US 12,220,815 B2
Parallel link robot
Kounosuke Sugasawa, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/546,946
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Mar. 24, 2022, PCT No. PCT/JP2022/013869
§ 371(c)(1), (2) Date Aug. 17, 2023,
PCT Pub. No. WO2022/210243, PCT Pub. Date Oct. 6, 2022.
Claims priority of application No. 2021-057765 (JP), filed on Mar. 30, 2021.
Prior Publication US 2024/0131692 A1, Apr. 25, 2024
Prior Publication US 2024/0227171 A9, Jul. 11, 2024
Int. Cl. B25J 9/00 (2006.01); B25J 9/10 (2006.01)
CPC B25J 9/1065 (2013.01) 4 Claims
OG exemplary drawing
 
1. A parallel link robot comprising:
a base part;
a movable member spaced from the base part; and
a plurality of arms that connect the base part and the movable member in parallel,
wherein each of the arms comprises:
a drive link rotationally driven by a motor installed in the base part;
two parallel passive links that connect the drive link to the movable member;
a ball joint disposed between the passive links and the drive link and a ball joint disposed between the passive links and the movable member;
attachment mechanisms that detachably attach each of the ball joints to the drive link or the movable member, each of the ball joints comprises a ball and a fixed part integrated with the ball; and
a support link that bridges between the two passive links of each of the arms to connect the two passive links to each other, the two passive links and the support link forming an assembly, and
in each of the arms, at least one of the attachment mechanism between the passive links and the drive link and the attachment mechanism between the passive links and the movable member comprises a first screw hole or first through-hole formed in the fixed part, a second through-hole or second screw hole formed in the drive link or the movable member, and a screw member that penetrates through the first through-hole and is fastened to the second screw hole or that penetrates through the second through-hole and is fastened to the first screw hole to attach the assembly to at least one of the drive link and the movable member, and
the screw member is configured to be separated from at least one of the second screw hole or the first screw hole to enable the assembly to be separated as a single element from at least one of the drive link and the movable member.