ROBOT

Included are: a plurality of arm mechanisms (3) that couple between a base (2) and a bracket (4), each arm mechanism including an arm (18) whose proximal end portion is swingably coupled to the base, a pair of links (21, 22) parallel to each other, the pair of links being disposed such that a proxim...

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Bibliographic Details
Main Author WAKITA, Daisuke
Format Patent
LanguageEnglish
French
German
Published 10.04.2019
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:Included are: a plurality of arm mechanisms (3) that couple between a base (2) and a bracket (4), each arm mechanism including an arm (18) whose proximal end portion is swingably coupled to the base, a pair of links (21, 22) parallel to each other, the pair of links being disposed such that a proximal-end-side link sandwiched portion (20) of the arm mechanism is rotatably sandwiched between proximal end portions of the respective links, and such that a distal-end-side link sandwiched portion (29) of the bracket (4) is rotatably sandwiched between distal end portions of the respective links, and an urging unit (27) connecting between the pair of links in a bridging manner and configured to urge the pair of links toward each other; a link dislocation detection unit (5) mounted to the pair of links; and a controller (61) configured to control an operation of the arm. The link dislocation detection unit includes a detector (41b) mounted to a middle portion of one of the pair of links, the detector being configured to detect that the middle portion of the one of the pair of links and a middle portion of the other one of the pair of links have become spaced apart from each other by more than a predetermined distance.
Bibliography:Application Number: EP20160843948