Patent ID: 11872693
Assignee: NSK LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A robot mechanism provided with a parallel link comprising a first output base, a first parallel link mechanism disposed on a first side of the first output base, and a second parallel link mechanism and an end effector disposed on a second side of the first output base, wherein
the first parallel link mechanism comprises:
a first driver configured to generate a linear motion output;
a second driver configured to generate a linear motion output;
a first support that is driven forward and backward by the linear motion output of the first driver, in a linear movement direction and that rotatably supports the first output base;
a second support that is driven forward and backward by the linear motion output of the second driver, in the linear movement direction and that rotatably supports the first output base; and
a tilting link mechanism that is rotatably supported by the first support and the second support and that includes a mass body, and

the tilting link mechanism comprises:
a first arm having a first end rotatable with respect to the first driver;
a second arm having a first end rotatable with respect to the second driver;
the mass body fixed to a second end of one of the first arm and the second arm; and
a slider connecting a second end of the other of the first arm and the second arm to the mass body.