WO2016084685A1 - Appareil de travail employant un mécanisme de liaison parallèle - Google Patents

Appareil de travail employant un mécanisme de liaison parallèle Download PDF

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Publication number
WO2016084685A1
WO2016084685A1 PCT/JP2015/082474 JP2015082474W WO2016084685A1 WO 2016084685 A1 WO2016084685 A1 WO 2016084685A1 JP 2015082474 W JP2015082474 W JP 2015082474W WO 2016084685 A1 WO2016084685 A1 WO 2016084685A1
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WO
WIPO (PCT)
Prior art keywords
link
end side
hub
link hub
work body
Prior art date
Application number
PCT/JP2015/082474
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 JP2015025344A external-priority patent/JP6563658B2/ja
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2016084685A1 publication Critical patent/WO2016084685A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • F16H25/08—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion
    • F16H25/12—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion with reciprocation along the axis of rotation, e.g. gearings with helical grooves and automatic reversal or cams
    • 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.
  • An object of the present invention is to provide a working device using a parallel link mechanism that can perform high-speed and high-accuracy work and can work on a relatively large work object from a plurality of directions while realizing compactness. Is to provide.
  • a working device using the parallel link mechanism according to the present invention is a working device that performs work in a contact state or non-contact state with a work body with respect to the work body, and supports the work body in a posture changeable manner.
  • 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 at the proximal end and the distal end one end of which is rotatably connected to the link hub and the distal link hub, and both ends rotated at the other ends of the proximal and distal end link members.
  • a central link member connected in a possible manner.
  • 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. .
  • the orthogonal biaxial linear movement mechanism moves the working body in parallel with a plane orthogonal to the central axis of the link hub on the base end side.
  • the “center axis of the link hub” is a point at which the center axes of the rotation pairs of the link hub and the end link member and the rotation pairs of the end link member and the center link member intersect with 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 rotational pair of the link hub and the end link member.
  • the work piece is installed on the distal end side link hub so as to be positioned in an internal space between the distal end side link hub and the proximal 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 working device using this parallel link mechanism has a total of 4 degrees of freedom with 2 degrees of freedom of the parallel link mechanism and 2 degrees of freedom of the orthogonal two-axis linear motion mechanism.
  • the parallel link mechanism is actuated by the posture control actuator to change the posture of the work body installed on the link hub on the distal end side, and the work body is moved by the orthogonal two-axis linear motion mechanism.
  • this configuration is excellent for non-contact work that does not require adjustment of the distance between the work body and the work body. Since 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 parallel link mechanism when the parallel link mechanism is tilted to the right side, the right side surface of the work body faces the work body side.
  • the work can be performed on the right side surface of the work body by moving the work body in the right direction by the orthogonal two-axis linear motion mechanism.
  • the parallel link mechanism is tilted to the left side, the left side surface of the work body faces the work body side.
  • the work can be performed on the left side surface of the work body by moving the work body to the left by the orthogonal two-axis linear motion mechanism.
  • the parallel link mechanism by tilting the parallel link mechanism back and forth and moving the work body in the front-rear direction by the orthogonal two-axis linear motion mechanism, the work can be performed on the front and back side surfaces of the work body.
  • the orbital circle of the central link member moves to the tilt side of the parallel link mechanism as the parallel link mechanism tilts.
  • the orbital circle of the central link member is a circle that connects the central portions of the central link members. That is, a space is created in the movement trace of the central link member. For this reason, even if the work body is moved to the tilt side of the parallel link mechanism, the work body and the central link member are unlikely to interfere with each other. Therefore, the operating range of the parallel link mechanism can be widened, and the working range for the work body is widened. In addition, it is possible to work on a relatively large work object from a plurality of directions while realizing compactness.
  • the orthogonal two-axis linear motion mechanism is installed on a member integral with the base end side link hub, and is attached to the work body along a plane perpendicular to the central axis of the base end side link hub.
  • the relational expression for calculating the positions of the work body and the work body becomes a relatively simple form, and control of the attitude control actuator and the orthogonal two-axis linear motion mechanism is facilitated.
  • 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.
  • control devices such as the posture control actuator and the orthogonal two-axis linear motion mechanism and the work body are not disposed 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.
  • a Z-axis linear motion mechanism that moves the work body parallel to the central axis of the link hub on the base end side with respect to the work body.
  • the distance from the spherical link center of the distal end side link hub to the position farthest in the direction of the central axis of the distal end side link hub from the spherical link center of the work body is T
  • the proximal end side The distance between the spherical link center of the link hub and the spherical link center of the distal end side link hub is L
  • 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 side of the work piece and the center of the link hub on the proximal end side as the bending angle ⁇ increases within the maximum bending angle ⁇ max operating range. The distance from the axis approaches. Therefore, the stroke of the orthogonal two-axis linear motion mechanism can be reduced, and a compact configuration can be realized.
  • the maximum distance from the central axis of the link hub on the distal end side to the outer peripheral surface of the work body is M
  • the inner surface track circle of the central link member is a circle connecting the central portions of the inner surfaces of the central link members.
  • the maximum bending angle which is an angle formed by the central axis of the base-side link hub and the central axis of the distal-side link hub in a state where the mechanism is operated to the maximum range of the operable range, is ⁇ max, R ⁇ T ⁇ sin ( ⁇ max / 2) + M It is good if the relationship is established.
  • 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.
  • a rotation mechanism for rotating the work body around an axis orthogonal to the central axis of the link hub on the distal end side may be provided. According to this configuration, the work can be performed on the entire circumferential surface of the work body by rotating the work body by the rotation mechanism.
  • the rotation mechanism When the rotation mechanism is provided, the rotation mechanism is installed at the other end of the rotation mechanism fixing member whose one end is fixed to the link hub on the front end side and the other end extends to the external space of the parallel link mechanism.
  • a workpiece fixing member is installed on the output shaft, and the tip of the workpiece fixing member is inserted into the internal space through two adjacent link mechanisms of the three or more link mechanisms.
  • the work body may be installed 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
  • FIG. 12A It is a top view of the to-be-worked object different from FIG. 12A. It is explanatory drawing which shows the operation
  • 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 support columns 5 built on the base 4, and a link actuating device 7 and an orthogonal two-axis linear motion mechanism 8 are installed on the base member 6.
  • the link actuating device 7 includes a parallel link mechanism 9 that supports the work body 2 so that the posture can be changed, and an attitude control actuator 10 that operates the parallel link mechanism 9.
  • the orthogonal biaxial linear motion mechanism 8 is a mechanism that moves the work body 3 in the orthogonal biaxial 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. 3 to 5 are shown upside down with respect to FIGS.
  • 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, and each rotation pair of the base end side link hub 12 and the base end side end link member 15 and the base end side end link member. 15 and the central axis of each rotational pair of the central link member 17 intersect at the spherical link center PA (FIG. 3) on the base end side. Similarly, 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.
  • 6A and 6B are sectional views of the link hub 12 on the base end side, the end link member 15 on the base end side, and the like. 6A and 6B show the relationship between the center 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 base end side 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). In FIG.
  • 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.
  • a 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. 6A) 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 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 link hub 12 on the proximal end side includes the base member 6 and three rotating 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 rotation shaft 22.
  • the rotating shaft 22 constitutes a rotating pair of the link hub 12 on the base end side and the end link member 15 on the base end side.
  • the rotary shaft 22 has a large diameter portion 22a, a small diameter portion 22b, and a male screw portion 22c.
  • the portion 22b is rotatably supported by the rotary shaft connecting member 21 via 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 coaxially disposed on an output shaft 52a of a reduction mechanism 52 described later at a large diameter portion 22a. Details of the arrangement structure will be described later.
  • 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 rotary shaft support portions 26 and 27, respectively. 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.
  • the rotating shaft connecting member 21 is disposed in the notch 25 of the end link member 15 on the base end side, and the small diameter portion 22b of the rotating shaft 22 is formed on the through holes 26a and 27a and the inner ring of the bearing 23. It is inserted.
  • 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, the male screw portion 22c of the rotary shaft 22 protrudes from the inner rotary shaft support portion 27, and a nut 30 is screwed to the male screw portion 22c. 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.
  • 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, similar to the rotation shaft 22 of the link hub 12 on the proximal end side, and two small diameter portions 32b.
  • the bearing 36 is rotatably supported at one end of the central link member 17.
  • a notch portion 37 is formed at the other end of the base end side end link member 15, and both side portions of the notch portion 37 constitute a pair of inner and outer rotating shaft support portions 38 and 39.
  • Through-holes 38a and 39a are formed in the pair of rotating shaft support portions 38 and 39, respectively.
  • One end of the central link member 17 is disposed in the notch 37 at the other end of the end link member 15 on the base end side, and the small diameter portion 35b of the rotating shaft 35 is formed on the through holes 38a and 39a and the inner ring of the bearing 36. It is inserted.
  • the male screw portion 35c of the rotary shaft 35 protrudes from the inner rotary shaft support portion 39, and a nut 40 is screwed to the male screw portion 35c.
  • 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 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 having a circular through hole 40 a at the center, and a circumferential direction around the through hole 40 a of the distal end member 40. It is comprised with the three rotating shaft connection members 41 provided by equal distribution.
  • the center of the through hole 40a is located on the central axis QB of the link hub 13 on the distal end side. 3 to 5, the through hole 40a is omitted.
  • Each rotating shaft connecting member 41 is rotatably connected to a rotating shaft 43 whose axis intersects the central axis QB of the link hub 13 on the distal end side.
  • One end of the end-side end link member 16 is connected to the rotation shaft 43 of the front-end side link hub 13.
  • 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 link member 16 on the front end side.
  • 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 attitude control 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 control actuator 10 is provided in all of the three sets of link mechanisms 14. However, if the posture control actuators 10 are provided in at least two of the three sets of link mechanisms 14, the posture of the distal link hub 13 relative to the proximal link hub 12 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 is fitted in an inner diameter groove 57 provided in the output shaft 52 a of the speed reduction mechanism 52.
  • the orthogonal biaxial linear motion mechanism 8 is movable in the Y-axis direction with the X-axis linear motion mechanism 61 having the X-axis moving body 61a movable in the X-axis direction. And a Y-axis linear motion mechanism 63 having a Y-axis moving body 63a.
  • the X-axis linear motion mechanism 61 is installed on the base member 6, and the Y-axis linear motion mechanism 63 is installed on a bracket 62 fixed to the X-axis moving body 61a.
  • the X-axis linear motion mechanism 61 has a motor 61b that is a drive source that moves the X-axis moving body 61a
  • the Y-axis linear motion mechanism 63 has a motor 63b that is a drive source that moves the Y-axis mobile body 63a. is doing.
  • a front body L-shaped work body installation member 64 is attached to the Y-axis moving body 63a.
  • the work body installation member 64 extends through the through hole 6a of the base member 6 and extends below the base member 6, and a work body fixing member 65 is attached to the lower end thereof.
  • the work body 3 is fixed to the work body fixing member 65.
  • the work body 2 of this embodiment has a rectangular parallelepiped shape, for example, and is placed on the upper surface of a work body fixing member 67 installed on the front end member 40 of the link hub 13 on the front end side. Yes.
  • the workpiece fixing member 67 is inserted into the through hole 40a of the tip member 40 from below, and the flange portion 67a is fixed to the tip member 40 by bolting, welding, or the like.
  • the work body 2 placed on the upper surface of the work body fixing member 67 is located in the internal space S1 between the link hub 13 on the distal end side and the link hub 12 on the proximal end side.
  • the work body 3 performs the work without contact with the work body 2.
  • the working body 3 is, for example, a grease applicator, a laser inspection machine, a spray coating machine, a welding machine or the like, and is held by the working body fixing member 65 with the working portion 3a such as a grease nozzle facing downward.
  • a work body 3 that performs work in contact with the work body 2 can also be used.
  • the working device 1 using this parallel link mechanism has a total of 4 degrees of freedom, including 2 degrees of freedom of the parallel link mechanism 9 and 2 degrees of freedom of the orthogonal two-axis linear motion mechanism 8. For this reason, the posture of the work body 2 installed on the link hub 13 on the distal end side is changed by operating the link operating device 7 and the work body 3 is moved in the orthogonal biaxial direction by the orthogonal biaxial linear motion mechanism 8. By doing so, the work body 3 can perform non-contact work on each surface of the work body 2.
  • the attitude control actuator 10 and the linear motion mechanism 8 are controlled to operate in conjunction with each other. Since the posture of the work body 2 can be changed at high speed and high accuracy by the link actuator 7, high speed and high accuracy work is possible.
  • the parallel link mechanism 9 is operated by the attitude control actuator 10 from the state where the proximal-side link hub central axis QA and the distal-side link hub central axis QB shown in FIG.
  • the distal end side link hub 13 is tilted to the left side with respect to the proximal end side link hub 12 as described above, the left side surface of the work body 2 installed on the distal end side link hub 13 faces the work body 3 side.
  • the work body 3 can be moved leftward by the X-axis linear motion mechanism 61 of the orthogonal two-axis linear motion mechanism 8, so that the work can be performed on the left side surface of the work subject 2.
  • the distal end side link hub 13 is tilted to the right side with respect to the proximal end side link hub 12, the right side surface of the work body 2 faces the side of the work body 3.
  • work can be performed on the right side surface of the work body 2 by moving the work body 3 in the right direction by the orthogonal two-axis linear motion mechanism 8.
  • the front and rear side surfaces of the work body 2 face the work body 3 side.
  • the work body 3 can be moved in the front-rear direction by the Y-axis linear movement mechanism 63 of the orthogonal two-axis linear movement mechanism 8, so that the work can be performed on the front and rear side surfaces of the work body 2.
  • the orbit circle D (FIG. 7) of the central link member moves to the tilt side of the parallel link mechanism 9 as the parallel link mechanism 9 tilts.
  • the orbital circle D (FIG. 7) of the central link member is a circle that connects the central portions of the central link members 17. That is, a space is created in the movement trace of the central link member 17. For this reason, even if the working body 3 is moved to the tilt side of the parallel link mechanism 9, the working body 3 and the central link member 17 are unlikely to interfere with each other. As a result, the operating range of the parallel link mechanism 9 can be widened, and the working range for the work body 3 is widened. In addition, it is possible to perform work from a plurality of directions even on a relatively large workpiece 2 while realizing compactness.
  • the work body 3 when the work body 3 is moved along a plane orthogonal to the center axis QA of the link hub on the base end side by the orthogonal biaxial linear movement mechanism 8, the work body 3 or the work body 2 is moved.
  • the relational expression for calculating the position of becomes a relatively simple form. Therefore, it is easy to control the attitude control actuator 10 and the orthogonal two-axis linear motion mechanism 8.
  • the parallel link mechanism 9 is installed so that the distal end side link hub 13 faces downward, and the orthogonal two-axis linear motion mechanism 8 is disposed above the parallel link mechanism 9. That is, control devices such as the posture control actuator 10 and the orthogonal two-axis linear motion mechanism 8 and the work body 3 are not arranged below the work body 2. As a result, it is possible to prevent grease, paint, and the like generated from the working body 3 from adhering to the control device and the working body 3 and adversely affecting them.
  • FIGS. 9 and 10 show a second embodiment of the present invention.
  • the working body 3 is moved relative to the work body 2 in the Z-axis direction, that is, in parallel with the central axis QA of the link hub on the base end side.
  • a Z-axis linear motion mechanism 70 is provided.
  • the link actuator 7 has the same configuration as that of the first embodiment described above.
  • the work body 3 is a cutting machine, a paint applicator, or the like that performs work while being in contact with the work body 2.
  • the Z-axis linear motion mechanism 70 is installed on the Y-axis moving body 63 a of the Y-axis linear motion mechanism 63 of the orthogonal two-axis linear motion mechanism 8 via the bracket 71.
  • the Z-axis moving body 70a is movable in the Z-axis direction.
  • the drive source of the Z-axis linear motion mechanism 70 is a motor 70b.
  • a work body installation member 64 is attached to the Z-axis moving body 70a, and the work body 3 is held via a work body fixing member 65 at the lower end of the work body installation member 64.
  • This working device 1 has a configuration of five degrees of freedom by adding one degree of freedom by the Z-axis linear motion mechanism 70 to the configuration of four degrees of freedom of the first embodiment described above.
  • the work body 2 is relatively large, it is difficult to adjust the distance between the work body 3 and the work body 2 with the configuration of 4 degrees of freedom, but when the work body 2 is configured with 5 degrees of freedom, The distance to the work body 2 can be controlled. Therefore, as shown in FIGS. 13A to 13C, the contact operation can be performed without difficulty.
  • FIG. 13A shows a state in which the bending angle ⁇ between the central axis QA of the link hub on the proximal end side and the central axis QB of the link hub on the distal end side is 0 °
  • FIG. 13C shows the work body 2 until the bending angle ⁇ reaches the maximum.
  • 13B shows an intermediate state between FIG. 13A and FIG. 13C.
  • the installation position of the work body 2 with respect to the link hub 12 on the base end side is preferably determined as follows. That is, the distance from the spherical link center PB of the link hub 13 on the distal end side to the position farthest from the spherical link center PB on the work body 2 in the direction of the link hub central axis QB is T, and the link hub 12 of the proximal end side is connected.
  • the distance T is L / (2cos ( ⁇ max / 2)).
  • the distance T is set to L / (2 cos ( ⁇ max / 2)) or more, the side surface of the work piece 2 and the link hub 12 on the proximal end side become larger as the bending angle ⁇ increases within the operating range of the maximum bending angle ⁇ max.
  • the maximum distance from the central axis QB of the link hub 13 on the distal end side to the outer peripheral surface of the work body 2 is M
  • the radius of the track circle D on the inner surface of each central link member 17 is R
  • the link hub 13 on the distal end side is
  • the maximum bending angle is ⁇ max, R ⁇ T ⁇ sin ( ⁇ max / 2) + M It is good if the relationship is established.
  • the maximum distance M is a radius.
  • the maximum distance M is a distance from the center of the rectangle to the corner.
  • 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 operating device 7 can be widened.
  • FIG. 14 shows a third embodiment of the present invention.
  • the Z-axis linear motion mechanism 70 uses a ball screw mechanism. That is, an elevator 82 is guided to a plurality of shafts 80 extending upward from the base member 6 via a linear bush 81 so that the orthogonal biaxial linear motion mechanism 8 is installed on the lower surface of the elevator 82. .
  • a screw shaft 83 extends upward from the base member 6 in parallel with the shaft 80, and a nut 84 provided on the lifting platform 82 is screwed to the screw shaft 83. When the screw shaft 83 is rotated by the motor 85, the elevator 82 moves up and down.
  • the orthogonal two-axis linear motion mechanism 8 is arranged such that the X-axis linear motion mechanism 61 is on the upper side and the Y-axis linear motion mechanism 63 is on the lower side, and the upper X-axis linear motion mechanism 61 is fixed to the lifting platform 82.
  • the work body installation member 64 is attached to the Y-axis moving body 63a of the lower Y-axis linear motion mechanism 63, and the work body 3 is fixed by the work body fixing member 65 attached to the lower end of the work body installation member 64. Yes.
  • the Z-axis linear motion mechanism 70 By operating the Z-axis linear motion mechanism 70, the work body 3 moves along with the orthogonal biaxial linear motion mechanism 8 along the central axis QA of the link hub 12 on the proximal end side.
  • the Z-axis linear motion mechanism 70 using this ball screw mechanism has a simple configuration and can reduce the height position. There is an advantage.
  • FIGS. 15 and 16 has a configuration with five degrees of freedom by providing a rotation mechanism 90 with respect to the working device 1 with the configuration of four degrees of freedom of the first embodiment shown in FIGS. Is. 1 and FIG. 2 shows that the work body 1 is installed on the upper surface of the work body fixing member 67 installed 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 toward the base end side link hub 12 in parallel with the central axis QB of the front end side link hub 13, and the other end is located in the external space S 2 of the parallel link mechanism 9.
  • 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.
  • the output shaft 90a of the rotation mechanism 90 protrudes toward the internal space S1 along the axis 92 orthogonal to the central axis QB of the link hub 13 on the distal end side.
  • a workpiece fixing member 93 extending coaxially is fixed to the output shaft 90a.
  • 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 has, for example, a cylindrical shape having a shaft 92 as a central axis.
  • the work body 2 may have other shapes such as a cube, a rectangular parallelepiped, a sphere, and the like.
  • the work body 2 can be rotated around the shaft 92 by the rotation mechanism 90 so that the work can be performed on the entire circumferential surface of the work body 2. Since the rotation mechanism 90 is disposed in the external space S2 of the parallel link mechanism 9 with sufficient space, the link mechanisms 14 and the rotation mechanism 90 are prevented from interfering with each other, and a wider operation range can be realized.
  • the working device 1 of the fifth embodiment shown in FIGS. 17 and 18 is provided with a rotation mechanism 90 and has six freedoms compared to the working device 1 having the five-degree-of-freedom configuration of the second embodiment shown in FIGS. The composition of the degree.
  • 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 fourth embodiment shown in FIGS. 15 and 16. Thereby, the effect
  • the working device 1 of the sixth embodiment shown in FIG. 19 has a configuration of 6 degrees of freedom by providing a rotation mechanism 90 with respect to the working device 1 of the third embodiment shown in FIG. It is.
  • 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 fourth embodiment shown in FIGS. 15 and 16. Thereby, the effect

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

Abstract

L'invention concerne un appareil de travail (1) pourvu d'un mécanisme de liaison parallèle (9), d'un actionneur de commande d'attitude (10) et d'un mécanisme à action directe biaxial orthogonal (8). Le mécanisme de liaison parallèle (9) relie relie un moyeu de liaison côté extrémité distale (13) à un moyeu de liaison côté extrémité de base (12) par le biais de trois ensembles de mécanismes de liaison (14) ou plus, de sorte que l'attitude du moyeu de liaison côté extrémité distale peut être modifiée. En option, l'actionneur de commande d'attitude (10) modifie l'attitude du moyeu de liaison côté extrémité distale (13) par rapport au moyeu de liaison côté extrémité de base (12). Le mécanisme à action directe biaxial orthogonal (8) déplace un objet de travail (3) en parallèle au plan qui est orthogonal à l'axe central (QA) du moyeu de liaison côté extrémité de base (12). Un objet à travailler (2) est installé sur le moyeu de liaison côté extrémité distale (13) de manière à être positionné dans l'espace intérieur (S1) entre le moyeu de liaison côté extrémité distale (13) et le moyeu de liaison côté extrémité de base (12).
PCT/JP2015/082474 2014-11-28 2015-11-18 Appareil de travail employant un mécanisme de liaison parallèle WO2016084685A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2014-241298 2014-11-28
JP2014241298 2014-11-28
JP2015-025344 2015-02-12
JP2015025344A JP6563658B2 (ja) 2014-11-28 2015-02-12 パラレルリンク機構を用いた作業装置

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WO2016084685A1 true WO2016084685A1 (fr) 2016-06-02

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160003443U (ko) * 2015-03-28 2016-10-06 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. 평행 원리에 의한 일종의 더블 로드(double-rod) 양방향 트렌스퍼 로봇
JP6466536B1 (ja) * 2017-09-08 2019-02-06 Ntn株式会社 パラレルリンク機構を用いた作業装置
WO2019049972A1 (fr) * 2017-09-08 2019-03-14 Ntn株式会社 Dispositif de travail utilisant un mécanisme à liaison parallèle
EP3473389A4 (fr) * 2016-06-15 2020-01-15 NTN Corporation Dispositif de travail et dispositif de travail à deux bras

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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
JP2014005926A (ja) * 2012-06-27 2014-01-16 Ntn Corp リンク作動装置

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* 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
JP2014005926A (ja) * 2012-06-27 2014-01-16 Ntn Corp リンク作動装置

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160003443U (ko) * 2015-03-28 2016-10-06 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. 평행 원리에 의한 일종의 더블 로드(double-rod) 양방향 트렌스퍼 로봇
KR200484533Y1 (ko) 2015-03-28 2017-09-18 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. 평행 원리에 의한 일종의 더블 로드(double-rod) 양방향 트렌스퍼 로봇
EP3473389A4 (fr) * 2016-06-15 2020-01-15 NTN Corporation Dispositif de travail et dispositif de travail à deux bras
US11247329B2 (en) 2016-06-15 2022-02-15 Ntn Corportion Work device and dual-arm work device
JP6466536B1 (ja) * 2017-09-08 2019-02-06 Ntn株式会社 パラレルリンク機構を用いた作業装置
WO2019049972A1 (fr) * 2017-09-08 2019-03-14 Ntn株式会社 Dispositif de travail utilisant un mécanisme à liaison parallèle
JP2019048343A (ja) * 2017-09-08 2019-03-28 Ntn株式会社 パラレルリンク機構を用いた作業装置
US11247333B2 (en) 2017-09-08 2022-02-15 Ntn Corporation Work device using parallel link mechanism

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