WO2016080472A1 - Dispositif de travail utilisant un mécanisme à liaisons parallèles - Google Patents

Dispositif de travail utilisant un mécanisme à liaisons parallèles Download PDF

Info

Publication number
WO2016080472A1
WO2016080472A1 PCT/JP2015/082473 JP2015082473W WO2016080472A1 WO 2016080472 A1 WO2016080472 A1 WO 2016080472A1 JP 2015082473 W JP2015082473 W JP 2015082473W WO 2016080472 A1 WO2016080472 A1 WO 2016080472A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
end side
work body
hub
link hub
Prior art date
Application number
PCT/JP2015/082473
Other languages
English (en)
Japanese (ja)
Inventor
浩 磯部
山田　裕之
清悟 坂田
直哉 小長井
賢蔵 野瀬
Original Assignee
Ntn株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015223830A external-priority patent/JP6692626B2/ja
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2016080472A1 publication Critical patent/WO2016080472A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members

Definitions

  • the present invention relates to a working apparatus using a parallel link mechanism used for equipment that requires a wide operating range with high speed, high accuracy, such as medical equipment and industrial equipment.
  • Patent Documents 1 and 2 propose a parallel link mechanism and a link actuating device used for various working devices such as medical equipment and industrial equipment.
  • the parallel link mechanism of Patent Document 1 has a relatively simple configuration, but the operating angle of each link is small. Therefore, if the operating range of the traveling plate is set large, there is a problem that the link length becomes long, thereby increasing the overall size of the mechanism and increasing the size of the apparatus. There is also a problem that the rigidity of the whole mechanism is low and the weight of the tool mounted on the traveling plate, that is, the weight of the traveling plate is limited to a small weight.
  • the link actuating device disclosed in Patent Document 2 has a parallel link mechanism in which a distal end side link hub is connected to a proximal end side link hub via three or more sets of four-link chains so that the posture can be changed. Is used. Thereby, it is possible to operate in a wide range of operation with high speed and high accuracy while being compact.
  • the link actuating device of Patent Document 2 is a mechanism with two degrees of freedom
  • this link actuating device alone can be used to form a three-dimensional workpiece such as a plurality of side surfaces of a cube or a rectangular parallelepiped, or a spherical spherical surface. You can't work on it.
  • An object of the present invention is to use a parallel link mechanism capable of working on a three-dimensional workpiece while having a configuration in which a linear motion mechanism having one degree of freedom is added to a link actuator having two degrees of freedom. Is to provide a device.
  • a working device using a parallel link mechanism is a working device that performs work in a contact state or a non-contact state with a work body with respect to the work body, and the posture of the work body or the work body can be changed.
  • a parallel link mechanism that is supported by the robot, a posture control actuator that operates the parallel link mechanism, and a linear motion mechanism that relatively moves the work body and the work body in one axial direction.
  • a link hub on the distal end side is connected to a link hub on the proximal end side through three or more sets of link mechanisms in such a manner that the posture can be changed.
  • End link members on the base end side and the tip end side that are rotatably connected to the link hub and the link hub on the tip end side, and both ends on the other end of the end link member on the base end side and the tip end side, respectively.
  • a central link member that is rotatably connected, and the link hub on the distal end side is provided with one of the work body and the work body whose posture is to be changed.
  • the attitude control actuator is provided in two or more sets of link mechanisms of the three or more sets of link mechanisms so as to arbitrarily change the attitude of the distal end side link hub with respect to the proximal end side link hub. ing.
  • the linear motion mechanism relatively moves the work body and the work body coaxially or parallel to the central axis of the link hub on the base end side.
  • the “center axis of the link hub” means that the center axis of each rotation pair of the link hub and the end link member and the center axis of each rotation pair of the end link member and the center link member intersect each other.
  • the “spherical link center” of the link hub it refers to a straight line passing through the spherical link center and perpendicular to the central axis of the rotation pair of the link hub and the end link member.
  • a portion of the work body that is operated by the working body is located in an internal space between the proximal-side link hub and the distal-end side link hub, and the proximal-side link hub and The bottom surface which is a surface located on the opposite side to the working body of the outer surface of the work body from the spherical link center of the link hub on which the work body is provided of the link hub on the tip side. Is at least 1/2 of the distance between the spherical link centers of the proximal end side link hub and the distal end side link hub.
  • the parallel link mechanism includes a proximal-side link hub, a distal-end side link hub, and three or more sets of link mechanisms.
  • the distal-side link hub rotates about two orthogonal axes with respect to the proximal-side link hub.
  • a flexible two-degree-of-freedom mechanism is configured. Although this two-degree-of-freedom mechanism is compact, the movable range of the link hub on the distal end side can be widened.
  • the maximum bending angle between the central axis of the link hub on the proximal end side and the central axis of the link hub on the distal end side is about ⁇ 90 °
  • the swivel angle of the link hub on the distal end side with respect to the link hub on the proximal end side is It can be set in the range of 0 ° to 360 °.
  • the work device using this parallel link mechanism has a total of 3 degrees of freedom with 2 degrees of freedom of the parallel link mechanism and 1 degree of freedom of the linear motion mechanism. Even in the configuration with three degrees of freedom, the part to be worked by the work body among the work bodies is positioned in the internal space between the link hub on the proximal end side and the link hub on the distal end side, The work is performed on the work body in the internal space. In addition to this, the distance from the spherical link center of the link hub on which the work body is provided to the bottom surface of the work body is the distance between the spherical link centers of the base link hub and the distal link hub. Of 1/2 or more.
  • the parallel link mechanism is operated by the attitude control actuator to change the posture of the work body or the work body, and the work body and the work body are relatively moved in one axial direction by the linear motion mechanism.
  • the attitude control actuator to change the posture of the work body or the work body, and the work body and the work body are relatively moved in one axial direction by the linear motion mechanism.
  • it is possible to perform work in a contact state or a non-contact state with the work body on each surface except the bottom surface of the work body. Since it has a three-degree-of-freedom configuration, it can be made more compact than a conventional four-degree-of-freedom configuration.
  • the posture of the work body can be changed with high speed and high accuracy by the parallel link mechanism, high speed and high accuracy work is possible.
  • the distance between the spherical link centers of the link hub on the proximal end side and the link hub on the distal end side is L
  • the work body when the distance T from the spherical link center of the link hub on which the work body is provided to the bottom surface of the work body is T ⁇ L / 2, as the folding angle ⁇ increases, the work body The position of the bottom surface moves in a direction away from the central axis of the link hub on which the work body is not provided. If the position of the bottom surface of the work body is far from the central axis, the side surfaces of the work body having a three-dimensional shape such as a plurality of side surfaces of a cube or a rectangular parallelepiped, a side surface of a cylindrical member, and a spherical surface of a sphere are brought to the bottom surface position The work body cannot be approached.
  • the work body when the part of the work body that is to be worked by the work body is located in the internal space between the proximal-side link hub and the distal-end side link hub, the work body is located with respect to the work body. Work in the internal space.
  • the center of gravity of the work body or work body provided on the link hub on the front end side is the rotation center of the parallel link mechanism. It is close to the intersection of the link hub center axes. For this reason, the moment of inertia of the work body or work body is reduced, and even when a heavy work body or work body is provided on the distal end side link hub, high-speed operation is possible.
  • the output of the posture changing actuator can be reduced, energy-saving, and compact.
  • the central axis of the link hub on which the work body is provided, of the base end side link hub and the distal end side link hub passes through at least a part of the work body, and the other link.
  • the central axis of the hub is preferably coincident with the central axis of the working part which is a part working on the work body in the working body.
  • the distance from the spherical link center of the link hub on which the work body is provided, of the base end side link hub and the distal end side link hub, to the bottom surface of the work body is defined as T
  • L is the distance between the spherical link center of the proximal link hub and the spherical link center of the distal link hub, and the proximal link in the state in which the parallel link mechanism is operated up to the maximum operating range.
  • the distance from the center of the spherical link on the distal end side or the proximal end side to the intersection of the center axes of the link hub on the distal end side or the proximal end side is L / (2cos ( ⁇ max / 2)). If the distance T is set to L / (2cos ( ⁇ max / 2)) or more, the area where the central axis of the working portion of the work body intersects the side surface of the work body within the operating range of the maximum bending angle ⁇ max increases. The work range is widened.
  • the maximum distance from the central axis of the link hub on which the work body is provided to the outer peripheral surface of the work body, of the base end side link hub and the distal end side link hub is defined as M.
  • R is a radius of an inner surface orbit circle that is a circle connecting the center of the inner surface of each central link member
  • T is a distance from the spherical link center of the link hub on the tip side to the bottom surface of the work body
  • the “inner surface” of the central link member is a surface facing the midpoint of a straight line connecting the spherical link centers on the proximal end side and the distal end side.
  • each link mechanism of the parallel link mechanism it is possible to avoid the work body and the work body from interfering with the central link member. Thereby, the movable range and work range of the parallel link mechanism can be widened.
  • the work body is provided on the link hub on the distal end side, the linear motion mechanism is installed on the link hub on the proximal end side, and the work body is moved by the linear motion mechanism.
  • the volume of the work body is larger and the mass is larger than the work body.
  • the parallel link mechanism is installed so that the link hub on the tip side faces downward, and the orthogonal two-axis linear motion mechanism is disposed above the parallel link mechanism. Accordingly, control devices such as attitude control actuators and linear motion mechanisms and work bodies are not arranged below the work body. Therefore, it is possible to prevent chips generated from the work body, grease, paint, and the like attached to the work body from adhering to the control device and the work body and adversely affecting them.
  • the work body is provided on the link hub on the distal end side, the work body is installed on a gantry serving as a fixed portion, and the entire parallel link mechanism is moved by the linear motion mechanism.
  • the work body and the work body may be relatively moved in one axial direction. Also in this case, similarly to the above, by providing a work body having a larger bulk and mass than the work body on the link hub on the proximal end side, it is possible to reduce the load of the posture changing actuator. As a result, the working apparatus is downsized and costs are reduced.
  • the work body is rotated about an axis orthogonal to the central axis of the link hub on which the work body is provided, of the base end side link hub and the distal end side link hub.
  • a rotating mechanism may be provided.
  • a total of four degrees of freedom is constituted by two degrees of freedom of the parallel link mechanism, one degree of freedom of the linear motion mechanism, and one degree of freedom of the rotation mechanism.
  • a linear motion mechanism is added to the two-degree-of-freedom configuration such as the link actuating device of Patent Document 2, and a three-dimensional shape such as a plurality of side surfaces of a cube or a rectangular parallelepiped, a side surface of a cylindrical body, a spherical surface of a sphere, etc.
  • the mechanism has five or more degrees of freedom.
  • the entire peripheral surface of the work body can be obtained by rotating the work body with the rotation mechanism while having a structure with four degrees of freedom.
  • the rotation center of the work body by the rotation mechanism is an axis perpendicular to the central axis of the link hub on which the work body is provided, of the base end side link hub and the distal end side link hub, the work body Therefore, the relational expression for calculating the work position of the work body is relatively simple, and it becomes easy to control the attitude control actuator and the linear motion mechanism.
  • the rotation mechanism When the rotation mechanism is provided, one end is fixed to the link hub on which the work body is provided, of the base end side link hub and the distal end side link hub, and the other end is a space outside the internal space.
  • the rotation mechanism is installed at the other end of the rotation mechanism fixing member extending to the external space, the work body fixing member is installed on the output shaft of the rotation mechanism, and the tip of the work body fixing member is connected to the 3 It is preferable to insert between the two adjacent link mechanisms among the two or more sets of link mechanisms into the internal space and install the work body at the tip of the work body fixing member.
  • FIG. 6A It is sectional drawing of the link hub by the side of the base end of the link action
  • FIGS. 1 and 2 are front views showing different states of the working device.
  • the work device 1 is a device that performs work on the work body 2 with the work body 3.
  • a horizontal base member 6 is supported by a plurality of pillars 5 built on the base 4, a link actuating device 7 is installed on the base member 6, and a linear motion mechanism 8 is installed on the base 4.
  • the link actuating device 7 is composed of a parallel link mechanism 9 that supports the work body 2 so that the posture can be changed, and a posture control actuator 10 that operates the parallel link mechanism 9.
  • the linear motion mechanism 8 is a mechanism that moves the work body 3 in one axial direction with respect to the work body 2.
  • FIG. 3 is a front view of the link actuator
  • FIGS. 4 and 5 are perspective views showing different states of the link actuator.
  • the parallel link mechanism 9 of the link actuating device 7 is formed by connecting a distal end side link hub 13 to a proximal end side link hub 12 via three sets of link mechanisms 14 so that the posture can be changed. In FIG. 3, only one set of link mechanisms 14 is shown. The number of link mechanisms 14 may be four or more.
  • Each link mechanism 14 includes a base end side end link member 15, a front end side end link member 16, and a central link member 17, and forms a four-joint link mechanism including four rotating pairs.
  • the end link members 15 and 16 on the proximal end side and the distal end side are L-shaped, and one ends thereof are rotatably connected to the link hub 12 on the proximal end side and the link hub 13 on the distal end side, respectively.
  • the central link member 17 is connected to both ends of the end link members 15 and 16 on the proximal end side and the distal end side so as to be rotatable.
  • the parallel link mechanism 9 has a structure in which two spherical link mechanisms are combined.
  • the central axis of each rotational pair of the proximal end side link hub 12 and the proximal end side end link member 15 and each rotational pair of the proximal end side end link member 15 and the central link member 17 is the proximal end side. It intersects at the spherical link center PA (FIG. 3).
  • the center axis of each rotation pair of the link hub 13 on the front end side and the end link member 16 on the front end side, and the rotation pair of the end link member 16 on the front end side and the central link member 17 are spherical surfaces on the front end side. It intersects at the link center PB (FIG. 3).
  • each rotation pair of the link hub 12 on the base end side and the end link member 15 on the base end side and the spherical link center PA on the base end side is the same, and the end link member 15 on the base end side is the same.
  • the distance between each rotation pair of the central link member 17 and the spherical link center PA on the base end side is also the same.
  • the distance between each rotation pair of the link hub 13 on the distal end side and the end link member 16 on the distal end side and the spherical link center PB on the distal end side is the same, and the end link member 16 on the distal end side and the center link are the same.
  • each rotation pair of the member 17 and the spherical link center PB on the tip side is also the same.
  • the central axis of each rotational pair of the end link members 15 and 16 on the proximal end side and the distal end side and the central link member 17 may have a certain crossing angle ⁇ (FIG. 3) or may be parallel. Good.
  • FIG. 6A is a cross-sectional view of the link hub 12 on the base end side, the end link member 15 on the base end side, and the like
  • FIG. 6B is an enlarged view of FIG. 6A.
  • FIG. 6A shows the relationship between the central axis O1 of each rotation pair of the base end side link hub 12 and the base end side end link member 15 and the spherical link center PA.
  • the shapes and positional relationships of the distal end side link hub 13 and the distal end side end link member 16 are also the same as in FIGS. 6A and 6B (not shown).
  • FIG. 6A shows the relationship between the central axis O1 of each rotation pair of the base end side link hub 12 and the base end side end link member 15 and the spherical link center PA.
  • the shapes and positional relationships of the distal end side link hub 13 and the distal end side end link member 16 are also the same as in FIGS. 6A and 6B (not shown).
  • FIG. 6A shows the relationship between the central
  • the central axis O1 of each rotation pair of the base end side link hub 12 and the base end side end link member 15 and each rotation of the base end side end link member 15 and the central link member 17 The angle ⁇ formed by the paired central axis O2 is 90 °. However, the angle ⁇ may be other than 90 °.
  • the three sets of link mechanisms 14 have the same geometric shape.
  • the geometrically identical shape is represented by a geometric model in which each link member 15, 16, and 17 is represented by a straight line, that is, each rotational pair and a straight line connecting these rotational pairs.
  • a model says that the base end side part and front end side part with respect to the center part of the center link member 17 are symmetrical shapes.
  • FIG. 7 is a diagram in which a set of link mechanisms 14 is expressed by a straight line.
  • the parallel link mechanism 9 of this embodiment is a rotationally symmetric type, and includes a proximal end side link hub 12 and a proximal end side end link member 15, a distal end side link hub 13 and a distal end side end link member 16. The positional relationship is such that the positional relationship is rotationally symmetric with respect to the center line C of the central link member 17.
  • the central portion of each central link member 17 is located on a common orbit circle D.
  • the link hub 13 on the distal end side can rotate about two orthogonal axes with respect to the link hub 12 on the proximal end side.
  • the degree mechanism is configured. In other words, it is a mechanism that can freely change the posture of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side with two degrees of freedom of rotation. Although this two-degree-of-freedom mechanism is compact, the movable range of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side can be widened.
  • each rotation pair of the link hubs 12 and 13 on the base end side and the tip end side and the end link members 15 and 16 on the base end side and the tip end side passes through the spherical link centers PA and PB on the base end side and the tip end side.
  • the straight lines intersecting the central axis O1 (FIG. 6) at right angles are the central axes QA and QB of the link hubs 12 and 13 on the proximal end side and the distal end side
  • the central axis QA of the link hub 12 on the proximal end side and the distal end side The maximum value of the bending angle ⁇ (FIG. 7) with respect to the center axis QB of the link hub 13 can be about ⁇ 90 °.
  • the turning angle ⁇ (FIG. 7) of the distal end side link hub 13 with respect to the proximal end side link hub 12 can be set in a range of 0 ° to 360 °.
  • the bending angle ⁇ is a vertical angle at which the central axis QB of the distal link hub 13 is inclined with respect to the central axis QA of the proximal link hub 12.
  • the turning angle ⁇ is a horizontal angle at which the central axis QB of the distal link hub 13 is inclined with respect to the central axis QA of the proximal link hub 12.
  • the posture change of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side is performed with the intersection O between the center axis QA of the link hub 12 on the proximal end side and the center axis QB of the link hub 13 on the distal end side as a rotation center.
  • Is called. 4 shows a state in which the central axis QA of the proximal-side link hub 12 and the central axis QB of the distal-side link hub 13 are on the same line
  • FIG. 5 shows the central axis QA of the proximal-side link hub 12.
  • a state in which the central axis QB of the link hub 13 on the distal end side takes a certain operating angle is shown. Even if the posture changes, the distance L (FIG. 7) between the spherical link centers PA and PB on the proximal end side and the distal end side does not change.
  • the central link member 17 and the proximal end and distal end end link members 15 and 16 are arranged with respect to the symmetry plane of the central link member 17. If the angular positional relationship is the same between the proximal end side and the distal end side, the proximal end side link hub 12 and the proximal end side end link member 15, the distal end side link hub 13 and the distal end side are geometrically symmetric. The end link member 16 on the side moves in the same way.
  • the base-side link hub 12 includes the base member 6 and three rotary shaft connecting members 21 provided integrally with the base member 6.
  • the base member 6 has a circular through hole 6a (FIG. 6A) at the center, and three rotary shaft connecting members 21 are arranged at equal intervals in the circumferential direction around the through hole 6a.
  • the center of the through hole 6a is located on the link hub central axis QA on the base end side.
  • Each rotary shaft connecting member 21 is rotatably connected to a rotary shaft 22 whose axis intersects with the link hub central axis QA on the proximal end side.
  • One end of the end link member 15 on the proximal end side is connected to the rotating shaft 22.
  • the rotary shaft 22 has a large diameter portion 22a, a small diameter portion 22b, and a male screw portion 22c.
  • the rotating shaft coupling member 21 is rotatably supported by the rotating shaft coupling member 21 through two bearings 23.
  • the bearing 23 is a ball bearing such as a deep groove ball bearing or an angular ball bearing. These bearings 23 are installed in an inner diameter groove 24 provided in the rotary shaft connecting member 21 in a fitted state, and are fixed by a method such as press-fitting, adhesion, and caulking. The same applies to the types and installation methods of the bearings provided in other rotating pairs.
  • the rotary shaft 22 is arranged on a concentric shaft with an output shaft 52a of a speed reduction mechanism 52 described later at a large diameter portion 22a. Details of the connection structure will be described later. Further, one end of the end link member 15 on the base end side is connected to the rotation shaft 22 so as to rotate integrally with the rotation shaft 22. A notch portion 25 is formed at one end of the end link member 15 on the base end side, and both side portions of the notch portion 25 constitute a pair of inner and outer rotating shaft support portions 26 and 27. Through-holes 26a and 27a are formed in the pair of rotary shaft support portions 26 and 27, respectively.
  • the rotary shaft connecting member 21 is disposed in the notch 25, and the small diameter portion 22 b of the rotary shaft 22 is inserted through the through holes 26 a and 27 a and the inner ring of the bearing 23.
  • the male screw portion 22 c of the rotation shaft 22 protrudes inward from the inner rotation shaft support portion 27.
  • a spacer 28 is fitted to the outer periphery of the large-diameter portion 22 a of the rotary shaft 22, and the end link member 15 on the base end side and the output shaft 52 a of the speed reduction mechanism 52 are fixed by a bolt 29 via the spacer 28. . Further, a nut 30 is screwed to the male screw portion 22 c of the rotating shaft 22. Spacers 31 and 32 are interposed between the inner ring of the bearing 23 and the pair of rotating shaft support portions 26 and 27, and a preload is applied to the bearing 23 when the nut 30 is screwed.
  • the other end of the end link member 15 on the base end side is connected to a rotating shaft 35 that is rotatably connected to one end of the central link member 17. Similar to the rotation shaft 22 of the link hub 12, the rotation shaft 35 of the central link member 17 has a large diameter portion 35a, a small diameter portion 35b, and a male screw portion 35c, and the small diameter portion 32b via two bearings 36.
  • the central link member 17 is rotatably supported at one end.
  • a notch 37 is formed at the other end of the base end-side end link member 15, and both side portions of the notch 37 constitute a pair of inner and outer rotating shaft supports 38 and 39.
  • Through-holes 38a and 39a are formed in the rotary shaft support portions 38 and 39, respectively.
  • the male screw portion 35 c of the rotation shaft 35 protrudes inward from the inner rotation shaft support portion 39.
  • One end of the central link member 17 is disposed in the notch 37, and the small-diameter portion 35b of the rotating shaft 35 is inserted through the through holes 38a and 39a and the inner ring of the bearing 36. Further, a nut 40 is screwed to the male thread portion 35 c of the rotating shaft 35. Spacers 41 and 42 are interposed between the inner ring of the bearing 36 and the pair of rotating shaft support portions 38 and 39, and a preload is applied to the bearing 36 when the nut 40 is screwed.
  • the link hub 13 on the distal end side includes a flat plate-shaped distal end member 40 and three rotary shaft connecting members 41 provided on the bottom surface of the distal end member 40 at equal intervals in the circumferential direction. It consists of and. The center of the circumference where each rotary shaft connecting member 41 is arranged is located on the link hub central axis QB on the distal end side. Each rotary shaft connecting member 41 is rotatably connected to a rotary shaft 43 whose axis intersects the link hub central axis QB. One end of the end link member 16 on the front end side is connected to the rotation shaft 43 of the link hub 13 on the front end side. A rotating shaft 45 that is rotatably connected to the other end of the central link member 17 is connected to the other end of the end-side end link member 16.
  • the rotary shaft 43 of the link hub 13 on the distal end side and the rotary shaft 45 of the central link member 17 have the same shape as the rotary shaft 35, and the rotary shaft coupling member 41 and two via two bearings (not shown).
  • the other end of the central link member 17 is rotatably connected to each other.
  • the attitude control actuator 10 of the link actuating device 7 is a rotary actuator provided with a speed reduction mechanism 52, and is installed coaxially with the rotary shaft 22 on the upper surface of the base member 6 of the link hub 12 on the proximal end side. .
  • the posture changing actuator 10 and the speed reduction mechanism 52 are provided integrally, and the speed reduction mechanism 52 is fixed to the base member 6 by a motor fixing member 53.
  • the posture changing actuator 10 is provided in all of the three sets of link mechanisms 14. However, if the posture changing actuators 10 are provided in at least two of the three sets of link mechanisms 14, the posture of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side can be determined.
  • the speed reduction mechanism 52 is a flange output and has a large-diameter output shaft 52a.
  • the front end surface of the output shaft 52a is a flat flange surface 54 orthogonal to the center line of the output shaft 52a.
  • the output shaft 52 a is connected to the rotary shaft support portion 26 of the end link member 15 on the base end side by the bolt 29 via the spacer 28.
  • the large-diameter portion 22 a of the rotating shaft 22 constitutes a rotating pair of the base-end side link hub 12 and the base-end-side end link member 15, and the large-diameter portion 22 a is an output shaft 52 a of the speed reduction mechanism 52. It fits in the inner diameter groove 57 provided in the.
  • the linear motion mechanism 8 is installed in a bracket 61 fixed to the base 4 and is a movable body 8 a that can move forward and backward in the vertical direction, and a drive source that moves the movable body 8 a. And a motor 8b.
  • a work body installation member 62 is attached to the moving body 8 a, and the work body installation member 62 extends through the through hole 6 a of the base member 6 and above the base member 6.
  • a work body fixing member 63 is provided at the upper end of the work body installation member 62, and the work body 3 is fixed to the work body fixing member 63.
  • the work body 3 moves in the vertical direction, that is, along the central axis QA of the link hub 12 on the proximal end side.
  • the distal end member 40 of the distal end side link hub 13 is provided with a rod-shaped workpiece fixing member 65 extending downward along the central axis QB of the distal end side link hub 13.
  • the work body 2 is held on the surface.
  • the work body 2 is, for example, a cylindrical body having a circular shape as shown in FIG. 8A or a three-dimensional shape having a rectangular parallelepiped shape as shown in FIG. 8B, and is opposite to the work body 3.
  • the work piece fixing member 65 is fixed to the lower end of the bottom surface 2a (FIGS. 1 and 2) which is a surface located on the side.
  • the working body 3 is a cutting machine in which the working unit 3a contacts and works on the work body 2.
  • the central axis of the working part 3a coincides with the central axis QA of the link hub 12 on the proximal end side.
  • the working unit 3a is composed of a rotary tool such as an end mill shown in FIGS. 9A, 9B, 10A, and 10B, for example.
  • 9A and 9B has a spherical tip and is mainly used for cutting a curved surface.
  • the rotary tool (working part 3a) in FIGS. 10A and 10B has a conical tip, and is used, for example, for chamfering the center.
  • the work body 3 may perform work without contact with the work body 2.
  • the work performed by the work body 3 on the work body 2 includes application of liquid, painting, inspection, and the like in addition to cutting.
  • the working device 1 using the parallel link mechanism 9 has a total of three degrees of freedom, including two degrees of freedom of the parallel link mechanism 9 and one degree of freedom of the linear motion mechanism 8.
  • the following conditions A and B are determined so that the work body 3 can perform work on each surface except the bottom surface 2a of the work body 2 even in a configuration with three degrees of freedom.
  • the internal space S1 of the parallel link mechanism 9 in which the part of the work body 2 to be worked by the work body 3 is a space between the link hub 12 on the proximal end side and the link hub 13 on the distal end side. Is located. That is, the work body 3 performs work on the work body 2 in the internal space S1.
  • the distance T from the spherical link center of the link hub on which the work body 2 is provided to the base end side link hub 12 and the distal end side link hub 13 to the bottom surface 2a of the work body 2 Is 1/2 or more of the distance L between the spherical link centers PA and PB of the link hub 12 on the proximal end side and the link hub 13 on the distal end side.
  • the distance T from the spherical link center PB of the link hub 13 on the front end side to the bottom surface 2a of the work body 2 is It is 1/2 or more of the distance L between the spherical link centers PA and PB.
  • the reason why the work body 3 can work on each surface except the bottom surface 2a of the work body 2 even in the configuration with three degrees of freedom will be described.
  • the distance x increases. Therefore, when the distance T from the spherical link center PB of the distal end side link hub 13 provided with the work body 2 to the bottom surface 2a of the work body 2 is T ⁇ L / 2, the bending angle ⁇ increases.
  • the position of the bottom surface 2a of the work piece 2 moves in a direction away from the central axis QB of the link hub 13 on the base end side.
  • the work body 2 having a three-dimensional shape such as a plurality of side surfaces of a cube or a rectangular parallelepiped, a side surface of a cylindrical member, a spherical surface of a sphere, etc.
  • the work body 3 cannot be approached from the side to the bottom.
  • T ⁇ L / (2cos ( ⁇ max / 2)) Equation 1 It is better to make the relationship. Note that ⁇ max is the maximum bending angle, which is the bending angle ⁇ in a state where the parallel link mechanism 9 is operated up to the maximum range of the operable range.
  • the distance L is L / (2 cos ( ⁇ max / 2)). If the distance T is set to L / (2cos ( ⁇ max / 2)) or more, the area where the central axis of the working part 3a of the work body 3 intersects the side surface of the work body 2 within the operating range of the maximum bending angle ⁇ max. Increase the work range.
  • the maximum distance from the central axis QB of the link hub 13 on the distal end side where the work body 2 is provided to the outer peripheral surface of the work body 2 is M, and a circle connecting the center portions of the inner side surfaces of the respective center link members 17. If the radius of an inner orbital circle is R, R ⁇ T ⁇ sin ( ⁇ max / 2) + M Equation 2 The relationship is established.
  • the maximum distance M is a radius when the planar shape of the workpiece 2 is circular as shown in FIG.
  • the “inner surface” of the central link member 17 is a surface facing the midpoint of the straight line PA-PB connecting the spherical link centers on the proximal end side and the distal end side.
  • each link mechanism 14 of the parallel link mechanism 9 it is possible to avoid the work body 2 and the work body 3 from interfering with the central link member 17. Thereby, the movable range of the parallel link mechanism 9 and the work range of the link actuator 7 can be widened.
  • Steps (A) to (C) in FIG. 11 show a process of performing work with the work body 3 on the front end surface 2b of the work body 2, and steps (D) and (E) are steps of the work body 2.
  • the process of working with the work body 3 on the left side surface 2c is shown.
  • the center axis QA of the link hub 12 on the proximal end side and the center axis QB of the link hub 13 on the distal end side coincide with each other, and the working portion of the working body 3 is located at the center position of the distal end surface 2b. 3a is in contact.
  • the posture changing actuator 10 (FIGS. 1 and 2) is driven to incline the parallel link mechanism 9 to the left side of the drawing, and the linear motion mechanism 8 (FIGS. 1 and 2) is driven to operate the work body 3. Is moved upward.
  • the working portion 3 a of the working body 3 moves from the center position to the left end while coming into contact with the leading end face 2 b of the work subject 2, Work on 2b.
  • the posture changing actuator 10 and the linear motion mechanism 8 are controlled so as to operate in conjunction with each other.
  • step (C) in FIG. 11 From the state of step (C) in FIG. 11, similarly to the above, the parallel link mechanism 9 is tilted to the left side of the drawing and the working body 3 is moved upward, whereby the working portion 3 a of the working body 3 is moved to the work body 2.
  • the left side surface 2c is moved from the lower end to the upper end while being in contact with the left side surface 2c, and the left side surface 2c is operated (steps (D) and (E) in FIG. 11).
  • the work can be similarly performed on the right side surface and the front and back side surfaces of the work body 2.
  • step (E) of FIG. 11 when the parallel link mechanism 9 is tilted to the maximum folding angle ⁇ max, the working portion 3 a of the work body 3 comes into contact with the upper end of the side surface 2 c of the work body 2. If it does, it can work with respect to each surface except the bottom face 2a of the to-be-worked object 2. In this case, the work range is widened by satisfying the relationship of the expression (1). Moreover, by making the relationship of the said Formula 2 hold, the movable range of the parallel link mechanism 9 and the work range of the link actuator 7 can be taken wide.
  • the working device 1 using the parallel link mechanism 9 operates the link actuating device 7 to change the posture of the work body 2 installed on the link hub 13 on the distal end side, and also by the linear motion mechanism 8.
  • the work body 3 By moving the work body 3 in the uniaxial direction, the work body 3 can perform contact work or non-contact work on each surface except the bottom surface of the work body 2. Since the posture of the work body 2 can be changed at high speed and high accuracy by the link operating device 7, high speed and high accuracy work can be performed.
  • the central axis of the working portion 3 a of the working body 3 is made to coincide with the central axis QA of the link hub 12 on the base end side, and the work hub 3 is moved by the linear motion mechanism 8 to the link hub 12 on the base end side. Is moved along the central axis QA, the relational expression for calculating the positions of the work body 3 and the work body 2 becomes relatively simple, and the attitude control actuator 10 and the linear motion mechanism 8 can be easily controlled.
  • the work body 3 is often larger in volume and mass than the work body 2. Since the work body 3 having a larger bulk and mass than the work body 2 is provided on the link hub 12 on the proximal end side, the load on the posture changing actuator 10 can be reduced. As a result, the work apparatus 1 is reduced in size and cost.
  • the work body 3 performs work on the work body 2 in the internal space S1 of the parallel link mechanism 9. Therefore, compared with the case where the work is performed outside the internal space S1, the center of gravity of the work body 2 provided on the link hub 13 on the distal end side is the center of rotation of the parallel link mechanism 9 and the distal end side. It becomes close to the intersection O of the central axes QA and QB of the link hubs 12 and 13. For this reason, the moment of inertia of the work body 2 is reduced, and even when the work body 2 having a large weight is provided on the distal end side link hub 13, high-speed operation is possible. Further, the output of the posture changing actuator 10 can be reduced, the energy can be saved, and the size can be reduced.
  • the working device 1 of the second embodiment shown in FIG. 12 adopts a configuration using a ball screw mechanism as the linear motion mechanism 8.
  • the lifting platform 72 is guided to the plurality of shafts 70 extending downward from the base member 6 via the linear bush 71 so that the lifting platform 72 can be moved up and down, and the work body installation member 62 is attached to the lifting platform 72.
  • the work body 3 is fixed to a work body fixing member 63 provided at the upper end of the work body installation member 62.
  • a screw shaft 73 extends downward from the base member 6 in parallel with the shaft 70, and a nut 74 provided on the lifting platform 72 is screwed to the screw shaft 73.
  • the linear motion mechanism 8 using this ball screw mechanism has a simple configuration and a lower height position of the base member 6. There is an advantage that you can.
  • the parallel link mechanism 9 is installed such that the link hub 13 on the tip side is on the lower side, and the linear motion mechanism 8 is disposed above the parallel link mechanism 9. is there.
  • the work body 2 is installed on the link hub 12 on the distal end side, and the work body 2 is moved along the central axis QA of the link hub 12 on the proximal end side by the linear motion mechanism 8.
  • the linear motion mechanism 8 of FIG. 13 is a structure using a ball screw mechanism, the linear motion mechanism 8 used for the working device 1 of the first embodiment of FIGS. 1 and 2 may be used.
  • control devices such as the attitude control actuator 10 and the linear motion mechanism 8 and the work body 3 are not arranged below the work body 2. Thereby, it is possible to prevent chips generated from the work body 2, grease, paint, and the like attached to the work body 2 from adhering to the control device and the work body 3 and adversely affecting them.
  • the working device 1 of the fourth embodiment shown in FIG. 14 has the same arrangement of the parallel link mechanism 9 and the linear motion mechanism 8 as the working device 1 of the first embodiment shown in FIGS. Is installed on the link hub 12 on the distal end side, and the work body 3 is moved along the central axis QA of the link hub 12 on the proximal end side by the linear motion mechanism 8. That is, the arrangement of the work body 2 and the work body 3 is reversed as compared with the work device 1 of the first embodiment shown in FIGS. Also in this case, the work body 3 can work on each surface except the bottom surface 2a of the work body 2 by operating the link actuating device 7 and the linear motion mechanism 8.
  • the work body 2 is provided on the link hub 13 on the distal end side, and is installed on a gantry 77 serving as a fixing portion of the work body 2.
  • a gantry 77 serving as a fixing portion of the work body 2.
  • the linear motion mechanism 8 has a configuration using a ball screw mechanism, and the base member 6 of the link hub 12 on the base end side is guided to a plurality of shafts 70 extending upward from the base 4 via a linear bush 71 so that the base member 6 can be moved up and down.
  • a screw shaft 73 extends upward in parallel with the shaft 70 from a motor 75 installed on the base 4, and a nut 74 provided on the base member 6 is screwed onto the screw shaft 73.
  • the screw shaft 73 is rotated by the motor 75, the base member 6 moves up and down, and the work body 3 moves along the central axis QA of the link hub 12 on the proximal end side.
  • the work body 3 having a larger volume and mass than the work body 2 on the link hub 12 on the proximal end side, the load on the posture changing actuator 10 can be reduced. As a result, the work apparatus 1 is reduced in size and cost.
  • a rotation mechanism is provided for rotating the work body about an axis orthogonal to the central axis of the link hub on which the work body is provided, of the base end side link hub and the distal end side link hub.
  • the embodiment will be described. However, the following embodiments are examples in which the work body 3 is installed on the link hub 12 on the proximal end side and the work body 2 is installed on the link hub 13 on the distal end side.
  • the working device 1 according to the sixth embodiment shown in FIGS. 16 and 17 is provided with a rotation mechanism 90 that rotates the work body 2 with respect to the working device 1 having the configuration of three degrees of freedom shown in FIGS.
  • the configuration has four degrees of freedom.
  • the working device 1 according to the first embodiment shown in FIGS. 1 and 2 holds the work body 2 at the lower end of the work body fixing member 65 provided on the front end member 40 of the link hub 13 on the front end side.
  • the work body 2 is installed on the link hub 13 on the distal end side as follows.
  • the rotation mechanism fixing member 91 is fixed to the outer peripheral edge of the tip member 40 of the link hub 13 on the tip side.
  • the rotation mechanism fixing member 91 extends parallel to the central axis QB of the distal end side link hub 13 toward the proximal end side link hub 12, and the other end is located in the external space S 2 of the parallel link mechanism 9.
  • the external space S2 is a space outside the internal space S1.
  • a rotation mechanism 90 is installed at the other end of the rotation mechanism fixing member 91.
  • the rotation mechanism 90 is, for example, a motor.
  • An output shaft 90a of the rotation mechanism 90 protrudes toward the internal space S1 along an axis 92 orthogonal to the center axis QB of the link hub 13 on the distal end side, and the work shaft extending coaxially to the output shaft 90a.
  • the body fixing member 93 is fixed.
  • the work-body fixing member 93 is inserted into the internal space S ⁇ b> 1 through the gap between two adjacent link mechanisms 14 of the three or more sets of link mechanisms 14.
  • the workpiece 2 is installed at the tip of the workpiece fixing member 93.
  • the work body 2 is a cylindrical body having the shaft 92 as a central axis, for example.
  • the work body 2 may have other shapes such as a cube, a rectangular parallelepiped, a sphere, and the like.
  • the parallel link mechanism 9 has two degrees of freedom
  • the linear motion mechanism 8 has one degree of freedom
  • the rotation mechanism has one degree of freedom 90, so that the total degree of freedom is four.
  • it is configured with 4 degrees of freedom, as well as working on the end face of the work body 2 as shown in FIG. 17, by rotating the work body 2 around the shaft 92 by the rotation mechanism 90, Work can be performed on the entire circumferential surface of the work piece 2.
  • the rotation mechanism 90 is disposed in the external space S2 of the parallel link mechanism 9 with sufficient space, it is possible to prevent the link mechanisms 14 and the rotation mechanism 90 from interfering with each other, thereby realizing a wider operating range. . Since the rotation center of the work body 2 by the rotation mechanism 90 coincides with the axis 92 orthogonal to the center axis QB of the link hub 13 on the distal end side, the work position of the work body 3 by the work body 3 is calculated. This makes the relational expression relatively simple, and the attitude control actuator 10 and the linear motion mechanism 8 can be easily controlled.
  • the working device 1 of the seventh embodiment shown in FIG. 18 is provided with a rotating mechanism 90 that rotates the work body 2 in the working device 1 of the second embodiment shown in FIG.
  • the rotation mechanism 90 and the work body 2 are installed on the link hub 13 on the distal end side, similarly to the work device 1 of the sixth embodiment shown in FIGS. 16 and 17. Thereby, the effect
  • the working device 1 of the eighth embodiment shown in FIG. 19 is obtained by providing a rotating mechanism 90 that rotates the work body 2 in the working device 1 of the third embodiment shown in FIG.
  • the rotation mechanism 90 and the work body 2 are installed on the link hub 13 on the distal end side, similarly to the work device 1 of the sixth embodiment shown in FIGS. 16 and 17.
  • action and effect similar to the working apparatus 1 of 6th Embodiment shown in FIG. 16, FIG. 17 are acquired.
  • the work device 1 of the ninth embodiment shown in FIG. 20 is similar to the work device 1 of the fifth embodiment shown in FIG. 15, the work body 3 is fixed in position, and the entire link actuator 7 is moved by the linear motion mechanism 8.
  • the rotating mechanism 90 for rotating the work body 2 is provided in the configuration to be rotated.
  • the structures for moving the link actuating device 7 are different from each other.
  • the rotation mechanism 90 and the work body 2 are installed on the link hub 13 on the distal end side, similarly to the work device 1 of the sixth embodiment shown in FIGS. 16 and 17. Thereby, the effect
  • a configuration for moving the link actuating device 7 of the work device 1 of the ninth embodiment shown in FIG. 20 will be described.
  • a plurality of support columns 5 are built on the base 4, and a horizontal frame 77 is supported by the plurality of support columns 5.
  • a work body installation member 62 is attached to the gantry 77, and the work body 3 is fixed to a work body fixing member 63 provided at the upper end of the work body installation member 62.
  • the linear motion mechanism 8 has a configuration using a ball screw mechanism, and guides the base member 6 of the link hub 12 on the proximal end side through a linear bush 71 to a plurality of shafts 70 extending upward from the pedestal 77 so that the base member 6 can be moved up and down.
  • a screw shaft 73 extends upward in parallel with the shaft 70 from a motor 75 installed on the bottom surface of the gantry 77, and a nut 74 provided on the base member 6 is screwed to the screw shaft 73.
  • the screw shaft 73 is rotated by the motor 75, the base member 6 moves up and down, and the work body 3 moves along the central axis QA of the link hub 12 on the proximal end side.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention porte sur un dispositif de travail (1) qui est pourvu d'un mécanisme à liaisons parallèles (9), d'un actionneur de commande d'attitude (10) et d'un mécanisme à action directe (8). Le mécanisme à liaisons parallèles (9) relie un moyeu de liaison côté extrémité distale (13) à un moyeu de liaison côté extrémité de base (12) par l'intermédiaire de trois ou plus de trois ensembles de mécanismes de liaison (14), de telle sorte que l'attitude peut être modifiée, et un corps à travailler (2) est disposé sur le moyeu de liaison côté extrémité distale (13). Le mécanisme à action directe (8) déplace un corps de travail (3) le long de l'axe central (QA) du moyeu de liaison côté extrémité de base (12). Le corps à travailler (2) est positionné dans un espace interne (S1) entre les moyeux de liaison côté extrémité de base et côté extrémité distale (12, 13). La distance (T) d'un centre de liaison de surface sphérique (PB) du moyeu de liaison côté extrémité distale (13) à la surface inférieure (2a) du corps à travailler (2) est la moitié ou plus de la distance (L) entre les centres de liaison de surface sphérique (PA, PB).
PCT/JP2015/082473 2014-11-21 2015-11-18 Dispositif de travail utilisant un mécanisme à liaisons parallèles WO2016080472A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2014-236420 2014-11-21
JP2014236420 2014-11-21
JP2015025343 2015-02-12
JP2015-025343 2015-02-12
JP2015223830A JP6692626B2 (ja) 2014-11-21 2015-11-16 パラレルリンク機構を用いた作業装置
JP2015-223830 2015-11-16

Publications (1)

Publication Number Publication Date
WO2016080472A1 true WO2016080472A1 (fr) 2016-05-26

Family

ID=56014005

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/082473 WO2016080472A1 (fr) 2014-11-21 2015-11-18 Dispositif de travail utilisant un mécanisme à liaisons parallèles

Country Status (1)

Country Link
WO (1) WO2016080472A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08334313A (ja) * 1995-04-28 1996-12-17 Giddings & Lewis Inc 工作機械用の計測装置
JP2000218451A (ja) * 1999-02-01 2000-08-08 Ind Technol Res Inst 混合機構式多軸工作機械
JP2005144627A (ja) * 2003-11-18 2005-06-09 Ntn Corp リンク作動装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08334313A (ja) * 1995-04-28 1996-12-17 Giddings & Lewis Inc 工作機械用の計測装置
JP2000218451A (ja) * 1999-02-01 2000-08-08 Ind Technol Res Inst 混合機構式多軸工作機械
JP2005144627A (ja) * 2003-11-18 2005-06-09 Ntn Corp リンク作動装置

Similar Documents

Publication Publication Date Title
JP6502115B2 (ja) リンク作動装置を用いた多関節ロボット
WO2017183505A1 (fr) Dispositif de travail et dispositif de travail à double bras
CN107949459B (zh) 采用连杆操作装置的复合作业装置
CN108136588B (zh) 组合型连杆操作装置
WO2016021099A1 (fr) Robot à tringles parallèles et structure à tringles parallèles
US11420322B2 (en) Working device and double-arm type working device
US11130225B2 (en) Working device and double-arm type working device
JP6472854B1 (ja) 作業装置
WO2018181040A1 (fr) Robot articulé
WO2017026468A1 (fr) Machine de travail à mécanisme de liaison parallèle
JP6576646B2 (ja) リンク作動装置を用いた多関節ロボット
WO2016084685A1 (fr) Appareil de travail employant un mécanisme de liaison parallèle
JP6883073B2 (ja) リンク作動装置を用いた多関節ロボット
JP2016153159A (ja) パラレルリンク機構を用いた作業装置
WO2018088446A1 (fr) Dispositif de travail et dispositif de travail du type à deux bras
WO2016080472A1 (fr) Dispositif de travail utilisant un mécanisme à liaisons parallèles
JP6563658B2 (ja) パラレルリンク機構を用いた作業装置
JP2019171506A (ja) リンク作動装置を用いた複合作業装置
JP7260987B2 (ja) 双腕型の作業装置
JP2018167365A (ja) ロボットアーム
WO2019189198A1 (fr) Appareil de travail combiné utilisant des dispositifs d'actionnement liés
WO2019078283A1 (fr) Dispositif de commande de type à double bras
JPH04354682A (ja) 産業用ロボット

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15861028

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15861028

Country of ref document: EP

Kind code of ref document: A1