US 12,296,465 B2
Parallel link robot and robot system
Hyunchul Souk, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/253,817
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Feb. 15, 2022, PCT No. PCT/JP2022/005775
§ 371(c)(1), (2) Date May 22, 2023,
PCT Pub. No. WO2022/176819, PCT Pub. Date Aug. 25, 2022.
Claims priority of application No. 2021-024120 (JP), filed on Feb. 18, 2021.
Prior Publication US 2024/0009865 A1, Jan. 11, 2024
Int. Cl. B25J 17/02 (2006.01); B25J 9/10 (2006.01)
CPC B25J 17/0266 (2013.01) [B25J 9/1065 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A parallel link robot comprising:
a base unit;
a movable part disposed below the base unit;
a plurality of arms that connect the base unit and the movable part in parallel; and
a wrist shaft that penetrates through the movable part along an axis extending in a vertical direction and that is driven and rotated about the axis with respect to the movable part,
wherein a jig mount for detachably mounting a positioning jig is provided on one of an upper surface of the movable part and an upper portion of the wrist shaft exposed on the upper surface,
a contact surface with which the positioning jig mounted on the jig mount makes contact is provided on the other one of the movable part and the wrist shaft, or a contact member having the contact surface can be detachably mounted onto the other one of the movable part and the wrist shaft, and
in response to rotating the wrist shaft about the axis with respect to the movable part while the positioning jig mounted on the jig mount is in contact with the contact surface, a particular phase of the wrist shaft about the axis with respect to the movable part is detected with the positioning jig.