WO2016117059A1 - Dispositif de positionnement - Google Patents

Dispositif de positionnement Download PDF

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Publication number
WO2016117059A1
WO2016117059A1 PCT/JP2015/051582 JP2015051582W WO2016117059A1 WO 2016117059 A1 WO2016117059 A1 WO 2016117059A1 JP 2015051582 W JP2015051582 W JP 2015051582W WO 2016117059 A1 WO2016117059 A1 WO 2016117059A1
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WO
WIPO (PCT)
Prior art keywords
link
end effector
mover
positioning device
linear motion
Prior art date
Application number
PCT/JP2015/051582
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English (en)
Japanese (ja)
Inventor
正興 岩瀬
福島　一彦
茂男 編笠屋
興起 仲
和秋 安藤
Original Assignee
三菱電機株式会社
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.)
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Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2015/051582 priority Critical patent/WO2016117059A1/fr
Priority to JP2015533340A priority patent/JP5963968B1/ja
Publication of WO2016117059A1 publication Critical patent/WO2016117059A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections

Definitions

  • the present invention relates to a positioning device having a parallel link mechanism.
  • the parallel link mechanism is advantageous in that the end effector can be driven at a higher speed and the positioning accuracy is higher than that of the serial link mechanism. Further, the linear motion parallel link mechanism has an advantage that the end effector operating area is wider than that of the rotational drive mechanism.
  • the position of the end effector in the direction orthogonal to the mover moving direction is determined by the distance between the mover moving directions of the movers that drive the links. Determined uniquely.
  • the position of each mover in the mover moving direction is symmetric with respect to the position of the end effector in the mover moving direction.
  • a linear motion parallel link mechanism having two equal link lengths is hereinafter referred to as a linear motion equal length parallel link mechanism.
  • One of the performance indicators of the positioning device is area productivity, that is, work efficiency per unit area of the positioning device.
  • area productivity that is, work efficiency per unit area of the positioning device.
  • the present invention has been made in view of the above, and it is possible to efficiently perform positioning work by reducing the speed applied to the mover, and to obtain a positioning apparatus with high area productivity by reducing the area occupied by the apparatus. With the goal.
  • the present invention provides a guide member extending in the mover moving direction, and first and second movable along the guide member in the mover moving direction.
  • a first link having one end rotatably attached to the first mover in a plane, and one end rotatably attached to the second mover in a plane.
  • a link mechanism is formed by attaching the other end of the link to the other end of the link so as to be rotatable in a plane, a second link having a longer link length than the first link, and an end attached to the link mechanism
  • An effector and the length of the guide member in the mover moving direction is a length obtained by adding the link length of the second link to the width in the mover moving direction of the operation region of the end effector. It is characterized by that.
  • the positioning device according to the present invention has an effect that the speed applied to the mover can be reduced to perform an efficient positioning operation, and the area occupied by the device can be reduced, thereby increasing the area productivity.
  • FIG. 1 The figure which shows the structure of the positioning device concerning Embodiment 1 of this invention.
  • FIG. 1 The figure explaining another arrangement
  • FIG. The figure explaining the length of the guide rail and guide member of a needle
  • FIG. The figure which shows the definition of the variable for demonstrating the speed
  • FIG. 1 The figure which showed the relationship between the Y direction position of the end effector in the positioning apparatus concerning Embodiment 1, and sensitivity k.
  • FIG. Schematic which shows the end effector movable range in the positioning device using the linear motion equal length parallel link mechanism concerning Embodiment 3.
  • FIG. Schematic which shows the end effector movable range in the positioning device using the linear motion unequal length parallel link mechanism concerning Embodiment 3.
  • FIG. Schematic plan view showing the configuration of a positioning device according to a fourth embodiment of the present invention.
  • FIG. 1 is a diagram illustrating a configuration of a positioning device 1 according to a first embodiment of the present invention.
  • FIG. 1 shows the X direction, which is the mover moving direction, and the Y direction perpendicular thereto.
  • the positioning device 1 includes a guide member 2 extending in the X direction, a mover 8 that is a first mover movable in the X direction along the guide member 2, and a mover 9 that is a second mover.
  • the movable joints 8 and 9 respectively have rotating joint mechanisms 10 and 11 and a first link whose one end is rotatably supported by the movable element 8 in the XY plane via the rotating joint mechanism 10.
  • a short link 12 and a long link 13, which is a second link having one end rotatably supported in an XY plane via a rotary joint mechanism 11 by a mover 9, are provided.
  • the long link 13 has a longer link length than the short link 12. That is, the positioning device 1 according to the first embodiment employs a linear motion unequal length parallel link mechanism in which two link lengths are different.
  • the positioning device 1 is attached to the link mechanism, a rotary joint mechanism 14 that forms a link mechanism by rotatably connecting the other end of the short link 12 and the other end of the long link 13 in the XY plane.
  • the short link 12, the long link 13, and the rotary joint mechanism 14 form a link mechanism.
  • the end effector 15 is the other end of the short link 12, that is, the rotary joint mechanism. It is attached to the 14th side.
  • the mover 8 includes a coil module 6 that forms a linear motor
  • the mover 9 includes a coil module 7 that forms a linear motor.
  • the working unit 16 is shown as a working hand in the example of FIG. 1, but may be an inspection machine such as a nozzle or a camera, and is not particularly limited.
  • the rotation joint mechanisms 10, 11, and 14 are not particularly limited as long as the mechanisms have a rotation function such as a bearing.
  • FIG. 1 when viewed from the guide member 2 in the Y direction, an example is shown in which the movable element 8 and the short link 12 are on the left side, and the movable element 9 and the long link 13 are on the right side. The reverse is also acceptable.
  • the guide member 2 includes a pair of guide rails 3 and 4 parallel to each other and a magnet plate 5 constituting a linear motor.
  • Movable elements 8 and 9 are attached to the guide rails 3 and 4 so as to be slidable in the X direction.
  • the movers 8 and 9 can be moved independently by applying a driving force in the X direction by some linear actuator.
  • a linear motor including the magnet plate 5 and the coil modules 6 and 7 is used to apply a driving force, but it may be a ball screw drive and is not particularly limited.
  • a method for positioning the end effector 15 of the positioning device 1 according to the first embodiment will be described below.
  • the position of the end effector 15 is uniquely determined by the arrangement of the movers 8 and 9. Therefore, the arrangement of the movable elements 8 and 9 that realize the target position of the end effector 15 is obtained by geometric calculation, and the positioning control of the movable elements 8 and 9 is performed using the obtained arrangement of the movable elements 8 and 9 as the target position. If executed, the end effector 15 can be positioned at a target position.
  • FIG. 2 is a diagram for explaining the arrangement of the movers 8 and 9 that realize that the end effector 15 becomes a target position in the positioning device 1
  • FIG. 3 shows the end effector 15 in the positioning device 1 as a target.
  • FIGS. 2 and 3. It is a figure explaining another arrangement
  • the short link angle ⁇ which is the angle of the inner angle formed by the short link 12 and the X direction, is an acute angle in FIG. 2 but an obtuse angle in FIG. 3, and the posture of the short link 12 is different.
  • FIG. 4 is a diagram illustrating the lengths of the guide rails 3 and 4 and the guide member 2 in the X direction which is the moving direction of the mover in the positioning device 1.
  • the operation region A to which the end effector 15 is given is indicated by shading.
  • FIG. 4 shows the posture of the short link 12 and the long link 13 and the arrangement of the movers 8 and 9 when the end effector 15 is positioned at the end in the X direction of the operation area A of the end effector 15.
  • the link length of the short link 12 needs to be longer than the width of the operation area A in the Y direction.
  • the short link angle ⁇ is 180 degrees
  • the mover 8 and the mover 9 are closest to each other, and the distance is the link length of the long link 13 and the short link 12. Equal to the difference.
  • the link length of the long link 13 is made longer than the sum of the safety distance between the movable elements and the link length of the short link 12.
  • the posture of the short link 12 and the long link 13 at which the short link angle ⁇ becomes an obtuse angle is selected.
  • the movers 8 and 9 are located on the right side of the left end of the operation region A in the X direction. That is, when the end effector 15 is positioned at the left end in the X direction of the operation area A, the short link angle ⁇ is made an obtuse angle, and the movable element 8 has a range in the X direction of the operation area A as shown in FIG. It becomes possible not to arrange outside.
  • both the movers 8 and 9 can be arranged inside the range of the operation area A in the X direction.
  • the long link 13 needs to be arranged on the right side of the right end of the operation region A in the X direction. Therefore, the guide rails 3 and 4 and the guide member 2 need to extend from the right end of the operation region A in the X direction to the right side in addition to the width of the operation region A in the X direction.
  • the lengths of the guide rails 3 and 4 and the guide member 2 in the X direction may be extended to the right by the length of the long link 13 from the length of the width in the X direction of the operation region A of the end effector 15. 3 and 4 and the extension to the left side of the guide member 2 become unnecessary.
  • the exclusive area of the whole apparatus can be made smaller than the apparatus which has the linear motion equal length parallel link mechanism which needs the extension to the both sides of a guide member.
  • the short link 12 is on the left side of the long link 13.
  • the same discussion as above is valid with the left and right sides reversed.
  • the in-plane angle indicating the direction in the XY plane of the end effector 15 of the positioning device 1 according to the first embodiment will be described. Since the end effector 15 is fixed to the short link 12, the in-plane angle of the end effector 15 in the XY plane is uniquely determined depending on the short link angle ⁇ . However, the end effector 15 has a mechanism capable of rotating the working unit 16 relative to the end effector 15 by means such as incorporating a rotary actuator (not shown). This rotation mechanism enables angle correction for controlling the in-plane angle in the XY plane of the work unit 16 such as a work hand included in the end effector 15 to a target value.
  • the angle correction amount in the angle correction is a difference between the target in-plane angle on the XY plane of the working unit 16 and the short link angle ⁇ .
  • the angle correction amount described above is used.
  • the short link angle ⁇ can be selected from two values. Therefore, it is possible to increase the efficiency of the positioning work by selecting the pattern having the smaller angle correction amount of the end effector 15.
  • the speeds of the movers 8 and 9 necessary to realize the target Y-direction speed of the end effector 15. Will be explained.
  • FIG. 5 is a diagram showing the definition of variables for explaining the speeds of the movers 8 and 9 that realize that the end effector 15 has a target Y-direction speed in the positioning device 1.
  • the internal angle formed by the short link 12 and the X direction is the short link angle ⁇
  • the external angle formed by the long link 13 and the X direction is the long link angle ⁇
  • the coordinate of the mover 8 in the X direction is c 1
  • the coordinate of the mover 9 in the X direction is indicated by c 2 .
  • k in the equation (1) represents the sensitivity of the velocity in the Y direction of the end effector 15 generated by the velocity difference (dc 2 / dt ⁇ dc 1 / dt) between the movers 8 and 9, and the following equation ( As represented by 2), it is a function of the short link angle ⁇ and the long link angle ⁇ .
  • the short link angle ⁇ is an obtuse angle
  • the long link angle ⁇ is an obtuse angle and is always larger than the short link angle ⁇
  • the value of the sensitivity k is always positive according to the equation (2). Accordingly, when a positive speed is applied to the end effector 15 in the Y direction, the speed difference (dc 2 / dt ⁇ dc 1 / dt) between the movers 8 and 9 becomes positive, that is, the movers 8 and 9 What is necessary is just to operate
  • the sensitivity k of the Y-direction speed of the end effector 15 in the first embodiment will be described.
  • the smaller the absolute value of the sensitivity k the smaller the speed difference (dc 2 / dt) between the movable elements 8 and 9 required to realize the target Y-direction speed of the end effector 15.
  • the absolute value of -dc 1 / dt) may be small, and an efficient positioning operation in the Y direction becomes possible.
  • FIG. 6 is a diagram illustrating a relationship between the position [m] of the end effector 15 in the positioning device 1 according to the first embodiment and the sensitivity k.
  • FIG. 6 shows the absolute value of sensitivity k by the linear motion equal length parallel link mechanism and the linear motion equal length parallel link mechanism and the short link length when the end effector 15 realizes the given position in the Y direction.
  • the absolute value of the sensitivity k of the equal linear motion unequal length parallel link mechanism is shown in comparison.
  • the linear motion unequal length parallel link mechanism the absolute value of the sensitivity k in both cases where the short link angle ⁇ is an acute angle and an obtuse angle is shown.
  • the short link angle ⁇ is an acute angle and an obtuse angle
  • the lengths of both links of the linear motion equal length parallel link mechanism are both 1 m
  • the short link length of the linear motion unequal length parallel link mechanism is 1 m
  • the long link length is 1.1 m.
  • the absolute value of the sensitivity k by the linear motion equal length parallel link mechanism is indicated by a broken line
  • the absolute value of the sensitivity k when the short link angle ⁇ is an acute angle by the linear motion unequal length parallel link mechanism is indicated by a one-dot chain line.
  • the absolute value of the sensitivity k when the short link angle ⁇ is an obtuse angle in the isometric parallel link mechanism is indicated by a solid line.
  • the absolute value of the sensitivity k is the linear motion equal length parallel link mechanism, the linear motion inequality where the short link angle ⁇ is an acute angle.
  • the long parallel link mechanism and the direct link unequal length parallel link mechanism with an obtuse angle of the short link angle ⁇ are sequentially reduced.
  • the absolute value of the sensitivity k is 2 or more, according to the equation (1), in order to make the end effector 15 achieve the target Y-direction speed, the movable elements 8 and 9 that are twice or more than that are used.
  • Speed difference (dc 2 / dt ⁇ dc 1 / dt) that is, it means that it is necessary to give at least one of the movers 8 and 9 a speed equal to or higher than the target Y-direction speed of the end effector 15.
  • the region in the Y direction position where the absolute value of sensitivity k is 2 or more is a linear motion equal length parallel link mechanism, a linear motion unequal length parallel link mechanism with a short short link angle ⁇ , and a short link angle.
  • the ⁇ becomes smaller in the order of the linear link unequal length parallel link mechanism having an obtuse angle. Therefore, according to the positioning device 1 employing the linear motion unequal length parallel link mechanism according to the first embodiment, the movers 8 and 9 must be given a speed equal to or higher than the target Y-direction speed of the end effector 15. It can be seen that the situation can be reduced.
  • the absolute value of the speeds of the movers 8 and 9 required to realize the target Y-direction speed of the end effector 15 is the linear parallel isometric parallel link. On average, it is smaller than the mechanism.
  • the end effector 15 can be operated in the Y direction more efficiently than the linear motion equal length parallel link mechanism. It can also be seen that when the short link angle ⁇ is an obtuse angle, the efficiency is even better than when it is an acute angle.
  • the angle correction amount described above of the working unit 16 with respect to the end effector 15 and the efficiency of the positioning operation in the Y direction described above are comprehensively taken into consideration. It is possible to select whether the short link angle ⁇ at the time is an acute angle or an obtuse angle, and it is possible to improve the efficiency of comprehensive positioning work.
  • the positioning device 1 according to the first embodiment it is possible to improve the efficiency of comprehensive positioning work. Furthermore, according to the positioning device 1 according to the first embodiment, the exclusive area of the entire device can be made smaller than the device having the linear motion equal length parallel link mechanism, and the effect of improving the area productivity can be obtained.
  • FIG. FIG. 7 is a diagram showing a configuration of a positioning device 1 ′ according to the second embodiment of the present invention.
  • FIG. 7 shows the X direction as the mover moving direction and the Y direction perpendicular thereto.
  • the short link 12 ′ as the first link, the long link 13 ′ as the second link, and the rotary joint mechanism 14 form a link mechanism.
  • the order in which the short link 12 ′ and the long link 13 ′ are connected on the rotating joint mechanism 14 side is reversed, and the lower side of the short link 12 ′.
  • the long link 13 ' is connected.
  • the end effector 15 ' is attached not to the short link 12' but to the end of the long link 13 'on the rotating joint mechanism 14 side. 7 and 1 have the same configuration and function, and the description thereof will be omitted.
  • FIG. 7 shows an example in which the movable element 8 and the short link 12 ′ are on the left side and the movable element 9 and the long link 13 ′ are on the right side when viewed from the guide member 2 in the Y direction. May be reversed.
  • the inertial force accompanying translational motion in the XY plane and the inertial torque accompanying link angle change act on the end effector 15 'fixed to the link end in the linear motion parallel link mechanism.
  • the end effector 15 ′ needs to have sufficient rigidity and strength so as not to generate vibration or break against these inertial forces and inertial torques. Even if the end effector 15 'performs a translational movement that produces a certain amount of movement, the change in the angle of the link at that time is smaller for the long link than for the short link.
  • the positioning device 1 ′ according to the second embodiment, it is possible to improve the efficiency of positioning work, reduce the area occupied by the entire device, improve the area productivity, and reduce the weight of the end effector.
  • FIG. FIG. 8 is a schematic plan view showing the configuration of the positioning device 10 according to the third embodiment of the present invention.
  • the positioning device 10 according to the third embodiment is a positioning device having two linear motion unequal length parallel link mechanisms shown by the positioning device 1 of the first embodiment or the positioning device 1 ′ of the second embodiment.
  • the positioning device 10 includes linear motion unequal length parallel link mechanisms 1a and 1b.
  • FIG. 8 is a schematic diagram, only the schematic configuration of the linear motion unequal length parallel link mechanisms 1a and 1b is shown, and some components such as the guide member 2 and the rotary joint mechanism 14 are not shown.
  • the linear motion unequal length parallel link mechanism 1a includes guide rails 3a and 4a, movers 8a and 9a, rotary joint mechanisms 10a and 11a, a short link 12a, a long link 13a, and an end effector 15a.
  • the linear motion unequal length parallel link mechanism 1b includes guide rails 3b and 4b, movers 8b and 9b, rotary joint mechanisms 10b and 11b, a short link 12b, a long link 13b, and an end effector 15b. Also in FIG. 8, the operation area A to which the end effectors 15a and 15b are given is indicated by shading.
  • the linear motion unequal length parallel link mechanisms 1a and 1b are the positioning device 1 of the first embodiment or the positioning device 1 'of the second embodiment, respectively. Both the linear motion unequal length parallel link mechanisms 1a and 1b may be the positioning device 1 of the first embodiment, or both may be the positioning device 1 'of the second embodiment. Alternatively, one of the linear motion unequal length parallel link mechanisms 1a and 1b may be the positioning device 1 of the first embodiment, and the other may be the positioning device 1 'of the second embodiment.
  • the components shown in FIG. 8 have the same functions as those shown in FIG. 1 or FIG.
  • the linear motion unequal-length parallel link mechanisms 1a and 1b have an operation area A shared by the end effectors 15a and 15b, in contrast to the given operation area A of the end effectors 15a and 15b shown in FIG. And so as to face each other. That is, the guide member provided with the guide rails 3a and 4a and the guide member provided with the guide rails 3b and 4b are opposed to each other with the common operation area A in between. That is, when viewed from the operation area A, the arrangement order along the guide members of the first movable element supporting the short first link and the second movable element supporting the long second link is the linear motion unequal length parallel.
  • the link mechanisms 1a and 1b are the same.
  • both of the linear motion unequal length parallel link mechanisms 1a and 1b are the same linear motion unequal length parallel link mechanism, the axis perpendicular to the plane formed by the operation area A is the linear motion unequal length parallel link mechanism 1a.
  • a linear motion unequal length parallel link mechanism 1b is arranged by rotating 180 ° around the movement area A and facing the linear motion unequal length parallel link mechanism 1a.
  • FIGS. 9 to 11 are schematic plan views for explaining the “passing” operation between the linear motion unequal length parallel link mechanisms 1a and 1b in the positioning apparatus 10 according to the third embodiment shown in FIG.
  • the end effector 15a is moved to the extent that the linear motion unequal-length parallel link mechanisms 1a and 1b pass each other once from the state shown in FIG. 9 to the state shown in FIG. “Convolution” is performed by lowering the coordinates in the Y direction.
  • the linear motion unequal length parallel link mechanism 1a is moved to perform the “passing” operation of the linear motion unequal length parallel link mechanisms 1a and 1b.
  • the end effector 15a can be positioned at the target position B as shown in FIG. Since this “folding” operation is an operation of moving the end effector 15a in the Y direction as described above, the end effector is made as shown in FIG.
  • the posture may be such that the short link angle ⁇ a is an acute angle.
  • such a “convolution” operation can be performed. Therefore, it is possible to reduce the interference between the linear motion parallel link mechanisms and to expand the operable range of the end effector. become. It will be described below that this is made possible by adopting a linear motion unequal length parallel link mechanism instead of a linear motion equal length parallel link mechanism.
  • FIG. 12 is a schematic view showing the end effector movable range in the positioning device 20 using the linear motion isometric parallel link mechanism.
  • FIG. 13 is a schematic diagram illustrating an end effector movable range in the positioning device 10 using the linear motion unequal length parallel link mechanism according to the third embodiment.
  • FIG. 12 includes linear motion equal length parallel link mechanisms 1c and 1d. Since FIG. 12 is a schematic diagram, only a schematic configuration of the linear motion isometric parallel link mechanisms 1c and 1d is shown, and some components such as a guide member and a mover are not shown.
  • the linear motion equal-length parallel link mechanism 1c includes rotating joint mechanisms 10c and 11c, links 12c and 13c, and an end effector 15c. The link lengths of the link 12c and the link 13c are equal.
  • the linear motion equal-length parallel link mechanism 1d includes rotating joint mechanisms 10d and 11d, links 12d and 13d, and an end effector 15d. The link lengths of the link 12d and the link 13d are equal.
  • the operation area A to which the end effectors 15c and 15d are given is shown as a framed frame.
  • the positioning device 10 of FIG. 8 is further simplified, and some components such as a guide member and a mover are not shown. Also in FIG. 13, the operation area A to which the end effectors 15 a and 15 b are given is shown as a frame surrounded by a frame.
  • the linear motion equal length parallel link mechanism 1c when the end effector 15d of the linear motion equal length parallel link mechanism 1d is positioned at the center of the operation area A, the linear motion equal length parallel link mechanism 1c can position the end effector 15c.
  • the effector movable range is indicated by hatching.
  • the linear motion equal length parallel link mechanism 1c cannot position the end effector 15c in the white area in the operation area A. . That is, the end effector movable range in which the linear motion equal length parallel link mechanism 1c can position the end effector 15c by interference with the linear motion equal length parallel link mechanism 1d is narrower than the operation area A.
  • the end effector 15b of the linear motion unequal length parallel link mechanism 1b is located at the center of the operation area A, but by making the short link angle ⁇ b an obtuse angle.
  • the end effector 15b is positioned at the center of the operation area A by the above-described “folding” operation.
  • the linear motion unequal-length parallel link mechanism 1a also allows the end effector 15a to perform a “folding” operation by setting the short link angle ⁇ a to an obtuse angle, so that the end effectors 15a and 15b perform a “passing” operation in that state. It becomes possible to do.
  • the end effector 15a can perform positioning using the “folding” operation even in the region where the end effector 15c cannot be positioned in FIG. The region that becomes.
  • the linear motion parallel link mechanisms are connected to each other by taking the link posture in which the short link angles ⁇ a and ⁇ b of the two linear motion unequal length parallel link mechanisms are obtuse. It is possible to widen the end effector movable range by reducing the chance of interference.
  • the work efficiency is improved by the work by a plurality of mechanisms and the reduction of the interference opportunity. It becomes possible.
  • FIG. FIG. 14 is a schematic plan view showing the configuration of the positioning device 30 according to the fourth embodiment of the present invention.
  • the positioning device 30 according to the fourth embodiment is a positioning device having two linear motion unequal length parallel link mechanisms shown by the positioning device 1 of the first embodiment or the positioning device 1 ′ of the second embodiment.
  • the positioning device 30 includes linear motion unequal length parallel link mechanisms 1a and 1e.
  • the arrangement of the short links and the long links is reversed between the linear motion unequal length parallel link mechanism 1e and the linear motion unequal length parallel link mechanism 1b of FIG.
  • FIG. 14 is a schematic diagram, only schematic configurations of the linear motion unequal length parallel link mechanisms 1a and 1e are shown, and some components such as the guide member 2 and the rotating joint mechanism 14 are not shown. . Since the linear motion unequal length parallel link mechanism 1a has been described in the third embodiment, a description thereof will be omitted.
  • the linear motion unequal length parallel link mechanism 1e includes guide rails 3e, 4e, movers 8e, 9e, rotary joint mechanisms 10e, 11e, a short link 12e, a long link 13e, and an end effector 15e. Also in FIG. 14, the operation area A to which the end effectors 15 a and 15 e are given is indicated by shading.
  • the linear motion unequal length parallel link mechanisms 1a and 1e are the positioning device 1 of the first embodiment or the positioning device 1 'of the second embodiment, respectively. Both the linear motion unequal length parallel link mechanisms 1a and 1e may be the positioning device 1 of the first embodiment, or both may be the positioning device 1 'of the second embodiment. Alternatively, one of the linear motion unequal length parallel link mechanisms 1a and 1e may be the positioning device 1 of the first embodiment, and the other may be the positioning device 1 'of the second embodiment.
  • the components shown in FIG. 14 have the same functions as the components shown in FIG. 1 or FIG.
  • the linear motion unequal-length parallel link mechanisms 1a and 1e have an operation area A shared by the end effectors 15a and 15e as opposed to the given operation area A of the end effectors 15a and 15e shown in FIG. And so as to face each other. That is, the guide member provided with the guide rails 3a and 4a and the guide member provided with the guide rails 3e and 4e are opposed to each other with the common operation area A in between.
  • the arrangement of the short link 12e and the long link 13e of the linear motion unequal length parallel link mechanism 1e is opposite to that of the linear motion unequal length parallel link mechanism 1b of FIG. ing. That is, when viewed from the operation area A, the arrangement order along the guide members of the first movable element supporting the short first link and the second movable element supporting the long second link is the linear motion unequal length parallel.
  • the link mechanisms 1a and 1e are reversed. Therefore, the direction of extension of the guide rails 3e, 4e and the guide members including them and the guide rails 3a, 4a and the guide members including them over the length of the width of the moving region of the operation area A is shown in FIG. Unlike the case, it can be taken in the same direction.
  • the positioning device 30 according to the fourth embodiment in addition to the effects obtained in the first or second embodiment, the work efficiency is improved by the plural mechanisms, and the entire apparatus when the plural mechanisms are mounted.
  • variety of this can be made small is acquired.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

Abstract

La présente invention concerne un dispositif de positionnement (1) qui comprend : un élément de guidage (2) s'étendant dans une direction de mouvement de rouages ; un premier et un second rouage (8, 9) mobiles dans la direction de mouvement de rouages le long de l'élément de guidage ; une première biellette (12) reliée à l'une de ses extrémités au premier rouage de manière à pouvoir tourner dans un plan ; une seconde biellette (13) pour former un mécanisme de liaison de telle sorte que la seconde biellette (13) est reliée à l'une de ses extrémités au second rouage de façon à pouvoir tourner dans un plan et est reliée à son autre extrémité à l'autre extrémité la première biellette de manière à pouvoir tourner dans le plan, la seconde biellette (13) ayant une plus grande longueur de biellette que la première biellette ; et un effecteur d'extrémité (15) monté sur le mécanisme de liaison. La longueur de l'élément de guidage dans la direction de mouvement de rouages est égale à la valeur obtenue en ajoutant la longueur de biellette de la seconde biellette à la largeur de la zone de fonctionnement de l'effecteur d'extrémité dans la direction de mouvement de rouages.
PCT/JP2015/051582 2015-01-21 2015-01-21 Dispositif de positionnement WO2016117059A1 (fr)

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PCT/JP2015/051582 WO2016117059A1 (fr) 2015-01-21 2015-01-21 Dispositif de positionnement
JP2015533340A JP5963968B1 (ja) 2015-01-21 2015-01-21 位置決め装置

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002085580A1 (fr) * 2001-04-19 2002-10-31 Consiglio Nazionale Delle Ricerche Robot cinematique parallele modulaire et reconfigurable
JP2004524982A (ja) * 2001-02-23 2004-08-19 ウィレマン マシン ソシエテ アノニム 機械又は計器における端部要素を支持し且つプログラム可能に駆動するための運動デバイス
DE102010024518A1 (de) * 2009-07-09 2011-01-20 Eb-Invent Gmbh Werkzeugmaschine

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5866154B2 (ja) * 2011-07-06 2016-02-17 キヤノン電子株式会社 パラレルリンクロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004524982A (ja) * 2001-02-23 2004-08-19 ウィレマン マシン ソシエテ アノニム 機械又は計器における端部要素を支持し且つプログラム可能に駆動するための運動デバイス
WO2002085580A1 (fr) * 2001-04-19 2002-10-31 Consiglio Nazionale Delle Ricerche Robot cinematique parallele modulaire et reconfigurable
DE102010024518A1 (de) * 2009-07-09 2011-01-20 Eb-Invent Gmbh Werkzeugmaschine

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JPWO2016117059A1 (ja) 2017-04-27

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