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1. 发明专利

JP2009255200A Parallel Mechanism 有权
标题翻译：并行机制
公开(公告)号：JP2009255200A
公开(公告)日：2009-11-05
申请号：JP2008104336
申请日：2008-04-14
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , NAKANISHI HIDEAKI , YAMASHITA MANABU
IPC分类号： B25J19/00 , B25J11/00 , B25J17/00 , F16C11/06
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism always appropriately driving and operating an operating head by certainly preventing a resin socket from being displaced along with a spherical body when in use. SOLUTION: This parallel mechanism includes a plurality of drive motors arranged on a base, drive arms and rods driven and operated by the drive motors, and one operating head supported by the rods. Both ends of the rods are coupled to the drive arms and operating head through ball joints 17. Each ball joint 17 is composed of a ball shaft 20 having the spherical body, a socket rod 21 coupled to the ball shaft 20, and the resin socket 22. The surface of the spherical body is applied with a diamond-like carbon treatment, and the resin socket is formed of polyacetal containing fluorine. A grease reservoir 36 is formed between the spherical body and the resin socket, thereby a portion between the spherical body and the resin socket is lubricated with grease comprising fluorinated synthetic oil and fluorinated resin. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种平行机构，通过在使用中肯定地防止树脂插座与球体一起移位，始终适当地驱动和操作操作头。解决方案：该并联机构包括多个驱动马达，其布置在基座上，由驱动马达驱动和操作的驱动臂和杆以及由杆支撑的一个操作头。杆的两端通过球接头17联接到驱动臂和操作头。每个球形接头17由具有球形主体的球轴20，与球轴20联接的插座杆21和树脂插座该球体的表面涂有类金刚石碳处理，树脂座由含氟的聚缩醛形成。在球体和树脂插座之间形成有油脂储存器36，由此在球形体和树脂插座之间的部分用含氟化合成油和氟化树脂的润滑脂润滑。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2009248287A Parallel mechanism 有权
标题翻译：并行机制
公开(公告)号：JP2009248287A
公开(公告)日：2009-10-29
申请号：JP2008102966
申请日：2008-04-10
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , NAKANISHI HIDEAKI , YAMASHITA MANABU
IPC分类号： B25J17/00 , B25J11/00 , F16C11/06
CPC分类号： B25J17/0266 , B25J9/0051 , B25J9/108 , B25J17/0283 , Y10T74/20341
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism capable of suppressing the disengagement of a ball joint for swingably connecting arms without deteriorating maintainability. SOLUTION: The ball joint 16 for swingably connecting the loose end of a rod 9 which forms the second arm 8 of the parallel mechanism 1 and a bracket 14 comprises a ball stud 30 and a rod 33 serving as a socket member. The ball stud 30 comprises a spherical head section 31 having a spherical outer peripheral surface and a shaft section 32. The rod 33 comprises a semispherical recess 34 having an inner peripheral surface generally matching the spherical outer peripheral surface of the spherical head section 31 and a socket 36 on which an extension 35 smoothly extending continuously from the semispherical recess 34 is formed. The extension 35 is generally cylindrically formed so as to extend from the equator 38 of the spherical head section 31 to the shaft section 32 side along the axis of the shaft section 32. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种平行机构，其能够抑制用于可摆动地连接臂的球窝接头的脱离，而不会降低可维护性。解决方案：用于可摆动地连接构成平行机构1的第二臂8的杆9的松动端的球形接头16和支架14包括球头螺栓30和用作插座构件的杆33。球杆30包括具有球形外周面的球形头部31和轴部32.杆33包括半球形凹部34，该半球形凹部34具有与球形头部31的球面外周面大致相匹配的内周面，形成有从半球形凹部34连续延伸的延伸部35的插座36。延伸部35通常为圆柱形，以便从球形头部31的赤道38沿轴部32的轴线延伸到轴部32侧。（C）2010，JPO＆INPIT

3. 发明专利

JP2009297793A Parallel mechanism 有权
标题翻译：并行机制
公开(公告)号：JP2009297793A
公开(公告)日：2009-12-24
申请号：JP2008151631
申请日：2008-06-10
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , YAMASHITA MANABU
IPC分类号： B25J11/00 , B25J17/02
CPC分类号： B25J9/0051
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism capable of increasing an operation range of an end effector without lowering operation speed of the parallel mechanism. SOLUTION: The parallel mechanism 1 includes: a turning shaft 20 of which the one end is connected to an electric motor 21 mounted on a base part 2 and the other end is supported at a bracket 14 to rotate freely, rotated and driven by the electric motor 21; and an end effector driving mechanism 30 mounted on the other end of the turning shaft 20 and converts rotational motion of the turning shaft 20 to linear motion in a direction perpendicular to a mounting surface 2a of the base part 2. The end effector driving mechanism 30 includes a worm 41 attached to the other end of the turning shaft 20, a pair of worm wheels 42, 43 engaged with the worm 41, and a closed link 44 connected to each shaft part of a pair of the worm wheels 42, 43 and converting the rotational motion of the worm wheels 42, 43 to the linear motion. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够增加末端执行器的操作范围而不降低并联机构的操作速度的并联机构。解决方案：平行机构1包括：转轴20，其一端连接到安装在基部2上的电动机21，另一端支撑在支架14上以自由旋转和驱动通过电动机21; 以及安装在转动轴20的另一端上的端部执行器驱动机构30，并且使转动轴20的旋转运动沿与基部2的安装面2a垂直的方向直线运动。末端执行器驱动机构30 包括附接到转动轴20的另一端的蜗杆41，与蜗杆41接合的一对蜗轮42,43，以及连接到一对蜗轮42,43的每个轴部的闭合连杆44，以及将蜗轮42,43的旋转运动转换为直线运动。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2009255194A Parallel mechanism 有权
标题翻译：并行机制
公开(公告)号：JP2009255194A
公开(公告)日：2009-11-05
申请号：JP2008104330
申请日：2008-04-14
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , NAKANISHI HIDEAKI , YAMASHITA MANABU
IPC分类号： B25J11/00 , F16H21/50
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism certainly preventing food or pharmaceutical pollution or the like caused by a leaked lubricant by certainly preventing the leaked lubricant from dropping onto the surfaces of a table and a conveyer even if a lubricant is leaked from the output shaft of a speed reduction gear for any reason.
SOLUTION: The speed reduction gear of a drive motor and a fastening plate are oppositely arranged across a motor bracket, and these three members are fastened and fixed. A lubricant receiver is provided in the faying surfaces of the motor bracket and fastening plate, facing a lubricant flowing-down route, thereby catching the lubricant leaked from the output shaft of the speed reduction gear by the lubricant receiver and preventing the leaked lubricant from flowing down any more. A lubricant reservoir is formed in a part of the lubricant receiver, and a sensor detecting the leaked lubricant is arranged to face the lubricant reservoir. Accordingly, lubricant leakage is immediately detected by the sensor, and an alarm device is operated based on a sensing signal.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：即使润滑剂泄漏，通过肯定地防止泄漏的润滑剂滴落到工作台和输送机的表面上来确保防止由泄漏的润滑剂引起的食品或药物污染等的并行机构由于任何原因从减速齿轮的输出轴。
解决方案：驱动电机和紧固板的减速齿轮相对地布置在电动机支架上，并且这三个构件被固定和固定。润滑剂接收器设置在电动机支架和紧固板的接合表面上，面向润滑剂流下路径，从而通过润滑剂接收器捕获从减速齿轮的输出轴泄漏的润滑剂，并防止泄漏的润滑剂流动下来了在润滑剂接收器的一部分中形成润滑剂储存器，并且检测泄漏的润滑剂的传感器被布置成面向润滑剂储存器。因此，传感器立即检测到润滑剂泄漏，并且基于感测信号来操作报警装置。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2009248285A Parallel mechanism 审中-公开
标题翻译：并行机制
公开(公告)号：JP2009248285A
公开(公告)日：2009-10-29
申请号：JP2008102964
申请日：2008-04-10
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , YAMASHITA MANABU
IPC分类号： B25J17/00 , B25J11/00 , F16H21/50
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism capable of reducing the inertia moment of arms by reducing the weights of the arms.
SOLUTION: An arm body 6 comprises a first arm 7 having one end connected to an electric motor 4 mounted on a base 2, a second arm 8 having a pair of rods 9, 9 and connecting the other end of the first arm 7 to a bracket 14, and connection members 11, 12 for biasing the pair of rods 9, 9 of the second arm 8 in the mutually pulling directions, respectively. Each of the connection members 11, 12 comprises a plate spring 30 and a pair of mounting sections 31, 31 formed integrally with the plate spring 30 at both ends of the plate spring 30, respectively. The plate spring 30 is so attached to the pair of rods 9, 9 that the flat surface of the plate spring 30 brought into contact with the curved section is vertical to a plane including the axes of the pair of rods 9, 9.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够通过减小臂的重量来减小臂的惯性力矩的平行机构。解决方案：臂主体6包括第一臂7，其一端连接到安装在基座2上的电动机4，第二臂8具有一对杆9,9并将第一臂的另一端以及连接构件11,12，用于分别在相互牵引的方向上偏压第二臂8的一对杆9,9。每个连接构件11,12包括板簧30和在板簧30的两端与板簧30一体形成的一对安装部31,31。平板弹簧30被安装在一对杆9,9上，使板簧30的与弯曲部分接触的平坦表面垂直于包括一对杆9,9的轴线的平面。
版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2009255198A Parallel mechanism 有权
标题翻译：并行机制
公开(公告)号：JP2009255198A
公开(公告)日：2009-11-05
申请号：JP2008104334
申请日：2008-04-14
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , YAMASHITA MANABU
IPC分类号： B25J19/00 , B25J11/00 , B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism resolving damage to an origin body during runaway and expanding the operating range of a drive arm.
SOLUTION: This rotary parallel mechanism includes a plurality of drive arms 14 and rods 15, and an operating head. A reference protrusion 26 is formed on the outer surface of each drive arm, and the origin body 27 catching the reference protrusion 26 of the drive arm operated to be returned to the origin is formed on the outer surface of a base facing outside of the normal operating range of the drive arm. A stopper 32 catching the reference protrusion 26 is provided concentrically with the origin body 27, and the stopper 32 catches the reference protrusion 26 with the drive arm gone out of control, thereby protecting the origin body 27. A shock-absorbing clearance absorbing deformation of the stopper is secured between the stopper and the origin body. Thereby, when the stopper is plastically deformed by the reference protrusion, a driving torque applied from the reference protrusion is prevented from being applied to the origin body.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种平行机构，其在失控期间解决对原始体的损坏并扩大驱动臂的操作范围。解决方案：该旋转平行机构包括多个驱动臂14和杆15以及操作头。参考突起26形成在每个驱动臂的外表面上，并且捕捉被驱动回原点的驱动臂的基准突起26的原点体27形成在面向正常外侧的基座的外表面上驱动臂的工作范围。捕捉基准突起26的止动件32与原点体27同心地设置，并且止动件32在驱动臂失去控制的同时捕捉基准突起26，从而保护起始体27.减震间隙吸收变形止动器固定在止动器和原点体之间。因此，当止动件被参考突起塑性变形时，防止从基准突起施加的驱动扭矩施加到原点。版权所有（C）2010，JPO＆INPIT

7. 发明专利

JP2009248288A Parallel mechanism 审中-公开
标题翻译：并行机制
公开(公告)号：JP2009248288A
公开(公告)日：2009-10-29
申请号：JP2008102968
申请日：2008-04-10
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , YAMASHITA MANABU
IPC分类号： B25J19/00 , B25J11/00
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism capable of improving the layout of air piping for supplying and discharging air to and from an air-driven end effector.
SOLUTION: The air piping 36 comprises a first air pipe 40 allowing the air supply/discharge port 13b of a vacuum pad 13 to communicate with the vacuum pad 13 side end of a hollow section 10a formed in a rod 10, the rod 10 in which the hollow section 10a is formed, and a second air pipe 41 allowing communication of the first arm 7 side end of the hollow section 10a formed in the rod 10 and an air pump 50. Consequently, the vacuum pad 13 and the air pump 50 communicate with each other through the first air pipe 40, the hollow section 10a of the rod 10 of the second arm 8, and the second air pipe 41.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够改善用于向空气驱动的末端执行器供应和从空气驱动的端部执行器排出空气的空气管道的布局的并联机构。解决方案：空气管道36包括允许真空垫13的供气/排出口13b与形成在杆10中的中空部分10a的真空垫13侧端连通的第一空气管40，杆 10，其中形成有中空部分10a，以及允许连接形成在杆10中的中空部分10a的第一臂7侧端和空气泵50的第二空气管41.因此，真空垫13和空气泵50通过第一空气管40，第二臂8的杆10的中空部10a和第二空气管41彼此连通。（C）2010，JPO＆INPIT

8. 发明专利

JP2009297792A Parallel mechanism 有权
标题翻译：并行机制
公开(公告)号：JP2009297792A
公开(公告)日：2009-12-24
申请号：JP2008151484
申请日：2008-06-10
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , YAMASHITA MANABU
IPC分类号： B25J9/10 , B25J11/00
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism capable of improving position accuracy of an end effector when reaching a target position without increasing time required to reach the target position.
SOLUTION: The parallel mechanism 1 is constructed by jointing three electric motors 4 mounted on a base part 2 with a bracket 14 to which the end effector 13 is attached by three arm bodies 6 in parallel. An electronic control device 30 for controlling the electric motors 4 controls the electric motors 4 to make acceleration during accelerating the end effector 13 larger than deceleration during decelerating, and to make acceleration time t1 shorter than deceleration time t3 when the end effector 13 in a stopped state is moved to the target position (F point) from a A point.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种平行机构，其能够在不增加到达目标位置所需的时间的情况下，在达到目标位置时提高末端执行器的位置精度。解决方案：并联机构1通过将三个安装在基座部分2上的三个电动机4与三个臂体6并联连接的支架14相连接而构成。用于控制电动机4的电子控制装置30控制电动机4在加速末端执行器13期间加速大于减速时的减速度，并且使得加速时间t1比终止执行器13停止的减速时间t3短状态从A点移动到目标位置（F点）。版权所有（C）2010，JPO＆INPIT

9. 发明专利

JP2009255199A Parallel mechanism 审中-公开
标题翻译：并行机制
公开(公告)号：JP2009255199A
公开(公告)日：2009-11-05
申请号：JP2008104335
申请日：2008-04-14
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , NAKANISHI HIDEAKI , YAMASHITA MANABU
IPC分类号： B25J11/00 , B25J19/00 , F16C11/06 , F16H21/50
摘要： PROBLEM TO BE SOLVED: To provide a parallel mechanism always appropriately driving and operating an operating head by certainly preventing a resin socket from being displaced along with a spherical body when in use.
SOLUTION: This parallel mechanism includes a plurality of drive motors arranged on a base, drive arms and rods driven and operated by the drive motors, and one operating head supported by the rods. Both ends of the rods are coupled to the drive arms and operating head through ball joints. Each ball joint is composed of a ball shaft having the spherical body, a socket rod coupled to the ball shaft, and the resin socket. A stopper structure regulating the movement of the resin socket by mutual engagement is formed between the resin socket and the mounting seat of the socket rod. The stopper structure is composed of a projection and a recessed portion (or a hole or a groove) engaged with the projection.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种平行机构，通过在使用中肯定地防止树脂插座与球体一起移位，始终适当地驱动和操作操作头。解决方案：该并联机构包括多个驱动马达，其布置在基座上，由驱动马达驱动和操作的驱动臂和杆以及由杆支撑的一个操作头。杆的两端通过球窝接头连接到驱动臂和操作头。每个球形接头由具有球形体的球轴，连接到球轴的插座杆和树脂插座构成。在树脂插座和插座的安装座之间形成有通过相互接合来调节树脂插座的移动的止动结构。止动器结构由突起和与突起接合的凹部（或孔或槽）组成。版权所有（C）2010，JPO＆INPIT

10. 发明专利

JP2009255193A Parallel mechanism, and method of returning to origin for the same 有权
标题翻译：并行机制，以及返回原点的方法
公开(公告)号：JP2009255193A
公开(公告)日：2009-11-05
申请号：JP2008104329
申请日：2008-04-14
申请人： Kyoto Seisakusho Co Ltd , Murata Mach Ltd , 村田機械株式会社 , 株式会社京都製作所
发明人： NISHIDA TATSUHIKO , YAMASHITA MANABU
IPC分类号： B25J9/10 , B25J11/00 , G05B19/18
摘要： PROBLEM TO BE SOLVED: To provide a rotary parallel mechanism capable of appropriately returning a drive arm to the origin while avoiding mechanical interference.
SOLUTION: This rotary parallel mechanism is provided with a plurality of drive arms and rods, and an operation head. A reference protrusion is provided on the outer surface of each drive arm, and an origin body catching the reference protrusion of the drive arm operated to be returned to the original is provided on the outer surface of a base facing outside of the normal operating range of the drive arm. With the plurality of drive arms individually operated to be returned to the origin, a control circuit receives a position signal fed back from a drive motor to thereby individually specify the origin positions of the plurality of drive arms.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够在避免机械干扰的同时适当地将驱动臂返回原点的旋转并联机构。解决方案：该旋转平行机构设置有多个驱动臂和杆以及操作头。在每个驱动臂的外表面上设置有参考突出部，并且在正常操作范围外的基座的外表面上设置有捕捉驱动臂的参考突起的原点，该驱动臂被操作以返回原稿驱动臂。在多个驱动臂单独操作以返回到原点的情况下，控制电路接收从驱动马达反馈的位置信号，从而分别指定多个驱动臂的原点位置。版权所有（C）2010，JPO＆INPIT

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