A device and method for easily detecting an abnormality of a joint part of a delta-type parallel link robot having a link ball structure, by estimating a friction torque of a ball joint of the robot. A controller of the robot has: a control section configured to control the motion of the robot; a torque measurement section configured to measure or calculate, during the robot is operated, an amount of change in a drive torque, based on a current value of the motor, before and after the robot represents a specified posture where a sign of a relative angular velocity between a ball and a housing of the ball joint is changed; and a judgment section configured to judge that, when the measured amount of change in the drive torque exceeds a predetermined threshold, a friction state of the ball joint corresponding to the motor is abnormal.

A parallel link robot is provided with: a base portion; a movable portion that is disposed below the base portion; a plurality of arms that link the base portion and the movable portion so as to be parallel to each other; and a wrist shaft that is supported by the movable portion so as to be rotatable about a rotation axis in a substantially vertical direction, wherein a pair of marks that indicate a relative phase between the movable portion and the wrist shaft about the rotation axis are provided on the movable portion and the wrist shaft, at positions visible from the upper side or the lateral side.

The invention relates to an improved robotic arm apparatus and associated method which improves a robot configured in a delta arrangement. The robotic arm apparatus is arranged with three substantially identical movable arm assemblies connected together with three linear actuators in a triangular configuration such that each end of each linear actuator has at least one translational degree of freedom.

A work device includes a base unit, a movable unit configured to have an end effector mounted thereto, linking mechanisms linking the base unit to the movable unit, actuators fixed to the base unit for driving the plurality of linking mechanisms, respectively, and a controller that moves the end effector by operating the actuators. A certain linking mechanism out of the plurality of linking mechanisms includes a joint. The controller includes a joint angle determination unit that determines whether or not a bending angle of the linking mechanism at the joint is within an operable range.

A parallel link robot includes a base, a movable member, and multiple arms that connect the base and the movable member in parallel. Each of the arms includes: a drive link that is rotationally driven by a motor in the base; two parallel passive links that couple the drive link and the movable member; ball joints between the drive link and the corresponding passive link and between the movable member and the corresponding passive link; and attachment mechanisms that detachably attach the ball joints to the corresponding drive link or the movable member. Each ball joint includes a ball and a fixed part integral with the ball. At least one of the attachment mechanisms includes: a first screw hole in the fixed part; a second through-hole in the drive link or the movable member; and a screw member that is fastened to the first screw hole through the second through-hole.

A robot includes: a drive link; two parallel passive links coupled to the drive link; and a support mechanism having two shafts. Each shaft is fixed to each of the passive links so that each shaft is engaged with a through-hole at an intermediate position of each of the passive links along a longitudinal axis thereof, and an auxiliary link rotatably attached to the shafts by bearings in which the shafts engage. The through-hole is formed in a direction that is orthogonal to a plane including the longitudinal axis. Each shaft includes a first shaft section engaged with the through-hole and abutting on one end surface, a second shaft section engaged with the through-hole and abutting on another end surface, and a fastening section applying a force in a direction that causes the first shaft section and the second shaft section to approach each other within the through-hole.

A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.

Techniques for product-stacking and case-packing are particularly adapted for product that is packaged in envelopes or flexibly-sided containers. Such products include may different types, such as foodstuffs, books, boxed goods, etc. In an example, a product-stacking and case-packing system may include a product-stacking assembly and a case-packing assembly. In the example, the product-stacking assembly may be configured with a plurality of pairs of flights, each pair of flights programmed to move according to operation of an associated pair servo motors, and programmed to receive and down-stack incoming product items into groups. In the example, the case-packing assembly may include a robotic arm and end-of-arm tool configured to grasp one or more groups of stacked product items, when pushed from the product-stacking assembly, and place each group of stacked product items in a case (e.g., a cardboard box).

Provided is a robot including at least one joint, and at least two links and coupled with each other by the joint. At least one of the links and includes an inner layer made of carbon fiber reinforced plastic, and an outer layer made of elastic material and covering an outer peripheral surface of at least part of the inner layer in a longitudinal direction over an entire circumference, the layers being integrally stacked.

This disclosure concerns methods for processing and grading food articles including x-raying the food articles a first time and taking a 3D image of the food articles.