JP2018183836A - Parallel link robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parallel link robot which can be operated at a low cost and stably.SOLUTION: A parallel link robot comprising: a first linear drive shaft, a second linear drive shaft and a third linear drive shaft which are located perpendicularly to a prescribed reference surface; a first movable body, a second movable body and a third movable body which respectively move the first linear drive shaft, the second linear drive shaft and the third linear drive shaft in axial direction; and a fourth movable body which is connected to each of the first movable body, the second movable body and the third movable body via a parallel rod, and moves according to axial movements of the first movable body, the second movable body and the third movable body. The first linear drive shaft and the second linear drive shaft are so located in a mode of substantially confronting each other, and the third linear drive shaft is so located in such a mode as to be separated by a predetermined distance from a planar surface configured from the first linear drive shaft and the second linear drive shaft and is directed to the planar surface.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parallel link robot.

  Conventionally, a parallel link type industrial robot (hereinafter also referred to as a “parallel link robot”) is known. A parallel link robot is an industrial robot that can determine the operation of a target plate or the like by controlling a plurality of link mechanisms in parallel.

  FIG. 10 is a schematic view showing a conventional parallel link robot (see Patent Document 1).

  As shown in FIG. 10, in the conventional parallel link robot 100, the fixed plate 120 and the movable plate 130 are connected via an arm 140 and a link 170. By controlling the position or posture of the arm 140 and the link 170, the operation of the movable plate 130 is controlled.

JP 2014-61571 A

  However, the conventional parallel link robot 100 requires a large pedestal on which the fixed plate 120 is attached, and is expensive as a whole. Further, since the position of the center of gravity of the robot when attached to the gantry is high, the robot is liable to vibrate and becomes unstable as a whole apparatus.

  FIG. 11 is a diagram for explaining a problem of a conventional parallel link robot.

  As shown in FIG. 11, the conventional parallel link robot 100 has a fixed plate 120 attached to a large gantry 200. As a result, the position of the center of gravity of the parallel link robot 100 is increased, and the robot easily vibrates.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a parallel link robot that can operate stably at low cost.

  In order to achieve the above object, a parallel link robot according to the present invention includes a first linear drive shaft, a second linear drive shaft, and a third linear drive shaft arranged in a direction perpendicular to a predetermined reference plane. A first moving body, a second moving body, and a third moving body that move in the axial direction on the first linear driving shaft, the second linear driving shaft, and the third linear driving shaft, respectively, and the first moving body. The second moving body and the third moving body are connected to each of the second moving body and the third moving body via a parallel rod, and move according to the movement of the first moving body, the second moving body, and the third moving body in the axial direction. A parallel link robot, wherein the first linear drive shaft and the second linear drive shaft are arranged in a substantially opposed manner to each other, and the third linear drive shaft is Is it a plane composed of the first linear drive axis and the second linear drive axis? Characterized in that it is arranged at a predetermined distance apart from manner facing the plane.

  According to the present invention, it is possible to provide a parallel link robot that can operate stably at low cost.

It is a figure which shows the example of whole structure of the parallel link robot which concerns on this embodiment. It is a figure for demonstrating operation | movement of the parallel link robot which concerns on this embodiment. It is a figure for demonstrating operation | movement of the parallel link robot which concerns on this embodiment. It is a figure for demonstrating operation | movement of the parallel link robot which concerns on this embodiment. It is a figure for demonstrating operation | movement of the parallel link robot which concerns on this embodiment. It is the figure which looked at the parallel link robot concerning this embodiment from the upper part. It is a figure which shows the application example of the parallel link robot which concerns on this embodiment. It is a figure for demonstrating the effect of the parallel link robot which concerns on this embodiment. It is a figure for demonstrating the effect of the parallel link robot which concerns on this embodiment. It is a figure for demonstrating the effect of the parallel link robot which concerns on this embodiment. It is a figure which shows the example of whole structure of the parallel link robot which concerns on a 1st modification. It is a reference drawing of the parallel link robot which concerns on a 1st modification. It is a figure for demonstrating operation | movement of the parallel link robot which concerns on a 1st modification. It is a figure for demonstrating operation | movement of the parallel link robot which concerns on a 1st modification. It is a figure for demonstrating operation | movement of the parallel link robot which concerns on a 1st modification. It is a figure for demonstrating operation | movement of the parallel link robot which concerns on a 1st modification. It is a figure which shows the example of whole structure of the parallel link robot which concerns on a 2nd modification. It is the schematic which shows the conventional parallel link robot. It is a figure for demonstrating the subject of the conventional parallel link robot.

  Hereinafter, embodiments of the present invention will be described.

[Example of overall configuration of parallel link robot]
FIG. 1 is a diagram illustrating an example of the overall configuration of a parallel link robot according to the present embodiment. In the following description, when each direction in the three-dimensional space is described, this is performed according to the XYZ coordinate system shown in FIG.

  A parallel link robot 1 shown in FIG. 1 includes a first drive unit 10, a second drive unit 20, a third drive unit 30, a reference base 40, a movement base 50, a rotary motor shaft 60, a rotation base 70, and the like. .

  The first drive unit 10 includes a first linear drive shaft 11, a motor 12, a first slide base 13, a fixing portion 14, a support portion 15, a first slide base link 16, and a first parallel rod 17. Note that illustration of a power system and a control system for operating the motor 12 is omitted.

  The first linear drive shaft 11 is a drive shaft that extends linearly in the Z direction, and includes a screw shaft (not shown) that is rotationally driven by the motor 12 therein. On the side surface in the + Y direction of the first linear drive shaft 11, a rail portion 11a that guides the movement of the first slide base 13 in the ± Z direction is formed. The exterior of the first linear drive shaft 11 is made of, for example, aluminum. The motor 12 is a drive unit that is disposed below the first linear drive shaft 11 and applies a drive force to the first linear drive shaft 11. Specifically, for example, an alloy motor that rotationally drives the screw shaft inside the first linear drive shaft 11 is used. The first slide base (first moving body) 13 engages with the screw shaft inside the first linear drive shaft 11, and moves on the rail portion 11a in the ± Z direction, that is, in the axial direction in conjunction with the rotation of the screw shaft. It is a moving body that moves. That is, the first slide base 13 is driven by the motor 12 and moves in the ± Z direction. The first slide base 13 is made of, for example, aluminum. The fixing part 14 is a flat fixing member fixed to the reference base 40, and is made of, for example, iron. The column portion 15 is a U-shaped member fixed to the −Y direction side surface of each of the first linear drive shaft 11 and the motor 12 and the + Z direction surface of the fixed portion 14 and is made of, for example, iron. The first slide base link 16 is a universal joint such as a pillow ball disposed at two positions on the surface of the first slide base 13, and is made of, for example, stainless steel. One end of a first parallel rod 17 to be described later is connected to the first slide base link 16. The first parallel rod 17 is two rod-like bodies arranged in parallel with each other, one end of which is connected to the first slide base link 16 and the other end is a moving base 50 (moving base links 51, 52). Connected to The first parallel rod 17 is made of, for example, carbon or an alloy.

  Similarly, the second drive unit 20 includes a second linear drive shaft 21, a motor 22, a second slide base 23, a fixing portion 24, a support column portion 25, a second slide base link 26, and a second parallel rod 27.

  The second linear drive shaft 21 is a drive shaft that extends linearly in the Z direction, and includes a screw shaft (not shown) that is rotationally driven by the motor 22 therein. A rail portion 21 a that guides the movement of the second slide base 23 in the ± Z direction is formed on the side surface of the second linear drive shaft 21 in the −Y direction. The exterior of the second linear drive shaft 21 is made of, for example, aluminum. The motor 22 is a driving unit that is disposed below the second linear drive shaft 21 and applies a driving force to the second linear drive shaft 21. Specifically, for example, an alloy motor that rotationally drives the screw shaft inside the second linear drive shaft 21 is used. The second slide base (second moving body) 23 engages with the screw shaft inside the second linear drive shaft 21 and moves on the rail portion 21a in the ± Z direction, that is, in the axial direction in conjunction with the rotation of the screw shaft. It is a moving body that moves. That is, the second slide base 23 is driven by the motor 22 and moves in the ± Z direction. The second slide base 23 is made of, for example, aluminum. The fixing part 24 is a flat fixing member fixed to the reference base 40, and is made of, for example, iron. The column portion 25 is a U-shaped member fixed to the + Y direction side surface of each of the second linear drive shaft 21 and the motor 22 and the + Z direction surface of the fixed portion 24, and is made of, for example, iron. The second slide base link 26 is a universal joint such as a pillow ball disposed at two positions on the surface of the second slide base 23, and is made of, for example, stainless steel. One end of a second parallel rod 27 to be described later is connected to the second slide base link 26. The second parallel rod 27 is two rod-like bodies arranged in parallel to each other, one end of which is connected to the second slide base link 26 and the other end is a moving base 50 (moving base links 53, 54). Connected to The second parallel rod 27 is made of, for example, carbon or an alloy.

  Similarly, the third drive unit 30 includes a third linear drive shaft 31, a motor 32, a third slide base 33, a fixing part 34, a support part 35, a third slide base link 36, and a third parallel rod 37.

  The third linear drive shaft 31 is a drive shaft that extends linearly in the Z direction, and includes a screw shaft (not shown) that is rotationally driven by the motor 32 therein. On the side surface in the + X direction of the third linear drive shaft 31, a rail portion 31 a that guides the movement of the third slide base 33 in the ± Z direction is formed. The exterior of the third linear drive shaft 31 is made of aluminum, for example. The motor 32 is a drive unit that is disposed below the third linear drive shaft 31 and applies a drive force to the third linear drive shaft 31. Specifically, for example, an alloy motor that rotationally drives the screw shaft inside the third linear drive shaft 31 is used. The third slide base (third moving body) 33 engages with a screw shaft inside the third linear drive shaft 31, and moves on the rail portion 31a in the ± Z direction, that is, in the axial direction in conjunction with the rotation of the screw shaft. It is a moving body that moves. That is, the third slide base 33 is driven by the motor 32 and moves in the ± Z direction. The third slide base 33 is made of, for example, aluminum. The fixing part 34 is a flat fixing member fixed to the reference base 40, and is made of, for example, iron. The column portion 35 is a U-shaped member fixed to the −X direction side surface of each of the third linear drive shaft 31 and the motor 32 and the + Z direction surface of the fixed portion 34, and is made of, for example, iron. The third slide base link 36 is a universal joint such as a pillow ball disposed at two positions on the surface of the third slide base 33, and is made of, for example, stainless steel. One end of a third parallel rod 37 described later is connected to the third slide base link 36. The third parallel rod 37 is two rod-like bodies arranged in parallel to each other, one end of which is connected to the third slide base link 36, and the other end is a moving base 50 (moving base links 55, 56). Connected to The third parallel rod 37 is made of, for example, carbon or an alloy.

  The reference table 40 is a pedestal portion on which the first drive unit 10, the second drive unit 20, and the third drive unit 30 are disposed. Specifically, the respective fixing portions 14, 24, and 34 are disposed. The The reference table 40 is made of, for example, iron.

  The moving base (fourth moving body) 50 is a substantially rectangular thin plate made of aluminum, for example, and is a moving body whose operation is controlled by the first drive unit 10, the second drive unit 20, and the third drive unit 30. is there. That is, the moving base 50 moves in accordance with the movement of the slide bases 13, 23, 33 of each drive unit in the ± Z direction, that is, the axial direction. Thereby, the conveyed product adsorb | sucked to the adsorption | suction part (not shown) etc. which are attached to the back surface (the back surface of the rotation base 70 mentioned later) of this movement base 50 can be conveyed to a desired position. The operation range of the movement base 50 is a region R in FIG.

  Note that movement base links 51 to 56 are disposed around the edge of the movement base 50. These movement base links 51 to 56 are universal joints such as pillow balls connected to the other ends of the parallel rods 17, 27, and 37 described above, and are made of, for example, stainless steel.

  The rotary motor shaft 60 is, for example, aluminum driving means for rotationally driving a rotary base 70 described later. The rotation base 70 is disposed on the back surface of the moving base 50 and is rotationally driven by the rotation motor shaft 60. The rotary base 70 is made of, for example, aluminum. Thereby, the conveyed product adsorbed by an adsorbing part (not shown) attached to the back surface of the rotation base 70 can be rotated around the rotary motor shaft 60.

  As described above, the parallel link robot 1 according to this embodiment includes the first drive unit 10, the second drive unit 20, the third drive unit 30, the reference base 40, the moving base 50, the rotary motor shaft 60, and the rotation. This is a configuration having a base 70.

  In the parallel link robot 1 according to the present embodiment, three linear drive shafts 11, 21, and 31 with respect to a reference base 40 having a surface parallel to the XY plane (hereinafter also referred to as “predetermined reference surface”). Are arranged vertically, and slide bases 13, 23, 33 that move in the axial direction (Z direction) along the respective linear drive shafts 11, 21, 31 are arranged. Each of the slide bases 13, 23, 33 is connected to the moving base 50 via parallel rods 17, 27, 37. Therefore, the operation of the movement base 50 can be controlled by performing control related to the movement of the slide bases 13, 23, and 33 in the axial direction. Thereby, high-speed driving | running can be implement | achieved by simple linear drive.

  Further, in the example shown in FIG. 1, all of the first drive unit 10 to the third drive unit 30 are arranged vertically with respect to the reference table 40, but the present invention is not limited to this case. For example, at least one drive unit may be arranged with respect to another reference table that is parallel to the reference table 40 and has a different height in the Z direction. That is, at least one linear drive shaft may be a reference plane different from a predetermined reference plane on which another linear drive shaft is disposed, and may be arranged on a plane parallel to the predetermined reference plane. Thereby, various apparatuses etc. can be arrange | positioned using a vacant space.

  Further, for example, in the XYZ coordinate system shown in FIG. 1, the first drive unit 10 to the third drive unit 30 are configured to stand vertically with respect to the reference plane. However, the present invention is not limited to this case. For example, the reference plane may be a YZ plane, and the first drive unit 10 to the third drive unit 30 may be arranged perpendicular to the YZ plane.

[Operation example of parallel link robot]
2A to 2D are diagrams for explaining the operation of the parallel link robot according to the present embodiment.

2A to 2D show simplified views of the parallel link robot 1 shown in FIG. 1 as viewed from the front (+ X direction). In this operation example, an operation for transporting to a position P ₂ a conveying workpieces W from the position P ₁ in the example. A suction pad 80 for sucking the conveyed work W is attached to the back surface of the moving base 50.

  First, as shown in FIG. 2A, the first slide base 13, the second slide base 23, and the third slide base 33 have the same Z-direction height, and the moving base 50 is disposed on the central reference position P. And

2B, the first slide base 13 is controlled to move in the + Z direction, and the second slide base 23 is controlled to move in the -Z direction. Then, the moving base 50 is moved to the position P _1, adsorbing the carrier workpiece W by the suction pad 80.

  2C, the first slide base 13 is controlled to move in the −Z direction, the second slide base 23 is controlled to move in the + Z direction, and the first slide base 13, the second slide base 23, and the third slide base 33 are controlled. The height in the Z direction becomes the same again. If it does so, the movement base 50 will pass on the reference position P in the state which adsorb | sucked the conveyance workpiece W. FIG.

2D, the first slide base 13 is controlled to move in the −Z direction, and the second slide base 33 is controlled to move in the + Z direction. Then, the moving base 50 is moved to the position P _2, to release the adsorption of the transport the workpiece W by the suction pad 80.

As described above, in the parallel link robot 1 according to this embodiment, the movement of the movement base 50 is controlled by performing control related to the movement of the first slide base 13 to the third slide base 33 in the axial direction. controlled, it can be transported to the position P ₂ a conveying workpieces W from the position P _1.

  Note that, for example, when transferring left and right as in the case of transition from FIG. 2B to FIG. 2C, the stress received by the first slide base 13 at a high position in the + Z direction is the vertical blur stress, and the second slide base 23 is low at the + Z direction. The stress that is subjected to is the left / right blur stress. Therefore, it can be said that the parallel link robot 1 provided with these mechanisms is a mechanism mechanically advantageous.

[Operation range of parallel link robot]
FIG. 3 is a view of the parallel link robot according to the present embodiment as viewed from above. Next, the operation range of the parallel link robot 1 according to the present embodiment will be described with reference to FIG.

  As shown in FIG. 3, in the parallel link robot 1 according to the present embodiment, the two linear drive shafts 11, 21 out of the three linear drive shafts 11, 21, 31 are arranged so as to face each other. Is done. Strictly speaking, in the first linear drive shaft 11 and the second linear drive shaft 21, the first slide base 13 and the second slide base 23 are arranged so as to face each other.

  Further, the third linear drive shaft 31 that is another linear drive shaft is a predetermined distance from a plane L (a plane parallel to the YZ plane) formed by the first linear drive shaft 11 and the second linear drive shaft 21. They are arranged in such a manner that they are spaced apart by M and face the plane L. Strictly speaking, in the third linear drive shaft 31, the third slide base 33 is arranged in a manner facing the plane L with a predetermined distance from the plane L.

  The third linear drive shaft 31 is preferably disposed at a position that forms an isosceles triangle in top view between the first linear drive shaft 11 and the second linear drive shaft 21. This is because, by making the first parallel rod 17 and the second parallel rod 27 the same length, it is possible to share parts.

The operating range of the movement base 50 is a region R, which is further divided into regions R ₁ and R ₂ . Region R _1, the internal region including the triangular area formed by the three linear drive shaft 11, 21, 31, one region R2 is an external region not including the triangular area.

Then, according to the parallel robot 1 configured as described above, the moving base 50 can be disposed outside the region R ₂ than the triangular space formed by the three linear drive shaft 11, 21, 31. Therefore, the internal region R ₁ to the outside region R _2, or may carry conveyed from outside the area R ₂ into the interior region R _1.

[Application example of parallel link robot]
FIG. 4 is a diagram illustrating an application example of the parallel link robot according to the present embodiment.

In Figure 4, side by side with side by side a plurality of parallel robot 1a, 1b, 1c, 1d, a 1e, and all parallel robot 1a, 1b, 1c, 1d, 1e external region _{R 2} of the movable The application example which has arrange | positioned the conveyance conveyor 90 in the various position is shown.

As described above, the parallel robot 1a, 1b, 1c, 1d, 1e from the internal region _{R 1} to the outside region _{R 2,} or may carry conveyed from outside the area _{R 2} into the interior region _{R 1} . Accordingly, it is possible to perform necessary operations on the conveyed product in each parallel link robot 1a, 1b, 1c, 1d, and 1e while conveying the conveyed product on the conveyor 90.

[Effect of parallel link robot]
5A to 5C are diagrams for explaining the effects of the parallel link robot according to the present embodiment. Here, the effect of the parallel link robot 1 according to the present embodiment will be described with reference to FIGS. For convenience of explanation, illustration of the third slide base 33 is omitted.

In FIG. 5A, the conventional parallel link robot 100 is shown on the left, and the parallel link robot 1 according to the present embodiment is shown on the right. In addition, the dotted line frame in a figure has shown operating range _R0 , R of the movable plate 130 and the movement base 50, respectively.

  First, as described above, in the conventional parallel link robot 100, the large gantry 200 to which the fixed plate 120 is attached is necessary, which is expensive as a whole. Further, since the position of the center of gravity of the robot when attached to the large gantry 200 becomes high, it becomes easy to vibrate and becomes unstable as a whole apparatus.

  On the other hand, according to the parallel link robot 1 according to the present embodiment, a large gantry is unnecessary and the center of gravity of the robot is low, so that it is difficult to vibrate and is stable as a whole device. That is, it can operate stably at low cost.

In addition, the motion range R ₀ of the movable plate 130 in the conventional parallel link robot 100 is a mortar shape, while the motion range of the moving base 50 in the parallel link robot 1 according to the present embodiment is a rectangular parallelepiped shape, and the motion range is more It is wide.

  In FIG. 5B, in the parallel link robot 1 according to the present embodiment, a frame portion 91 and other wiring 92 and piping 93 mounted on the upper surfaces of the linear drive shafts 11 and 21 are illustrated. Moreover, the dotted line part in a figure has shown the aspect (1st linear drive shaft 11A, 2nd linear drive shaft 21A) which extended the 1st linear drive shaft 11 and the 2nd linear drive shaft 21 upwards.

  As shown in FIG. 5B, by covering the upper surfaces of the linear drive shafts 11 and 21 with the frame portion 91, it is possible to easily improve the rigidity of the entire apparatus and the accuracy related to the movement of the moving base 50.

  Further, as shown in FIG. 5B, the wiring 92 and the piping 93 can be easily handled with a simple configuration. Further, as shown by the first linear drive shaft 11A and the second linear drive shaft 21A in FIG. 5B, the movement amount of each slide base 13, 23, 33 can be easily increased by extending in the axial direction (+ Z direction). can do.

  FIG. 5C shows an aspect in which a shielding cover 94 is disposed between the linear drive shafts 11 and 21 (the slide bases 13 and 23) and the moving base 50 in the parallel link robot 1 according to the present embodiment. .

  As shown in FIG. 5C, the driving area of each slide base 13 and 23 and the moving area of the moving base 50 are separated by a shielding cover 94 or the like, so that the moving base 50 is used for dust-free, aseptic, chemical solution, and water washing. It becomes possible to apply to such work. This also leads to the application of the parallel link robot 1 according to the present embodiment to the medical field, the food field, and the like.

[First modification of parallel link robot]
FIG. 6 is a diagram illustrating an overall configuration example of the parallel link robot according to the first modification. FIG. 7 is a reference diagram of the parallel link robot according to the first modification.

  In the first modification, a case will be described in which the first slide base 13 and the second slide base 23 in the parallel link robot 1 of FIG. 1 are rotatable around the Y axis (a direction substantially facing each other). In the following description, the same components as those in FIG.

  In the parallel link robot 1A shown in FIG. 6, a first slide base rotation axis (first rotation axis) 18 and a second slide base rotation axis (second rotation axis) 28 are provided.

  The first slide base rotating shaft 18 is a mechanism capable of moving in the axial direction (Z direction) along the first linear drive shaft 11 and rotating the first slide base 13 around the Y axis. Similarly, the second slide base rotating shaft 28 is a mechanism capable of moving in the axial direction (Z direction) along the second linear drive shaft 21 and rotating the second slide base 23 around the Y axis.

  In the parallel link robot 1A according to the first modification, as described above, the three linear drive shafts 11, 21, and 31 are arranged vertically with respect to the reference base 40 having a predetermined reference surface, and Slide bases 13, 23, 33 that move in the axial direction (Z direction) along the respective linear drive shafts 11, 21, 31 are arranged. Each of the slide bases 13, 23, 33 is connected to the moving base 50 via parallel rods 17, 27, 37. Therefore, the operation of the movement base 50 can be controlled by performing control related to the movement of the slide bases 13, 23, and 33 in the axial direction. Thereby, high-speed driving | running can be implement | achieved by simple linear drive.

  Furthermore, in the parallel link robot 1A according to the first modification, as described above, the first slide base 13 and the second slide base 23 can rotate around the Y axis. Therefore, the rotation operation of the moving base 50 can be controlled by performing control related to the rotation of the slide bases 13 and 23 around the Y axis.

  FIG. 7 shows the parallel link robot 1A when the slide bases 13 and 23 are rotated 90 degrees around the Y axis. As shown in FIG. 7, the moving base 50 is also rotated 90 degrees around the Y axis with the rotation of the slide bases 13 and 23.

[Operation Example of Parallel Link Robot According to First Modification]
8A to 8D are diagrams for explaining the operation of the parallel link robot according to the present embodiment.

  FIGS. 8A to 8D show simplified views of the parallel link robot 1A shown in FIG. 6 as viewed from the right side (+ Y direction). For convenience of explanation, the second slide base 23 is not shown.

In this operation example, the transport work W at the position Q ₁ that has been transported on the transport conveyor 95 is first transported onto the image inspection device 96 at the position Q ₂ to perform image inspection, and determined as a defective product as a result of the image inspection. operation will be described as an example to convey what is in the position Q ₃ right collection box 97. A suction pad 80 for sucking the conveyed work W is attached to the back surface of the moving base 50.

  First, as shown in FIG. 8A, the heights in the Z direction of the first slide base 13, the second slide base 23, and the third slide base 33 are the same, and the moving base 50 is disposed on the reference position Q. .

Next, proceeding to FIG. 8B, the first slide base 13, the second slide base 23, and the third slide base 33 are all controlled to move in the -Z direction. Then, the moving base 50 moves to the position Q ₁ and sucks the transport work W by the suction pad 80.

Thereafter, the process proceeds to FIG. 8C, and the first slide base 13, the second slide base 23, and the third slide base 33 are all controlled to move in the + Z direction. Then, the moving base 50 is moved on the position Q _2, performs image inspection of conveying the workpiece W by the image inspecting apparatus 96.

8D, the third slide base 33 is controlled to move in the + Z direction, and the first slide base 13 and the second slide base 23 are controlled to rotate 90 degrees. Then, the mobile base 50 is rotated 90 degrees while moving on a position Q _3, to release the adsorption of the transport the workpiece W by the suction pad 80.

As described above, in the parallel link robot 1A according to the first modified example, the control related to the movement of the first slide base 13 to the third slide base 33 in the axial direction, the first slide base 13 and the second slide base. by performing the control according to the rotation around the Y-axis of the base 23, to control the movement and rotation of the moving base 50, it can be conveyed to the position Q ₃ right conveying the workpiece W from the position Q _1.

[Second modification of parallel link robot]
FIG. 9 is a diagram illustrating an overall configuration example of a parallel link robot according to a second modification.

  In the second modified example, as shown in FIG. 9, the first linear drive shaft 11B and the second linear drive shaft 21B are disposed on the reference table 40 so as to be inclined by a predetermined angle θ from the Y-axis direction. In the following description, the same components as those in FIG.

  In the parallel link robot 1B shown in FIG. 9, two linear drive shafts 11B, 21B out of the three linear drive shafts 11B, 21B, 31 are arranged so as to be inclined at θ = 15 degrees from the directions facing each other. Is done. Strictly speaking, in the first linear drive shaft 11B and the second linear drive shaft 21B, the first slide base 13 and the second slide base 23 are arranged so as to be inclined by 15 degrees from the directions facing each other. Further, the moving base 50A is a substantially trapezoidal thin plate.

  In the parallel link robot 1B according to the second modified example, as described above, the three linear drive shafts 11B, 21B, and 31 are arranged vertically with respect to the reference base 40 having a predetermined reference surface, and Slide bases 13, 23, and 33 that move in the axial direction (Z direction) along the linear drive shafts 11 </ b> B, 21 </ b> B, and 31 are disposed. Each of the slide bases 13, 23, 33 and the moving base 50 </ b> A are connected via parallel rods 17, 27, 37. Therefore, the operation of the movement base 50A can be controlled by performing control related to the movement of the slide bases 13, 23, and 33 in the axial direction. Thereby, a high-speed driving | operation is realizable by simple linear drive. The arrangement angle θ of the first linear drive shaft 11B and the second linear drive shaft 21B is not limited to the above 15 degrees as long as it is 15 degrees to −15 degrees.

  Although one embodiment of the present invention has been described above, the above embodiment shows one example of application of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above embodiment. is not.

  For example, in the above description, the parallel link robot 1 according to the present embodiment has been described by way of an example in which the transport work W is transported using the movement base 50. However, the present invention is not limited to this case. . The present invention can be applied to all drive systems in which a moving body (movement base 50 in FIG. 1) to be operated is moved by three drive units (first drive unit 10 to third drive unit 30 in FIG. 1).

DESCRIPTION OF SYMBOLS 1 Parallel link robot 11 1st linear drive shaft 13 1st slide base (1st moving body)
17 1st parallel rod 18 1st slide base rotating shaft (1st rotating shaft)
21 2nd linear drive shaft 23 2nd slide base (2nd moving body)
27 Second parallel rod 28 Second slide base rotation axis (second rotation axis)
31 3rd linear drive shaft 33 3rd slide base (3rd moving body)
37 3rd parallel rod 50 movement base (4th moving body)

Claims (4)

A first linear drive shaft, a second linear drive shaft, and a third linear drive shaft disposed in a direction perpendicular to a predetermined reference plane;
A first moving body, a second moving body, and a third moving body that move in the axial direction on the first linear drive shaft, the second linear drive shaft, and the third linear drive shaft, respectively;
The first moving body, the second moving body, and the third moving body are connected to each other through a parallel rod, and the first moving body, the second moving body, and the third moving body in the axial direction are connected. A parallel link robot comprising: a fourth moving body that moves according to the movement;
The first linear drive shaft and the second linear drive shaft are arranged in a manner of facing each other substantially,
The parallel link robot, wherein the third linear drive shaft is arranged in a manner to face the plane at a predetermined distance from a plane constituted by the first linear drive shaft and the second linear drive shaft.   At least one of the first linear drive shaft, the second linear drive shaft, and the third linear drive shaft is a plane different from the predetermined reference plane on which the other linear drive shaft is disposed. The parallel link robot according to claim 1, wherein the parallel link robot is arranged on a plane parallel to the predetermined reference plane.   The first rotating shaft and the second rotating shaft are further provided to allow each of the first moving body and the second moving body to rotate around the substantially facing direction. Parallel link robot. 2. The parallel according to claim 1, wherein the third linear drive shaft is disposed at a position forming an isosceles triangle in top view between the first linear drive shaft and the second linear drive shaft. Link robot.

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