.

  The third arm 112 includes two third links 112a that form a parallel link mechanism. One ends of the two third links 112a are connected to joint shafts 138 and 139 via joint portions 112B as third joint portions, respectively. The other ends of the two third links 112a are connected to a third link shaft 111b provided on a third rotating arm 111a driven by the motor 111 via a joint portion 112C. Thus, the third arm 112 is centered on an axis orthogonal to the axis to which the two third links 112a are connected and the arrangement direction of the links while the two third links 112a are maintained in the parallel state. Rotation is possible. In addition, the above-mentioned joint part is comprised by the connection member like a rod end bearing or a universal joint which has 3 degrees of freedom, respectively, The structure is not specifically limited.

  Thus, in the parallel link robot 100 according to the present embodiment, the output shaft 105 is configured by the parallel link mechanism formed by the first arm 109 and the second arm 110 and the parallel link mechanism formed by the third arm 112. Supported to maintain a certain posture. Here, the attitude of the output shaft 105 means both the inclination of the output shaft 105 and the direction of the output shaft 105.

  Next, the operation of the parallel link robot 100 will be described. In the present embodiment, the parallel link robot 100 drives the first rotating arm 107a by the first motor 107 and drives the second rotating arm 108a by the second motor 108, so that the output member 100B is substantially horizontal. Move in the direction. Further, the parallel link robot 100 moves the output member 100B in a substantially vertical direction by driving the third rotating arm 111a by the third motor 111. When the output member 100B is translated, the parallel link robot 100 controls the rotation amounts of the first motor 107, the second motor 108, and the third motor 111 in cooperation with each other. For example, when the position of the output member 100B is moved from the current position Xn to the target position Xn + 1, the parallel link robot 100 drives each of the first to third motors 107, 108, and 111 by a necessary amount. By driving each motor, the first to third arms 109, 110, and 112 move the position of the output member 100B in cooperation. The parallel link robot 100 performs control so that the driving amount of each motor becomes zero at the same time when the position of the output member 100B reaches the target position Xn + 1. As described above, the parallel link robot 100 according to the present embodiment controls the driving amounts of the first to third motors 107, 108, and 111 in a coordinated manner, thereby controlling the output member 100B in the predetermined space. A three-axis translational movement can be performed with respect to 100A.

  When the output member 100B is moved in the vertical direction, the first arm 109 and the second arm 110 are deviated from the horizontal and tilted in the vertical direction. For this reason, the position of the output member 100B in the three-dimensional space (in a predetermined space) is determined by the amount of inclination of the first and second arms 109 and 110 and the amount of drive of the first to third rotating arms 107a, 108a, and 111a. And can be calculated geometrically. In addition, when inverse kinematics calculation is used, the driving amounts of the first to third motors 107, 108, and 111 can be calculated from the spatial coordinate position of the output member 100B. The parallel link robot 100 according to the present embodiment calculates the position of the output member 100B in the three-dimensional space using the fourth axis 120, which is the central axis of the output shaft 105, as a reference axis for the position of the output member 100B. ing.

  Next, the first attitude control unit 100C that controls the attitude of the chuck unit 600 connected to the output member 100B with respect to the fourth shaft 120 will be described with reference to FIGS. As shown in FIGS. 1 and 2, the first attitude control means 100 </ b> C includes a drive pulley housing 300 provided vertically above the vertical plate 102 of the base portion 100 </ b> A. The first attitude control means 100 </ b> C includes a driven pulley housing 400 provided on the output shaft 105 and connected to the end effector support member 103. The first attitude control means 100 </ b> C includes a control cable 500 that drives and connects the driving pulley housing 300 and the driven pulley housing 400.

  5A and 5B show schematic configuration diagrams of the drive pulley housing 300. FIG. As shown in FIGS. 5A and 5B, the drive pulley housing 300 is fixed to the housing plate 301 supported by the vertical plate 102, the motor 302 supported by the housing plate 301, and the rotation shaft of the motor 302. Drive pulley 303. In the present embodiment, the housing plate 301 constitutes a second fixing portion. The motor 302 constitutes a first attitude control actuator. Further, the driving pulley 303 fixed to the vertical plate 102 via the housing plate 301 and the motor 302 by being fixed to the rotating shaft of the motor 302 constitutes a second rotating portion.

  FIG. 6 shows a schematic configuration diagram of the driven pulley housing 400. As shown in FIG. 6, the driven pulley housing 400 includes a housing plate 401 that is screwed and fixed to the flange portion 105 a of the output shaft 105, and a driven that is rotatably supported via a bearing 402 coaxially with the output shaft 105. And a pulley 403. The driven pulley 403 is restricted from moving in the axial direction by the E-ring 404. In the present embodiment, the housing plate 401 constitutes a first fixing portion. Further, the driven pulley 403 constitutes a first rotating part.

  As shown in FIG. 1 to FIG. 6, the control cable 500 has a pair of outer cables 501 that are flexible and deformable and have a hollow shape so that both ends are fixed to the housing plates 301 and 401. The control cable 500 has one inner wire 502 slidably disposed inside each outer cable 501. The control cable 500 is provided between each end portion of the outer cable 501 and the housing plates 301 and 401, and is an adjuster as an adjustment member that adjusts a fixing position as a position to which the end portion of the outer cable 501 is fixed. A member 504 is included. In the present embodiment, the adjuster member 504 is provided at both ends of the outer cable 501, but is not limited thereto, and may be provided at at least one of the ends.

  The outer cable 501 is configured such that a single curved portion 501a is formed between the housing plates 301 and 401 when the output member 100B is located in any predetermined space. Further, the flexible and deformable outer cable 501 outputs the output member 100B without restricting the operation region of the output member 100B when the output member 100B is moved by driving the first to third motors 107, 108, and 111. It deforms following the movement of the member 100B.

  The inner wire 502 has a spherical ball terminal 503 inserted through both end portions and a central portion thereof, and is fixed by caulking. Inner wire 502 fits ball terminals 503 at both ends into terminal holes 303b formed in each flange portion 303a of drive pulley 303. Here, one terminal hole 303 b is formed in the flange portion 303 a of the drive pulley 303, and one terminal hole 303 b is in a line-symmetrical position with respect to the terminal hole 303 b formed in the flange portion 303 a and the central axis of the drive pulley 303. Is formed. The inner wire 502 is wound around the circumferential direction of the drive pulley 303 by two half rotations from the terminal hole 303b of the drive pulley 303. In this way, the inner wire 502 is fixed to the drive pulley 303.

  The inner wire 502 is wound around the driven pulley 403, and a ball terminal 503 fixed at the center is fitted in a terminal hole 403 a formed on the outer peripheral surface of the driven pulley 403. Thus, the first attitude control means 100C can execute the positioning of the inner wire 502 and the driven pulley 403, and prevents the inner wire 502 from sliding on the outer peripheral surface of the driven pulley 403. Yes.

  In addition, the inner wire 502 wound around the driven pulley 403 is changed in direction by 90 ° by the guide roller 406 and is inserted from the adjuster member 504 into the outer cable 501. Here, the guide roller 406 is rotatably supported by a guide roller shaft 405 fixed to the housing plate 401 by caulking or the like. Further, the guide roller 406 has a V-groove formed on the outer peripheral surface thereof so as to contact the inner wire 502 and guide the inner wire 502 to the outer cable 501.

  As described above, the inner wire 502 is stretched between the driving pulley 303 and the driven pulley 403, thereby drivingly connecting the driving pulley 303 and the driven pulley 403, and disposed in the outer cable 501.

  The adjuster member 504 is formed with a screw portion 504 a and is fixed to the housing plates 301 and 401 by a pair of nuts 505. The adjuster member 504 is configured to be able to adjust the fixing position of the end portion of the outer cable 501 by adjusting the position of the nut 505 and adjust the mounting length of the outer cable 501. Further, as shown in FIG. 5, a compression coil spring 506 is inserted between the housing plate 301 and the nut 505 in a biased state in the screw portion 504 a of the adjuster member 504 fixed to the housing plate 301. In the present embodiment, the compression coil spring 506 is provided on the drive pulley housing 300 side, but may be provided on the driven pulley housing 400 side. Further, the compression coil spring 506 may be provided on both the drive pulley housing 300 side and the driven pulley housing 400 side.

  In the present embodiment, the end effector support member 103 is fixed to the driven pulley 403 by screwing on the same axis as the output shaft 105. Therefore, in the parallel link robot 100, the end effector support member 103 is rotated by rotating the driven pulley 403 with respect to the output shaft 105. That is, when the driven pulley 403 is rotated, a later-described fifth axis drive unit 200 connected to the end effector support member 103 and a chuck unit 600 connected to the fifth axis drive unit 200 are the center axis of the output shaft 105. The fourth shaft 120 is rotated.

  In this embodiment, the pulley diameters of the drive pulley 303 and the driven pulley 403 are configured to be the same diameter. Accordingly, the first attitude control unit 100C according to the present embodiment has the rotation angle of the driving pulley 303 and the driven pulley 403 equal, and the rotation angle of the motor 302 is controlled, whereby the rotation of the chuck unit 600 relative to the fourth shaft 120 is performed. The angle can be controlled.

  Next, the operation of the first attitude control means 100C will be described. In the first attitude control means 100 </ b> C, first, the drive pulley 303 is rotated in one direction by driving the motor 302 of the drive pulley housing 300. Then, when one of the inner wires 502 wound around the drive pulley 303 and the driven pulley 403 is wound around the drive pulley 303, tension is generated in the inner wire 502, and the driven pulley 403 is unidirectionally caused by the tension. Rotate. One of the inner wires 502 fed out of the driven pulley 403 by the rotation of the driven pulley 403 is wound around the drive pulley 303. Further, the other of the inner wires 502 drawn out from the drive pulley 303 by the rotation of the drive pulley 303 is wound around the driven pulley 403.

  When the driven pulley 403 rotates in one direction, the first attitude control unit 100C rotates the end effector support member 103 coupled to the driven pulley 403, and the fifth shaft connected to the end effector support member 103. The drive unit 200 also rotates in one direction. That is, as the driven pulley 403 rotates in one direction, the chuck unit 600 connected to the fifth shaft drive unit 200 also rotates in one direction. In this way, the first posture control means 100C transmits the rotation of the drive pulley 303 to the driven pulley 403 by the control cable 500, rotates the driven pulley 403, and changes the posture of the chuck unit 600 relative to the fourth shaft 120. Can be controlled.

  Further, when the output member 100B is moved in a predetermined space by driving the first to third motors 107, 108, and 111, the first attitude control means 100C follows the operation of the output member 100B, The control cable 500 is deformed. Specifically, the bending portion 501a of the deformable outer cable 501 of the control cable 500 is deformed while maintaining a curved shape, and the inner wire 502 is also deformed while maintaining a predetermined tension as the outer cable 501 is deformed. . 100C of 1st attitude | position control means can transmit rotation of the driving pulley 303 to the driven pulley 403, without restrict | limiting the operation area | region of the output member 100B, when the control cable 500 deform | transforms with the movement of the output member 100B. . When the driving pulley 303 is rotated in the other direction, the driven pulley 403 is also rotated in the other direction by the same operation, and the chuck unit 600 is also rotated in the other direction.

  Further, since the drive pulley housing 300 is provided above the vertical plate 102 in the vertical direction, the outer cable 501 forms a posture extending in the vertical direction from the housing plate 301 to the bending portion 501a. The outer cable 501 has a single curved portion 501 a and is disposed so as to form a posture to be connected to the housing plate 401. That is, in the first posture control means 100C, the outer cable 501 is disposed vertically above the driven pulley housing 400 that moves integrally with the output member 100B. With this configuration, the parallel link robot 100 can prevent the outer cable 501 from interfering with a work or an assembly jig arranged in the work area during operation.

  Next, the chuck unit 600 and the third posture control means 100E that controls the posture of the chuck unit 600 with respect to the sixth shaft 122 among the postures of the chuck unit 600 connected to the output member 100B will be described. As shown in FIGS. 3, 4, and 7, the sixth shaft 122 in the present embodiment is a central axis that is the center of the opening / closing operation of the pair of claw portions 610 a and 610 b as the tool portion of the chuck unit 600. . The sixth axis 122 also coincides with the center reference axis of the chuck unit 600. In the parallel link robot 100 according to the present embodiment, the center reference axis of the chuck unit 600 does not necessarily need to coincide with the sixth axis 122. Moreover, in the following description, a pair of nail | claw part 610a, 610b is named generically, and is also described as the nail | claw part 610.

  As shown in FIG. 7, the chuck unit 600 is fitted with an end effector support member 205 provided in a fifth axis drive unit 200, which will be described later, with a mounting holder 601 disposed on the same axis as the sixth axis 122. Match. The chuck unit 600 is connected to the fifth shaft drive unit 200 by being fixed by the bolts 602 in a state where the mounting holder 601 is fitted to the end effector support member 205. Further, the chuck unit 600 includes a fixed frame 603 incorporating the third posture control means 100E and a rotating frame 604 as a support member that is rotatably supported with respect to the sixth shaft 122. In the rotating frame 604, a rotating shaft 604a is pivotally supported by a fixed frame 603 via a bearing 613, and a pair of claw portions 610a and 610b for gripping the work 611 are connected. In addition, an opening / closing mechanism (not shown) that moves the claw portions 610 in a direction in which the claw portions 610 are brought into contact with and separated from each other is provided inside the rotating frame 604. Here, the mounting holder 601 constitutes the fourth connecting portion in the present embodiment.

  The third attitude control means 100E has a stepping motor 605 as a third attitude control actuator. The stepping motor 605 has a rotation drive shaft 605 a on the same axis as the sixth shaft 122, and is connected to the rotation shaft 604 a of the rotation frame 604 via a coupling 612. By driving the stepping motor 605 and rotating the rotation drive shaft 605a on the same axis as the sixth shaft 122, the third attitude control means 100E rotates the rotation frame 604 connected to the rotation drive shaft 605a. Accordingly, the third posture control unit 100E can rotate the claw portion 610 connected to the rotating frame 604 with respect to the sixth shaft 122 and control the posture of the claw portion 610 with respect to the sixth shaft 122. Here, the attitude of the claw portion 610 relative to the sixth shaft 122 includes the direction of the claw portion 610. The rotating frame 604 constitutes the second transmission mechanism in the present embodiment. The opening / closing mechanism and stepping motor 605 is wired to the output member 100B via the fifth shaft drive unit 200, and is electrically connected to a control device (not shown) provided in the base portion 100A.

  Next, among the attitudes of the fifth axis drive unit 200 having the fifth axis 121 in the direction intersecting the fourth axis 120 and the chuck unit 600 connected to the output member 100B, the attitude relative to the fifth axis 121 is changed. The second attitude control means 100D to be controlled will be described. As shown in FIGS. 3, 4, and 8, the fifth axis 121 has an angle of 90 ° with the fourth axis 120, that is, an axis orthogonal to the fourth axis 120, and constitutes a control axis in the present embodiment. To do. Further, the fifth axis drive unit 200 constitutes a control axis unit in the present embodiment.

  In the fifth shaft drive unit 200, a mounting holder 201 as an output shaft connecting portion disposed in the upper portion is fitted with an end effector support member 103 provided on the output shaft 105 via a driven pulley 403, and a bolt 202 is used. By being fixed, it is connected to the output shaft 105. For this reason, in the state where the fifth shaft drive unit 200 is connected to the output shaft 105, the fourth shaft 120 and the mounting holder 201 are on the same shaft. Further, the fifth axis drive unit 200 includes a fixed frame 203 containing the second attitude control means 100D, and a rotating member 204 that is rotatably supported with respect to the fifth axis 121. Here, the mounting holder 201 constitutes the second connection portion in the present embodiment.

  The second attitude control means 100D built in the fixed frame 203 has a stepping motor 206 as a second attitude control actuator. The stepping motor 206 has a rotation shaft 206a on the same axis as the fifth shaft 121, and a sun gear 207 is fixed to the rotation shaft 206a. The sun gear 207 meshes with a planetary gear 210 that is rotatably supported by four gear shafts 211 that are equally arranged and mounted on the rotating member 204. The planetary gear 210 is also meshed with a ring-shaped internal gear 212 supported by the fixed frame 203. In the present embodiment, the rotation shaft 206a and the planetary gear mechanism including the sun gear 207, the planetary gear 210, and the internal gear 212 constitute a first transmission mechanism. Further, the stepping motor 206 is wired to the output member 100B and is electrically connected to a control device (not shown) provided in the base portion 100A.

  One of the rotating members 204 is pivotally supported on a rotating shaft 206a of a stepping motor 206 via a bearing 208a, and the other is fixed to a fixed frame 203 and is connected to a shaft 209 on the same axis as the fifth shaft 121 via a bearing 208b. It is supported. Further, the rotating member 204 is provided with an end effector connecting portion to which the chuck unit 600 is connected and an end effector supporting member 205 as a third connecting portion. Here, the end effector support member 205 is the same as the sixth shaft 122 and the fourth shaft 120 when the rotating member 204 rotates and the sixth shaft 122 and the fourth shaft 120 of the chuck unit 600 are oriented in the same direction. It is provided at a position on the shaft. That is, in the fifth axis drive unit 200, when the sixth axis 122 is oriented in the same direction as the fourth axis 120, the mounting holder 201 and the end effector support member 205 are on the same axis. Thus, the fifth shaft drive unit 200 connects the output shaft 105 and the chuck unit 600 at a position where the sixth shaft 122 is on the same axis as the fourth shaft 120. Here, the case where the sixth shaft 122 faces the same direction as the fourth shaft 120 includes the case where the chuck unit 600 is in the vertically downward posture. In the parallel link robot 100 according to the present embodiment, the chuck unit 600 is controlled to a vertically downward posture when performing a high-frequency operation such as pick-and-place work or peg-in-hole work of the work 611.

  Next, operations of the fifth axis drive unit 200 and the second attitude control means 100D will be described. In the present embodiment, the second attitude control unit 100D drives the sun gear 207 by driving the stepping motor 206. As described above, since the internal gear 212 is fixed to the fixed frame 203, the second attitude control unit 100D rotates the planetary gear 210 with respect to the gear shaft 211 by driving the sun gear 207, and the planetary gear. 210 is revolved with respect to the sun gear 207. By the revolution of the planetary gear 210, the fifth shaft drive unit 200 rotates the rotating member 204 to which the gear shaft 211 is mounted and fixed with respect to the rotating shaft 206 a and the shaft 209, that is, the fifth shaft 121. Thereby, the fifth axis drive unit 200 can change the attitude of the chuck unit 600 connected to the rotating member 204 with respect to the output shaft 105.

  As described above, in the present embodiment, the parallel link robot 100 is configured such that the sixth axis 122 is the same as the fourth axis 120 when the sixth axis 122 faces the same direction as the fourth axis 120 (FIG. 3A). On the same axis. Thereby, the parallel link robot 100 can suppress the influence of the positioning error of each component constituting the first to third posture control means 100C to 100E on the positioning accuracy of the chuck unit 600. That is, the parallel link robot 100 has a high positioning accuracy when the sixth axis 122 faces the same direction as the fourth axis 120 and the chuck unit 600 with high work frequency faces downward in the vertical direction. The attitude can be controlled. In addition, the parallel link robot 100 can prevent the occurrence of a so-called singular point where the location of the sixth axis 122 cannot be specified when the sixth axis 122 faces the same direction as the fourth axis 120.

  In the present embodiment, the parallel link robot 100 unitizes the second and third posture control means 100D and 100E, and is built in the fifth axis drive unit 200 and the chuck unit 600. That is, in the parallel link robot 100, the second and third posture control means 100D and 100E are detachably provided on the output member 100B. Further, the end effector support member 103 of the output member 100B is configured to be connectable to the mounting holder 601 of the chuck unit 600 in addition to the mounting holder 201 of the fifth axis drive unit 200 described above. That is, the parallel link robot 100 is configured to be able to remove the fifth axis drive unit 200 from the end effector support member 103 and connect the mounting holder 601 of the chuck unit 600 to the end effector support member 103. In the parallel link robot 100, when the chuck unit 600 is attached to the output member 100B, the end effector support member 103 and the mounting holder 601 are on the same axis. That is, the parallel link robot 100 is configured such that the output shaft 105 and the chuck unit 600 are connected to a position where the sixth shaft 122 is on the same axis as the fourth shaft 120. For this reason, the parallel link robot 100 can select the degree of freedom required for the end effector according to the work, can simplify the control design of the end effector, and can improve the positioning accuracy. Further, the parallel link robot 100 does not need to be provided with the second and third attitude control means 100D and 100E on the output member 100B, and can reduce the number of parts of the output member 100B, reduce the manufacturing cost, and reduce the weight. it can.

  In the present embodiment, the first to third attitude control means 100C to 100E constitute a plurality of attitude control means. Further, when the fourth axis 120 and the sixth axis 122 are on the same axis, the parallel link robot 100 preferentially drives one of the first attitude control unit 100C and the third attitude control unit 100E. This may be set in advance.

  In the present embodiment, the parallel link robot 100 includes the chuck unit 600 as an end effector. However, the parallel link robot 100 is not limited thereto, and may be a unit including various tools, sensors, cameras, and the like applied to work. In this case, the parallel link robot 100 may set the sixth axis 122 as the central axis of the part that performs the operation among various tools, sensors, cameras, and the like.

  Further, in the present embodiment, the second attitude control means 100D uses a planetary gear mechanism provided on the same axis as the fifth axis 121, thereby reducing the drive of the stepping motor 206 and realizing space saving. However, it is not limited to this. The second attitude control means 100D preferably has a mechanism for decelerating the driving of the stepping motor 206.

<Second Embodiment>
A second embodiment of the present invention will be described with reference to FIG. In the present embodiment, the fifth axis 121 is configured as an axis that intersects the fourth axis 120 with a predetermined angle A, for example, at 45 °. Note that the configuration and operation of the parallel link robot in the present embodiment are the same as those in the first embodiment unless otherwise specified. Therefore, the overlapping description is omitted or simplified, and the following points differ from the first embodiment. The explanation is centered.

  As shown in FIG. 9, the second attitude control unit 100 </ b> D includes a worm gear 213 provided on the rotation shaft 206 a and a fifth drive shaft 215 provided on the same axis as the fifth shaft 121. The second attitude control means 100D includes a worm wheel 214 that is provided on the fifth drive shaft 215 and meshes with the worm gear 213. Here, the fifth drive shaft 215 is rotatably supported by the fixed frame 203 via a bearing, and a rotating member 204 is connected to an end portion thereof. The rotating member 204 is provided with an end effector support member 205 at a position that forms the same angle A with the fifth shaft 121 as the angle A formed by the fifth shaft 121 and the fourth shaft 120. The rotating member 204 constitutes a rotating member in the present embodiment. Further, the worm gear 213, the worm wheel 214, and the fifth drive shaft 215 constitute a first transmission mechanism in the present embodiment.

  The second attitude control means 100D in the present embodiment rotates the worm wheel 214 that meshes with the worm gear 213 by driving the stepping motor 206 and rotating the worm gear 213 provided on the rotation shaft 206a. As the worm wheel 214 rotates, the fifth drive shaft 215 provided with the worm wheel 214 rotates on the fifth shaft 121, and the rotating member 204 connected to the fifth drive shaft 215 is moved to the fifth shaft 121. Rotate against. In this configuration, the fifth shaft drive unit 200 moves the posture of the chuck unit 600 connected to the end effector support member 205 from the vertical direction to the horizontal direction by rotating the rotating member 204 with respect to the fifth shaft 121. Can be controlled.

  In the present embodiment, the rotating member 204 includes a plurality of end effector support members 205 at positions that form the same angle A with the fifth shaft 121 as the angle A formed by the fifth shaft 121 and the fourth shaft 120. Each may be provided. In this case, the parallel link robot 100 can be equipped with a plurality of end effectors, and can switch the end effector according to the work application. Therefore, the work can be continued without replacing the end effector. Work efficiency is improved.

<Third Embodiment>
A third embodiment of the present invention will be described with reference to FIG. In the first and second embodiments described above, the chuck unit 600 opens and closes to perform the opening and closing operation of the claw portion 610 separately from the third posture control means 100E that controls the posture of the claw portion 610 with respect to the sixth shaft 122. Needed mechanism. In such a configuration, since the chuck unit 600 has a plurality of power sources, it is difficult to reduce the weight and the manufacturing cost. Therefore, in the present embodiment, the third posture control unit 100E is configured to execute the control of the posture of the claw portion of the chuck unit with respect to the sixth shaft 122 and the opening / closing operation of the claw portion. Note that the configuration and operation of the parallel link robot in the present embodiment are the same as those in the first and second embodiments unless otherwise specified, and therefore, redundant description will be omitted or simplified. Hereinafter, the first and second embodiments will be described. A description will be given centering on differences from the embodiment.

  As shown in FIG. 10, in the present embodiment, the sixth shaft 122 is a central axis that is the center of the opening / closing operation of the pair of claw portions 710a and 710b as the tool portions of the chuck unit 700 as the end effector. The sixth axis 122 also coincides with the central reference axis of the chuck unit 700. In the parallel link robot 100 according to the present embodiment, the center reference axis of the chuck unit 700 does not necessarily need to coincide with the sixth axis 122. Moreover, in the following description, a pair of nail | claw part 710a, 710b is named generically, and is also described as the nail | claw part 710.

  In the chuck unit 700, the mounting holder 701 disposed on the same axis as the sixth shaft 122 is fitted with the end effector support member 205 provided in the fifth shaft drive unit 200. The chuck unit 700 is connected to the fifth axis drive unit 200 by being fixed by a bolt (not shown) in a state where the mounting holder 701 is fitted to the end effector support member 205. Further, the chuck unit 700 rotates as a fixed frame 703 incorporating the third posture control means 100E and a support member that is provided on the same axis as the sixth shaft 122 and is rotatably supported by the sixth shaft 122. Frame 704. Here, since the chuck unit 700 has the mounting holder 701 on the same axis as the sixth shaft 122, the mounting holder 701 and the rotating frame 704 are disposed on the same axis. Here, the mounting holder 701 constitutes the fourth connecting portion in the present embodiment.

  The rotation frame 704 is provided on a rotation drive shaft 705a of a stepping motor 705 described later via a one-way clutch 706a. A pair of rack gears 709a and 709b are provided on the inner peripheral side of the rotating frame 704 via a guide member (not shown), and a claw portion 710 is connected to the rack gears 709a and 709b. A plurality of V-shaped notches 704 a are formed on the outer peripheral side of the rotating frame 704. For example, four notches 704a are provided at intervals of 90 °. Here, the fixed frame 703 is provided with a ball lock mechanism 708 including a ball and a pressing spring, and the ball of the ball lock mechanism 708 engages with one notch portion 704a. As the ball lock mechanism 708 engages with the notch portion 704 a, the rotation of the rotation frame 704 with respect to the sixth shaft 122 is locked and the positioning is held with respect to the fixed frame 703.

  The third attitude control means 100E has a stepping motor 705 as a third attitude control actuator. The stepping motor 705 has a rotation drive shaft 705a on the same axis as the sixth shaft 122, and is connected to the rotation frame 704 via a one-way clutch 706a as a first one-way clutch. Further, a one-way clutch 706b as a second one-way clutch having a rotation transmission direction different from that of the one-way clutch 706a is provided on the rotation drive shaft 705a of the stepping motor 705. The one-way clutch 706a has an outer peripheral surface that is press-fitted and fixed to the rotary frame 704, and an inner peripheral surface that is fixed to the rotary drive shaft 705a. When the rotation drive shaft 705a rotates in one direction, the one-way clutch 706a transmits the power of the rotation drive shaft 705a to the rotation frame 704 and rotates the rotation frame 704. The one-way clutch 706b has an outer peripheral surface that is press-fitted and fixed to the pinion gear 707, and an inner peripheral surface that is fixed to the connection rotation drive shaft 705a. When the rotation drive shaft 705a rotates in the other direction, the one-way clutch 706b transmits the power of the rotation drive shaft 705a to the pinion gear 707, and rotates the pinion gear 707 so that the rack gears 709a and 709b are separated from each other by the claw portion 710. Move in the direction you want. The pinion gear 707 meshes with a pair of rack gears 709a and 709b. The pair of rack gears 709a and 709b linearly move on the guide member in the direction in which the pair of claw portions 710a and 710b are separated from each other when the pinion gear 707 is rotated by the power of the rotation drive shaft 705a. The rack gear 709b is connected to a tension spring 712 as an urging member having one end connected to the rotating frame 704. Due to the urging force of the tension spring 712, the pair of rack gears 709a and 709b linearly move on the guide member in the direction in which the pair of claw portions 710a and 710b contact each other. When the rack gears 709a and 709b move in a direction in which the claw portions 710 are brought into contact with each other, the one-way clutch 706b is idled without being engaged. For this reason, gripping torque by the tension spring 712 is generated in the claw portion 710. Here, the pinion gear 707 and the rack gears 709a and 709b constitute a moving member in the present embodiment.

  Next, of the operations of the chuck unit 700 and the third posture control means 100E, the operation for controlling the posture of the claw portion 710 with respect to the sixth shaft 122 will be described. In the present embodiment, the third posture control means 100E drives the stepping motor 705 in one direction when controlling the posture of the claw portion 710 with respect to the sixth shaft 122. When the stepping motor 705 is driven in one direction, the third attitude control means 100E is engaged with the one-way clutch 706a and the power of the rotation drive shaft 705a is transmitted to the rotation frame 704, and the rotation frame 704 is transmitted to the sixth shaft 122. Rotate. As the rotating frame 704 rotates, the engaged state of the ball lock mechanism 708 engaged with the notch portion 704a is released. In the ball lock mechanism 708, each time the rotating frame 704 rotates 90 °, the ball urged in the direction of the rotating frame 704 by the spring engages with the notch portion 704a. As a result, the rotating frame 704 engages with the ball lock mechanism 708 every time it rotates 90 °, and is positioned with respect to the fixed frame 703. Further, the position of the claw portion 710 connected to the rotating frame 704 via the guide member and rack gears 709a and 709b is controlled with respect to the sixth shaft 122 in conjunction with the rotation of the rotating frame 704. At this time, the one-way clutch 706b idles without being engaged, so the power of the rotary drive shaft 705a is not transmitted to the pinion gear 707. That is, the chuck unit 700 can control the posture of the claw portion 710 relative to the sixth shaft 122 in a state where the gripping torque of the tension spring 712 is maintained at the claw portion 710 and the work 711 is gripped.

  Next, of the operations of the chuck unit 700 and the third attitude control means 100E, the operation for opening and closing the claw portion 710 will be described. In the present embodiment, the third posture control unit 100E drives the stepping motor 705 in the other direction when performing an operation of opening and closing the claw portion 710. When the stepping motor 705 is driven in the other direction, the third attitude control unit 100E rotates idly without engaging the one-way clutch 706a, so that the power of the stepping motor 705 is not transmitted to the rotating frame 704 and does not rotate. Further, in the third attitude control means 100E, the one-way clutch 706b is engaged, the power of the stepping motor 705 is transmitted to the pinion gear 707, and the pinion gear 707 is rotated. As the pinion gear 707 rotates, the rack gears 709a and 709b meshing with the pinion gear 707 linearly move on the guide member in directions in which the pair of claw portions 710a and 710b are separated from each other. Then, when the driving of the stepping motor 705 is stopped, the third attitude control means 100E guides the rack gears 709a and 709b in the direction in which the pair of claw portions 710a and 710b come into contact with each other by the urging force of the tension spring 712. Move straight up. At this time, since the one-way clutch 706b is idled without being engaged, the rotation of the pinion gear 707 due to the movement of the rack gears 709a and 709b is not transmitted to the rotation drive shaft 705a. Thereby, the chuck unit 700 prevents the position of the claw portion 710 from being changed with respect to the sixth shaft 122 when the claw portion 710 is closed by the biasing force of the tension spring 712 after the claw portion 710 is opened.

  As described above, the parallel link robot 100 according to the present embodiment switches the rotation driving direction of the stepping motor 705 included in the third posture control unit 100E, thereby opening and closing the claw portion 710 and controlling the posture with respect to the sixth shaft 122. Can be executed. As a result, the parallel link robot 100 can realize the opening / closing operation of the claw portion 710 and the control of the posture of the claw portion 710 with respect to the sixth shaft 122 by a single drive mechanism, reducing the number of parts and manufacturing. Cost and weight can be reduced. In addition, since the chuck unit 700 is configured by a single drive mechanism, the operation of the chuck unit 700 can be more accurately controlled by simple control without synchronizing a plurality of actuators, and the design cost can be reduced.

  Further, the parallel link robot 100 according to the present embodiment can separate the third posture control means 100E from the output member 100B. For this reason, the parallel link robot 100 can reduce the number of parts of the output member 100B, and can reduce the manufacturing cost and weight of the output member 100B.

<Fourth Embodiment>
A fourth embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the second attitude control actuator constituting the second attitude control means 100D is provided on the fixed member. Note that the configuration and operation of the parallel link robot in the present embodiment are the same as those in the first to third embodiments unless otherwise specified. Therefore, the overlapping description is omitted or simplified. A description will be given centering on differences from the embodiment.

  As shown in FIGS. 11 and 12, the parallel link robot 100 according to the present embodiment includes a first posture changing unit 450 and a second posture changing unit 460. Further, the end effector support member 205 is disposed on the output shaft 105 coaxially with the fourth shaft 120 via the first posture changing unit 450 and the second posture changing unit 460.

  As shown in FIG. 13, the first attitude changing unit 450 performs a first rotation with respect to a fourth drive shaft 472 (described later) disposed on the same axis as the fourth shaft 120 via a pair of bearings 451. A first driven pulley 452 as a part is rotatably supported. In addition, a housing member 453 is connected and fixed to the first driven pulley 452, and the housing member 453 rotates as the first driven pulley 452 rotates. A bearing holder 453a is fixed to the housing member 453, and a pair of bearings 454 is set so that a fifth drive shaft 473 described later has a predetermined angle (45 ° in the present embodiment) with respect to the output shaft 105. The fifth drive shaft 473 is rotatably supported via the. In the second attitude changing unit 460, a second driven pulley 462 as a third rotating unit is rotatably supported with respect to the output shaft 105 via a bearing 461. That is, the first driven pulley 452 and the second driven pulley 462 are both provided coaxially with the fourth shaft 120.

  Further, the fourth drive shaft 472 is rotatably supported on the output shaft 105 via a pair of bearings 471. The fifth drive shaft 473 that is rotatably supported by the bearing holder 453a and disposed on the same axis as the fifth shaft 121 has a rotation block 474 as a rotation member having a plurality of end effector support members 205 at one end. It is fixed by 475 or the like. Here, in the rotation block 474, the end effector support member 205 is disposed coaxially with the fourth shaft 120 and fixed. A bevel gear 477 that meshes with a bevel gear 476 provided on the fourth drive shaft 472 at an angle of 45 ° is provided at the other end of the fifth drive shaft 473. That is, the fifth drive shaft 473 is connected to the chuck unit 600 at one end, and the bevel gear 477 provided at the other end and the bevel gear 476 provided at the fourth drive shaft 472 are connected to the fourth drive shaft 472. The rotation is transmitted and rotated.

  Next, the structure which transmits motive power to the 1st attitude | position change part 450 and the 2nd attitude | position change part 460 is demonstrated. As shown in FIGS. 11A and 11B, the first posture changing unit 450 has a first drive pulley housing 455 provided below the vertical plate 102 in the vertical direction. Further, the second posture changing unit 460 is provided with the second drive pulley housing 463 between the first motor 107 and the second motor 108 and the third motor 111.

  Here, the configurations of the first drive pulley housing 455 and the second drive pulley housing 463 are the same as those of the drive pulley housing 300 in the first and second embodiments. That is, the first drive pulley housing 455 includes a housing plate 456 as a second fixed portion, a motor 457 as a first attitude control actuator, and a first drive pulley 458 as a second rotating portion. . The second drive pulley housing 463 includes a housing plate 464 as a second fixed portion and a motor 465 as a second attitude control actuator supported by the vertical plate 102. The second drive pulley housing 463 includes a second drive pulley 466 that is supported by the vertical plate 102 via the housing plate 464 and rotates as the motor 465 rotates. Here, the second drive pulley 466 is provided on the motor 465 and is supported by the vertical plate 102 via the housing plate 464 and the motor 465.

  Further, the first driven pulley 452 and the first driving pulley 458 and the second driven pulley 462 and the second driving pulley 466 are drivingly connected by the control cable 500, respectively. That is, each control cable 500 has one end of the outer cable 501 connected to the housing plate 401 and the other end connected to the housing plate 456 or the housing plate 464. The first and second attitude changing units 450 and 460 rotate the first and second driven pulleys 452 and 462 when the rotation of the first and second drive pulleys 458 and 466 is transmitted by the control cable 500. Is configured to do. Here, in the present embodiment, the control cable 500 constitutes a wire member, a first wire member, and a second wire member.

  Next, the fourth drive shaft 472 is rotated with respect to the first driven pulley 452 based on the rotation of the first driven pulley 452 and the rotation of the second driven pulley 462 provided in the output member 100B. A configuration of the movable turning means 480 will be described.

  As shown in FIGS. 13 and 14, the rotating means 480 includes a sun gear 481 formed integrally with the fourth drive shaft 472 and disposed on the rotation shaft of the fourth drive shaft 472, and a second driven pulley 462. An internal gear 482 formed on the inner surface and disposed on the rotation shaft of the fourth drive shaft 472. The rotation means 480 includes a planetary gear 484 that is rotatably supported by a gear shaft 483 fixed to the first driven pulley 452 by press-fitting or the like. A plurality of planetary gears 484 (four in this embodiment) are provided, and are configured to mesh with the sun gear 481 and the internal gear 482. Thus, the rotation means 480 is a so-called planetary gear mechanism, and the first driven pulley 452 forms a carrier that rotatably holds the plurality of planetary gears 484. That is, the carrier of the rotating means 480 is connected to the first driven pulley 452 so as to be able to transmit the rotation.

  Next, the operation of the rotating means 480 will be described. For example, when the chuck unit 600 is rotated with respect to the fourth shaft 120, the parallel link robot 100 simultaneously rotates the first driven pulley 452 and the second driven pulley 462 in the same direction and at a constant speed. In this case, the housing member 453 connected to the first driven pulley 452 is rotated with respect to the fourth shaft 120 by the rotation of the first driven pulley 452. Further, the fifth drive shaft 473 supported by the bearing holder 453 a fixed to the housing member 453 also rotates with respect to the fourth shaft 120 as the housing member 453 rotates. Here, when the fifth drive shaft 473 rotates with respect to the fourth shaft 120, the bevel gear 477 that meshes with the bevel gear 476 provided on the fourth drive shaft 472 causes the fifth drive shaft 473 to rotate. The bevel gear 476 is rotated. In this case, the fifth drive shaft 473 rotates and the chuck unit 600 rotates with respect to the fifth drive shaft 473.

  Therefore, the rotating means 480 includes an internal gear 482 formed on the inner surface of the second driven pulley 462 and a first driven pulley 452 serving as a carrier by the rotation of the first driven pulley 452 and the second driven pulley 462. Are rotated in the same direction. The rotating means 480 rotates the sun gear 481, the internal gear 482, and the planetary gear 484 integrally with the first driven pulley 452 by rotating the internal gear 482 and the first driven pulley 452 in the same direction. Then, the rotating unit 480 rotates the sun gear 481 formed integrally with the fourth drive shaft 472 to rotate the fourth drive shaft 472 in the same direction as the first driven pulley 452. Accordingly, the rotation of the bevel gear 476 provided on the fourth drive shaft 472 and the rotation of the bevel gear 477 due to the rotation of the fifth drive shaft 473 are offset. As described above, the rotation unit 480 does not rotate the fourth drive shaft 472 relative to the first driven pulley 452 by the rotation of the first driven pulley 452 and the rotation of the second driven pulley 462. This prevents the rotation block 474 from rotating with respect to the fifth drive shaft 473. Thereby, the parallel link robot 100 can rotate the chuck unit 600 only with respect to the fourth shaft 120. Here, the housing member 453 having the fifth drive shaft 473 to which the output shaft 105 and the chuck unit 600 are connected constitutes a control shaft unit in the present embodiment. The first attitude changing unit 450 that controls the attitude of the housing member 453 with respect to the fourth shaft 120 constitutes the first attitude control means 100C in the present embodiment.

  Next, as shown in FIG. 12B, a case where the chuck unit 600 is rotated with respect to the fifth drive shaft 473 and the posture of the chuck unit 600 is changed from the vertical direction to the horizontal direction will be described. In this case, the parallel link robot 100 fixes the rotation of the first driven pulley 452 and rotates the second driven pulley 462. Since the rotation of the first driven pulley 452 is fixed, the rotation of the housing member 453 with respect to the fourth shaft 120 is prevented. In the rotation means 480, the first driven pulley 452 that is a carrier of the planetary gear 484 is fixed, and the second driven pulley 462 having the inner gear 482 formed on the inner surface is rotated. Therefore, the internal gear 482 is the input gear. Thus, the sun gear 481 becomes an output gear via the planetary gear 484. That is, the rotation means 480 rotates the fourth drive shaft 472 on which the sun gear 481 is formed in order to rotate the sun gear 481 at a predetermined speed ratio. As described above, the rotation unit 480 fixes the rotation of the first driven pulley 452 and rotates the second driven pulley 462 so that the fourth drive shaft 472 is relative to the first driven pulley 452. Turn to. When the fourth drive shaft 472 is rotated, the fifth drive shaft 473 having a bevel gear 477 that meshes with a bevel gear 476 provided on the fourth drive shaft 472 is also rotated. Due to the rotation of the fifth drive shaft 473, the rotation block 474 provided at one end of the fifth drive shaft 473 rotates with respect to the fifth drive shaft 473. By rotating the rotating block 474, the chuck unit 600 connected to the rotating block 474 via the end effector support member 205 is rotated with respect to the fifth drive shaft 473. As described above, the rotation unit 480 rotates only the second driven pulley 462, thereby rotating the rotation block 474 with respect to the fifth drive shaft 473 without rotating the housing member 453, and the chuck unit. 600 can be rotated. Accordingly, the parallel link robot 100 can change the posture of the chuck unit 600 from the vertical direction to the horizontal direction by rotating the posture of the chuck unit 600 with respect to the fifth drive shaft 473. Here, the second posture changing unit 460, the fourth drive shaft 472, the fifth drive shaft 473, and the rotating means 480 that control the posture of the chuck unit 600 with respect to the fifth shaft 121 are the second posture control means in this embodiment. Configure. Moreover, each structure which controls the attitude | position with respect to the 5th axis | shaft 121 of the chuck unit 600 by the drive of the motor 465 comprises the 1st transmission mechanism in this embodiment. The first transmission mechanism includes a second driven pulley 462, a second drive pulley 466, a control cable 500, bevel gears 476 and 477, a fourth drive shaft 472, a fifth drive shaft 473, and a rotating means 480. .

  As described above, in the present embodiment, the parallel link robot 100 includes the first posture changing unit 450, the second posture changing unit 460, and the rotating unit 480. With this configuration, the parallel link robot 100 can control the posture of the chuck unit 600 with respect to the fourth axis 120 without restricting the operation region of the output member 100B, and in addition, the parallel link robot 100 can be different from the fourth axis 120. The shaft 121 can also be controlled. That is, the parallel link robot 100 can control the posture of the chuck unit 600 with a higher degree of freedom with a simple configuration.

  In the present embodiment, the rotary block 474 has the end effector support member 205 attached on the same axis as the fourth axis 120, but is not limited thereto. For example, the end effector support member 205 may be attached to each of the rotation block 474 on the same axis as the fourth shaft 120 and at a position rotationally symmetrical by 180 ° with respect to the fifth drive shaft 473. By configuring in this way, the parallel link robot 100 can connect a plurality of end effectors to the rotation block 474. Thereby, since the parallel link robot 100 can switch an end effector according to a work application, the work can be continued without performing an end effector replacement work, and work efficiency is improved.

<Fifth Embodiment>
A fifth embodiment of the present invention will be described with reference to FIG. In the fourth embodiment, the parallel link robot 100 rotates the first and second driven pulleys 452 and 462 when controlling the posture of the chuck unit 600 with respect to the fourth shaft 120. In such a configuration, it is necessary to synchronize the fourth and fifth motors 457 and 465, and there is a concern that the control becomes complicated. Therefore, in the present embodiment, the rotation unit is configured by a differential mechanism, and the posture of the chuck unit 600 can be controlled without synchronizing the fourth and fifth motors 457 and 465. Note that the configuration and operation of the parallel link robot in this embodiment are the same as those in the first to fourth embodiments unless otherwise specified. Therefore, the overlapping description is omitted or simplified. A description will be given centering on differences from the embodiment.

  As shown in FIG. 15, the rotating means 490 in the present embodiment includes a first bevel gear 491 that rotates together with the first driven pulley 452 and is provided on the rotating shaft of the first driven pulley 452. The first bevel gear 491 is connected and fixed to the first driven pulley 452. The rotating means 490 includes a second bevel gear 492 that is connected and fixed to the second driven pulley 462 and rotates together with the second driven pulley 462 and provided on the rotation shaft of the second driven pulley 462. The second driven pulley 462 and the second bevel gear 492 are supported rotatably with respect to the output shaft 105 via a pair of bearings 461. The rotating means 490 includes a third bevel gear 494 that is provided on a vertical shaft 493a that protrudes in the vertical direction from the central axis of a fourth drive shaft 493 (described later) and is rotatably supported. The third bevel gear 494 is provided on each of the vertical shafts 493 a and meshes with the first bevel gear 491 and the second bevel gear 492.

  In the present embodiment, the fourth drive shaft 493 is rotatably supported with respect to the output shaft 105 via a bearing 471, and meshes with one end of the bevel gear 477 of the fifth drive shaft 473 at an angle of 45 °. A gear 476 is provided. In the present embodiment, the fourth drive shaft 493 has the two vertical shafts 493a. However, the present invention is not limited to this, and it is sufficient that the fourth drive shaft 493 has at least one vertical shaft 493a.

  Next, the operation of the rotating means 490 will be described. For example, when the chuck unit 600 is rotated with respect to the fourth shaft 120, the parallel link robot 100 rotates the first driven pulley 452 and fixes the second driven pulley 462. In this case, the housing member 453 connected to the first driven pulley 452 is rotated with respect to the fourth shaft 120 by the rotation of the first driven pulley 452. Further, the fifth drive shaft 473 supported by the bearing holder 453 a fixed to the housing member 453 also rotates with respect to the fourth shaft 120 as the housing member 453 rotates. Here, when the fifth drive shaft 473 rotates with respect to the fourth shaft 120, the bevel gear 477 that meshes with the bevel gear 476 provided on the fourth drive shaft 493 is used to rotate the fifth drive shaft 473. The bevel gear 476 is rotated. In this case, the fifth drive shaft 473 rotates and the chuck unit 600 rotates with respect to the fifth drive shaft 473.

  Therefore, the rotating means 490 rotates the first bevel gear 491 in the same direction as the first driven pulley 452 by the rotation of the first driven pulley 452. Then, the rotating means 490 rotates the first bevel gear 491 to rotate the third bevel gear 494 that meshes with the first bevel gear 491 with respect to the vertical shaft 493a, and the third bevel gear 494 is driven fourth. Revolve with respect to the shaft 493. The rotating means 490 rotates the fourth drive shaft 493 in the same direction as the first driven pulley 452 by the third bevel gear 494 revolving with respect to the fourth drive shaft 493. Thereby, the rotation of the bevel gear 476 provided on the fourth drive shaft 493 and the rotation of the bevel gear 477 due to the rotation of the fifth drive shaft 473 are offset. As described above, the rotation means 490 rotates the first driven pulley 452, stops the second driven pulley 462, and does not rotate the fourth drive shaft 493 relative to the first driven pulley 452. Thus, the rotation block 474 is prevented from rotating with respect to the fifth drive shaft 473. Thereby, the parallel link robot 100 can rotate the chuck unit 600 only with respect to the fourth shaft 120.

  Next, the case where the chuck unit 600 is rotated with respect to the fifth drive shaft 473 and the posture of the chuck unit 600 is changed from the vertical direction to the horizontal direction will be described. In this case, the parallel link robot 100 fixes the rotation of the first driven pulley 452 and rotates the second driven pulley 462. Since the rotation of the first driven pulley 452 is fixed, the rotation of the housing member 453 with respect to the fourth shaft 120 is prevented. The rotating means 490 rotates the second bevel gear 492 in the same direction as the second driven pulley 462 by the rotation of the second driven pulley 462. Then, the rotation means 490 rotates the second bevel gear 492 to rotate the third bevel gear 494 that meshes with the second bevel gear 492 with respect to the vertical shaft 493a, and drives the third bevel gear 494 to the fourth drive. Revolve with respect to the shaft 493. The rotating means 490 rotates the fourth drive shaft 493 in the same direction as the second driven pulley 462 when the third bevel gear 494 revolves with respect to the fourth drive shaft 493. As the fourth drive shaft 493 rotates, the fifth drive shaft 473 having a bevel gear 477 that meshes with a bevel gear 476 provided on the fourth drive shaft 493 also rotates. Due to the rotation of the fifth drive shaft 473, the rotation block 474 provided at one end of the fifth drive shaft 473 rotates with respect to the fifth drive shaft 473. By rotating the rotating block 474, the chuck unit 600 connected to the rotating block 474 via the end effector support member 205 is rotated with respect to the fifth drive shaft 473. As described above, the rotation unit 490 rotates only the second driven pulley 462 to rotate the rotation block 474 with respect to the fifth drive shaft 473 without rotating the housing member 453, and thereby the chuck unit. 600 can be rotated. Accordingly, the parallel link robot 100 can change the posture of the chuck unit 600 from the vertical direction to the horizontal direction by rotating the posture of the chuck unit 600 with respect to the fifth drive shaft 473.

  Thus, when the parallel link robot 100 rotates the chuck unit 600 with respect to the fourth shaft 120, the parallel link robot 100 rotates the first driven pulley 452 to change the posture of the chuck unit 600 with respect to the fourth shaft 120. Can be controlled. Further, the parallel link robot 100 can control the posture of the chuck unit 600 by rotating only the second driven pulley 462 when the chuck unit 600 is rotated with respect to the fifth drive shaft 473. In the present embodiment, the rotational drive amount of the chuck unit 600 relative to the fourth shaft 120 matches the rotational drive amount of the first driven pulley 452. Further, the rotational drive amount of the chuck unit 600 with respect to the fifth drive shaft 473 coincides with the rotational drive amount of the second driven pulley 462. Further, the second posture changing unit 460, the fourth drive shaft 493, the fifth drive shaft 473, and the rotating means 490 that control the posture of the chuck unit 600 with respect to the fifth shaft 121 are the second posture control means in this embodiment. Configure. Moreover, each structure which controls the attitude | position with respect to the 5th axis | shaft 121 of the chuck unit 600 by the drive of the motor 465 comprises the 1st transmission mechanism in this embodiment. The first transmission mechanism includes a second driven pulley 462, a second drive pulley 466, a control cable 500, bevel gears 476 and 477, a fourth drive shaft 493, a fifth drive shaft 473, and a rotating means 490. .

  As described above, in the present embodiment, the parallel link robot 100 includes the first posture changing unit 450, the second posture changing unit 460, and the rotating means 490, and the fourth and fifth motors 457 and 465. The posture of the chuck unit 600 can be controlled without synchronizing them. Thereby, the parallel link robot 100 can control the chuck unit 600 to a desired posture by a simple control design, and can realize more stable posture control of the chuck unit 600.

<Other embodiments>
The first to third attitude control units 100C to 100E and the fifth axis drive unit 200 according to each of the above-described embodiments are not limited to the parallel link robot having the link configuration described in each of the embodiments, but are links of conventional examples. You may apply also to the parallel link robot of a structure. Furthermore, the present invention may be applied to a serial link robot.

DESCRIPTION OF SYMBOLS 100 ... Parallel link robot: 100A ... Base part (fixing member): 100B ... Output member (manipulator): 100C ... 1st attitude | position control means (attitude control means): 100D ... 2nd attitude | position control means (attitude control means): 100E ... 3rd attitude control means (attitude control means): 103 ... End effector support member (first connection part): 105 ... Output shaft: 107 ... 1st motor (movement actuator): 108 ... 2nd motor (movement actuator): 109a ... 1st link (link mechanism): 110a ... 2nd link (link mechanism): 111 ... 3rd motor (movement actuator): 112a ... 3rd link (link mechanism): 120 ... 4th axis (reference axis): 121 ... 5th axis (control axis): 122 ... 6th axis (center axis): 200 ... 5th axis drive unit (control axis unit): 201 ... Holder (output shaft connecting portion, second connecting portion): 204 ... Rotating member: 205 ... End effector support member (end effector connecting portion, third connecting portion): 206 ... Stepping motor (second attitude control actuator): 206a ... Rotating shaft (first transmission mechanism): 207 ... Sun gear (first transmission mechanism): 210 ... Planetary gear (first transmission mechanism): 212 ... Internal gear (first transmission mechanism): 213 ... Worm gear (first transmission mechanism) ): 214 ... Worm wheel (first transmission mechanism): 215 ... Fifth drive shaft (first transmission mechanism): 302, 457 ... Motor (first attitude control actuator): 303 ... Drive pulley (second rotation part) : 403 ... driven pulley (first rotating part): 450 ... first attitude changing part (first attitude controlling means): 452 ... first driven pulley (first rotating part): 453 ... housing member (shaft) Member): 458... First drive pulley (second rotation part): 460... Second attitude change part (second attitude control means): 462... Second driven pulley (first transmission mechanism, third rotation part) : 465 ... Motor (second attitude control actuator): 466 ... Second drive pulley (first transmission mechanism, fourth rotating part): 472, 493 ... Fourth drive shaft (second attitude control means, first transmission mechanism) ): 473... Fifth drive shaft (second attitude control means, first transmission mechanism): 474... Rotating block (rotating member): 480, 490... Rotating means (second attitude control means, first transmission mechanism): 500 ... control cable (wire member, first wire member, second wire member, first transmission mechanism): 600, 700 ... chuck unit (end effector): 601, 701 ... mounting holder (fourth connection part) 604, 704 ... Rotating frame (support Holding member, second transmission mechanism): 605, 705 ... stepping motor (third attitude control actuator): 610a, 610b, 710a, 710b ... claw part (tool part): 706a ... one-way clutch (first one-way clutch): 706b ... one-way clutch (second one-way clutch): 707 ... pinion gear (moving member): 709a, 709b ... rack gear (moving member): 712 ... tension spring (biasing member)

Claims (8)

An output member having an output shaft;
A plurality of moving actuators that are supported by a fixed member and move the output member within a predetermined space;
A plurality of link mechanisms respectively provided between the output shaft and the plurality of moving actuators;
A control axis unit connected to the output member and having a control axis in a direction intersecting with a reference axis serving as a reference for positioning the output member;
An end effector connected to the control shaft unit, having a tool portion at one end, and changing the posture with respect to the output shaft by rotating the control shaft unit with respect to the control shaft;
Posture control means for controlling the posture of the end effector with respect to each of the reference axis, the control axis, and the central axis of the tool part,
The control axis unit is configured such that when the attitude control unit controls the attitude of the end effector with respect to the control axis and the central axis is directed in the same direction as the reference axis, the central axis is on the same axis as the reference axis. Connecting the output shaft and the end effector at a position to be
A parallel link robot characterized by that. The posture control means includes
First attitude control means for controlling the attitude of the control axis unit with respect to the reference axis;
Second attitude control means for controlling the attitude of the end effector with respect to the control axis;
Third attitude control means for controlling the attitude of the tool part with respect to the central axis,
The parallel link robot according to claim 1. The first attitude control means includes
A first rotation unit that rotates with respect to the output shaft and interlocks with a posture of the control shaft unit with respect to the reference axis;
A first attitude control actuator provided on the fixing member;
A second rotating portion supported by the fixing member and rotating by driving the first attitude control actuator;
A wire member for drivingly connecting the first rotating part and the second rotating part and rotating the first rotating part by the rotation of the second rotating part;
The second attitude control means includes
A second attitude control actuator built in the control axis unit;
A first transmission mechanism that drives the attitude of the end effector with respect to the control axis by driving the second attitude control actuator;
The third attitude control means includes
A third attitude control actuator built in the end effector;
A second transmission mechanism that drives the posture of the tool portion with respect to the central axis by driving the third posture control actuator;
The parallel link robot according to claim 2. The first attitude control means includes
A first rotation unit that rotates with respect to the output shaft and interlocks with a posture of the control shaft unit with respect to the reference axis;
A first attitude control actuator provided on the fixing member;
A second rotating portion supported by the fixing member and rotating by driving the first attitude control actuator;
A first wire member that drives and connects the first rotating part and the second rotating part, and rotates the first rotating part by rotating the second rotating part;
The second attitude control means includes
A third rotating portion that rotates with respect to the output shaft and interlocks with a posture of the end effector with respect to the control shaft;
A second attitude control actuator provided on the fixing member;
A fourth rotation unit supported by the fixed member and rotated by driving the second attitude control actuator;
A second wire member for drivingly connecting the third rotating part and the fourth rotating part and rotating the third rotating part by the rotation of the fourth rotating part;
The third attitude control means includes
A third attitude control actuator built in the end effector;
A second transmission mechanism that drives the posture of the tool portion with respect to the central axis by driving the third posture control actuator;
The parallel link robot according to claim 2. The tool part is a pair of claw parts connected to the second transmission mechanism,
The second transmission mechanism is
A moving member that moves in a direction in which the pair of claws contact and separate from each other;
A biasing member that biases the moving member in a direction in which the pair of claws are brought into contact with each other;
A support member that supports the pair of claws, the moving member, and the biasing member, and that is rotatable with respect to the central axis by the power of the third attitude control actuator;
A first one-way clutch that rotates the support member by transmitting power of the third attitude control actuator to the support member when the third attitude control actuator is driven in one direction;
A second one-way clutch that, when the third attitude control actuator is driven in the other direction, transmits the power of the third attitude control actuator to the moving member and moves the pair of claws apart. Have
The parallel link robot according to claim 3, wherein the robot is a parallel link robot. The control shaft unit has an output shaft connecting portion to which the output shaft is connected, and an end effector connecting portion to which the end effector is connected,
The control axis unit is configured such that the attitude control means controls the attitude of the tool part of the end effector connected to the end effector connecting part with respect to the control axis and directs the central axis in the same direction as the reference axis. Further, the output shaft connecting portion and the end effector connecting portion are on the same axis as the reference axis and the central axis.
The parallel link robot according to any one of claims 1 to 5, wherein the parallel link robot is configured as described above.   In the control shaft unit, each of the plurality of end effector connecting portions is provided at a position that forms the same angle as the angle formed by the control shaft and the reference shaft with respect to the control shaft. The parallel link robot according to claim 6, further comprising: a rotating member that rotates the plurality of end effector connection portions about the control axis. An output member having an output shaft and a first connecting portion;
A plurality of moving actuators that are supported by a fixed member and move the output member within a predetermined space;
A plurality of link mechanisms respectively provided between the output shaft and the plurality of moving actuators;
A control having a second connection portion connected to the first connection portion of the output member, a third connection portion, and a control axis in a direction intersecting a reference axis serving as a reference for positioning of the output member. An axis unit;
A fourth connecting portion connectable to the third connecting portion of the control shaft unit; and a tool portion at one end, and the control shaft unit rotates with respect to the control shaft, whereby the output shaft An end effector whose posture is changed;
Posture control means for controlling the posture of the end effector with respect to each of the reference axis, the control axis, and the central axis of the tool part,
The control shaft unit and the end effector are configured to be detachable from the output member, respectively.
When the first connection portion of the output member and the second connection portion of the control shaft unit are connected, the control shaft unit controls the posture of the end effector relative to the control shaft by the posture control means. When the central axis is oriented in the same direction as the reference axis, the second connecting portion and the third connecting portion are on the same axis, so that the central axis is on the same axis as the reference axis. Connecting the output shaft and the end effector;
When the second connection portion of the control shaft unit is removed from the first connection portion of the output member, and the first connection portion of the output member and the fourth connection portion of the end effector are connected, Connecting the output shaft and the end effector at a position where the central axis is on the same axis of the reference axis by the first connecting portion and the fourth connecting portion being on the same axis;
A parallel link robot characterized by that.

Images