PARALLEL LINK ROBOT SYSTEM

• Main Authors: HATANAKA TAKASHI, MATSUSHITA SHIGEO
• Format: Patent
• Language: English; Japanese
• Published: 20.05.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To improve reliability on pick-and-place work.SOLUTION: A parallel link robot system 1 comprises a plurality of parallel link robots 7 that pick a work-piece W at a first working area Z1 and place the work-piece at a second work area Z2. The parallel link robots 7 comprise base parts 23, movable parts 25 and upper arm parts A1U, A2U and A3U turnably connected to the base parts 23, respectively, and further have three arms A1, A2 and A3 for connecting the base parts 23 to the movable parts 25, arranged so that one of angle intervals in a circumferential direction around center axes AX of the upper arm parts A1U, A2U and A3U is smaller than 120° and the other two angle intervals have angles equal to each other. The two arms A1 and A3 positioned at both ends with angle intervals smaller than 120° are positioned closer to the first work area Z1 than the center axis AX and the other arm A2 is arranged to be positioned closer to the second work area Z2 than the center axis AX.SELECTED DRAWING: Figure 1 【課題】ピックアンドプレイス作業の信頼性を向上する。【解決手段】パラレルリンクロボットシステム１は、ワークＷを第１作業領域Ｚ１でピックして第２作業領域Ｚ２でプレイスする複数のパラレルリンクロボット７を有し、パラレルリンクロボット７は、ベース部２３と、可動部２５と、ベース部２３に回動可能に連結された上アーム部Ａ１Ｕ，Ａ２Ｕ，Ａ３Ｕをそれぞれ備え、上アーム部Ａ１Ｕ，Ａ２Ｕ，Ａ３Ｕの中心軸ＡＸ周りの円周方向の角度間隔の１つが１２０°よりも小さく、他の２つの角度間隔が互いに等しい角度となるように配置された、ベース部２３と可動部２５とを連結する３つのアームＡ１，Ａ２，Ａ３と、を有し、１２０°よりも小さい角度間隔の両端に位置する２つのアームＡ１，Ａ３が中心軸ＡＸよりも第１作業領域Ｚ１側に位置し、他の１つのアームＡ２が中心軸ＡＸよりも第２作業領域Ｚ２側に位置するように配置されている。【選択図】図１