WO2017051866A1

WO2017051866A1 - Diagnostic device for link actuation device

Info

Publication number: WO2017051866A1
Application number: PCT/JP2016/078005
Authority: WO
Inventors: 直樹丸井; 浩磯部; 幸宏西尾; 清悟坂田
Original assignee: Ntn株式会社
Priority date: 2015-09-25
Filing date: 2016-09-23
Publication date: 2017-03-30
Also published as: CN108136587A; CN108136587B

Abstract

A diagnostic device for a link actuation device is provided such that even when play such as backlash occurs in a drive train, deterioration of a component can be accurately detected and notified to a user before the link actuation device becomes unusable due, for example, to damage. The diagnostic device is applied to a link actuation device (1) in which a tip-end-side link hub (15) is linked to a base-end-side link hub (14) so as to be able to change the orientation thereof via three or more sets of link mechanisms (11-13), and an actuator (30) is provided on each of the link mechanisms (11-13), whereby a predetermined operation is performed under a predetermined condition by driving the respective actuators (30). In addition, the diagnostic device is provided with: a preloading unit (52) for preloading the link actuation device (1); a torque detection unit (53) for detecting the driving torque of each of the actuators (30) in the preloaded state; a determination unit (54) for determining whether or not the torque detected by the torque detection unit (53) is within a predetermined range; and a notification unit (56) for notifying the determination result.

Description

Link actuator diagnostic device

Related applications

This application has the priority of Japanese Patent Application No. 2015-187735 filed on September 25, 2015, Japanese Patent Application No. 2015-244948 filed on December 16, 2015, and Japanese Patent Application No. 2016-184573 filed on September 21, 2016. And is hereby incorporated by reference in its entirety as part of this application.

[Technical Field] The present invention relates to a diagnostic device for a link operating device that can diagnose deterioration and damage of parts in a link operating device that requires a precise and wide operating range, such as medical equipment and industrial equipment, and has excellent maintainability.

Conventionally, as a link actuating device that can be used in a wide range of operations used in medical equipment, industrial equipment, etc., a device in which the distal and proximal link hubs are connected via three or more sets of link mechanisms so that the posture can be changed. Have been proposed (for example, Patent Documents 1 to 4).

Japanese Patent Laid-Open No. 10-14300 JP 2000-134716 A JP 2000-94245 A US Pat. No. 5,893,296

In this type of link actuator, various control methods have been proposed. However, when a gear, a bearing, or the like, which is a component part of the link operating device, deteriorates, no notification has been made to notify the user of the deterioration state. If the gears or bearings are deteriorated and damaged, the link actuating device does not operate and the time required for maintenance becomes longer. For this reason, it is desirable to diagnose the deterioration of the parts and notify the user before the apparatus becomes unusable, such as damage.

An object of the present invention is to eliminate the above-mentioned problem, and even if there is play such as backlash in the drive transmission system, the deterioration state of parts is accurately diagnosed before the device becomes unusable, such as damage. It is an object of the present invention to provide a diagnostic device for a link actuating device that can inform a user and improve maintainability.

In the diagnostic device 51 of the link operating device 1 of the present invention, the distal end side link hub 15 is connected to the proximal end side link hub 14 via three or more sets of link mechanisms 11 to 13 so that the posture can be changed. Each of the link mechanisms 11 to 13 has proximal and distal

end link members

11a, 12a, and 13a, one end of which is rotatably coupled to the proximal link hub 14 and the distal link hub 15, respectively. , 11c, 12c, 13c, and

central link members

11b, 12b whose both ends are rotatably connected to the other ends of the

end link members

11a, 12a, 13a, 11c, 12c, 13c on the proximal end side and the distal end side, respectively. 13b, and the three or more sets of link mechanisms 11 to 13 have a distal end posture that is the posture of the distal end side link hub 15 with respect to the proximal end side link hub 14. The actuator 30 for attitude control to change the will is in structure provided.

In this structure, the actuator 30 is driven to apply a preload to the link actuator 1, the torque detector 53 that detects the driving torque of the actuator 30, and the link actuator 1. A determination unit 54 that determines whether or not the driving torque of each actuator 30 when a predetermined operation is performed under a predetermined condition is within a predetermined range, and a determination result of the determination unit 54 in a notification content display unit 58 A notification unit 56 for notification. The “posture” includes a position and a direction, but may be referred to as “position” in the following description.

The link operating device 1 having the above-described configuration is positioned by the actuators 30 of the three or more sets of link mechanisms 11 to 13 moving in synchronization. The drive torque during the operation is measured and stored in advance under the predetermined condition, and the drive torque during the same operation under the same condition is compared with the stored normal torque. The determination unit 54 determines whether or not the value is within the predetermined range, and notifies the notification content display unit 58 of the determination result of the determination unit 54 by the notification unit 56. The notification unit 56 may notify only when it is not within the predetermined range.

The link actuating device 1 composed of the three or more sets of link mechanisms 11 to 13 performs a complicated operation with a wide range of posture change, and backlash is not applied to gears, other rotating pairs, mechanism portions, and the like. There is backlash and the like, and the influence of backlash and backlash on the torque varies greatly depending on the posture of each link at the time of detection and before detection. For this reason, it is difficult to accurately determine the deterioration state of parts even if the motor torque is simply monitored.

Therefore, in the present invention, a preload applying portion 52 for applying a preload to the link operating device 1 is provided, and on that, the driving torque of each actuator 30 when the link operating device performs a predetermined operation under a predetermined condition is detected by torque detection. Detected by the unit 53. The determination unit 54 determines whether these driving torques are within a predetermined range. By applying the preload, it is possible to reduce the influence of backlash and rattling torque. Further, when there is an abnormality occurrence part in the link operating device 1, there is a strong tendency that a torque difference is simultaneously generated on a plurality of shafts as compared with a normal state. Since the determination is made in this way and the determination result is notified to the notification content display unit 58, the deterioration state of the components constituting the link operating device 1 can be detected with high accuracy.

In addition, since it is applied to the link operating device 1 in which the actuators 30 are provided in all the link mechanisms 11 to 13, the deterioration state can be determined with higher accuracy. That is, this type of link actuating device 1 can be realized by two actuators 30, but if there are two actuators 30, even if the torque is detected, it is determined which part has deteriorated. Difficult to do. However, if the actuator 30 is provided for each of the link mechanisms 11 to 13, it can be determined that the component parts of the link mechanisms 11 to 13 provided with the actuator 30 are deteriorated. The deterioration state can be judged.

In this way, even if there is play such as backlash in the drive transmission system, the deterioration state of the parts can be accurately diagnosed and notified to the user before the device becomes unusable, such as breakage. As a result, parts can be exchanged before the apparatus becomes unusable, and the maintainability is improved.

In the present invention, the predetermined condition and the predetermined operation may be arbitrarily determined conditions and operations. For example, the predetermined condition may be that the preload is applied, the tip of the link operating device 1 The predetermined operation includes at least one of a load acting on the side end link member being within a predetermined range and a moving speed of the end link member being within a predetermined range. The link actuating device 1 may move along a predetermined route, or may move from a predetermined position to a position. Even when the link actuating device 1 is in operation, when the components are normal as described above, the link actuating device 1 is caused to perform a predetermined operation under a predetermined condition, and the driving torque during operation is measured and stored in advance. If the driving torque during execution of the same operation under the same conditions is compared with the normal torque, it can be correctly determined whether or not it is abnormal.

In the present invention, the predetermined condition may be that the preload is applied, and the predetermined operation may be that the link operating device 1 is in a positioning state. The link operating device 1 having this configuration is positioned by synchronously moving the actuators 30 of the three or more sets of link mechanisms 11 to 13, but if pre-load is applied to the link operating device 1 in advance, When wear or the like occurs in a bearing or the like, the amount of preload decreases, and the torque of the motor 30a of the actuator 30 that moves the link mechanisms 11a to 11c decreases.
In addition, when a foreign object enters the gear portion or the like, the torque increases contrary to the above during positioning. The torque detector 53 detects the driving torque of each actuator 30 in the positioning state where the preload is applied. Therefore, torque can always be detected under the same conditions. The diagnostic device of the present invention uses this fact to monitor the driving torque of the motor 30a and the like of the actuator 30, and when a torque drop or torque increase outside a predetermined range at the time of positioning is detected, for example, a touch panel or the like The notification content display unit 58 is notified of a warning such as torque reduction or torque increase.

In the present invention, each actuator 30 may include an electric servo motor. For example, each actuator 30 may be a rotary actuator including an electric servo motor and a speed reduction mechanism 31 that decelerates rotation output from the servo motor. If each actuator 30 is a rotary actuator having an electric servo motor, not only can the drive be performed with good controllability, but also the abnormality can be determined with high accuracy.

In the present invention, the operation of applying the preload of the link operating device 1 by the preload applying unit 52 takes the link operating device 1 as an initial posture, and among the elements constituting the link operating device 1, the actuator 30 It is good also as operation | movement which provides the force which tries to approach to one side within the play of this pair part about each pair part comprised by the element which moves relatively by drive. In this way, if the link actuator 1 is in the initial posture, and each pair of parts is given a force to move toward one side in its play and the drive torque is detected, the drive torque is always kept in the same state. It is possible to detect the deterioration state more accurately.

In the present invention, the storage unit 55 stores the number of times the determination unit 54 determines that the predetermined range is out of the predetermined range, and the notification unit 56 determines whether the number of times determined to be out of the predetermined range is a threshold value. If the number exceeds, notification other than the notification may be performed. Even if the driving torque is detected by the torque detector 53, the torque may increase due to some temporary factor. However, when the detected torque frequently falls outside the predetermined range, there are many cases in which the component parts have deteriorated such as wear. For this reason, when the number of times determined to be outside the predetermined range exceeds the threshold, a notification other than the notification, for example, a notification notifying that it is time to replace the part, is made, so that it is not a mere temporary abnormality. It is possible to recognize with high reliability that the urgency of parts replacement is high. As a result, parts can be exchanged before the apparatus becomes unusable, and the maintainability is improved.

In the present invention, the storage unit 55 stores a period determined to be outside the predetermined range with respect to the predetermined range by the determination unit 54, and the notification unit 56 determines that the period determined to be out of the predetermined range is a threshold value. When the time is shorter, a notification different from the notification may be performed. As described above, even if the torque detection unit 53 detects the drive torque, the torque may increase due to some temporary factor. However, when the detected torque falls outside the predetermined range in a short cycle, the component parts often deteriorate such as wear. Therefore, when the period determined to be out of the predetermined range is less than the threshold value, the notification is not a temporary abnormality by performing another notification, for example, a notification notifying that it is the time for parts replacement. Therefore, it is possible to recognize with high reliability that there is an urgent need for parts replacement. As a result, parts can be exchanged before the apparatus becomes unusable, and the maintainability is improved.

In this invention, the notification content display means 58 may be an operation panel 57 provided on an operation panel 59 for operating the link operating device 1. According to this configuration, since the notification of component deterioration is displayed on the operation panel 57 of the operation panel 59, the user using the link actuating device 1 is likely to notice the notification of component deterioration.

Any combination of at least two configurations disclosed in the claims and / or the specification and / or the drawings is included in the present invention. In particular, any combination of two or more of each claim in the claims is included in the invention.

The present invention will be more clearly understood from the following description of preferred embodiments with reference to the accompanying drawings. However, the embodiments and drawings are for illustration and description only and should not be used to define the scope of the present invention. The scope of the invention is defined by the appended claims. In the accompanying drawings, the same reference numerals in a plurality of drawings indicate the same or corresponding parts.
It is explanatory drawing which shows the block diagram of the conceptual structure of the diagnostic apparatus of the link actuator which concerns on one Embodiment of this invention, and the horizontal cross section of a link actuator. It is explanatory drawing which shows the block diagram of the conceptual structure of the diagnostic apparatus of the link operating device which changed a part of same embodiment, and the horizontal cross section of a link operating device. It is explanatory drawing which shows the block diagram of the conceptual structure of the diagnostic apparatus of the link operating device which changed the location different from FIG. 2 of the embodiment, and the horizontal cross section of a link operating device. It is a front view showing only one link mechanism of the link actuating device. It is a front view which shows the same link action | operation apparatus in the operation state different from FIG. It is a perspective view of the link mechanism part of the link actuator. It is a mimetic diagram showing one link mechanism of the link actuating device. It is a partial expanded sectional view of the link actuating device. It is a flowchart of the processing operation which the diagnostic apparatus of the link operation device performs. It is a flowchart which shows the example of the processing operation after the initialization process in the diagnostic apparatus of the link actuating device. It is a flowchart which shows the other example of the processing operation after the initialization process in the diagnostic apparatus of the link actuating device. It is a horizontal sectional view showing other examples of a link actuating device used as a controlled object of the diagnostic device. It is a front view which shows one link mechanism per the link action | operation apparatus. It is a perspective view of the link actuating device. It is a horizontal sectional view showing still another example of a parallel link mechanism that is a control target of the diagnostic apparatus. It is a partial expanded horizontal sectional view of the parallel link mechanism. It is a graph which shows the motor torque fluctuation | variation of each axis | shaft in case the abnormality generation part of the same link actuator is included.

An embodiment of the present invention will be described with reference to FIGS. The link actuating device diagnosis device 51 is a device for diagnosing the deterioration state and damage of the parts constituting the link actuating device 1. The link actuating device 1 to be diagnosed includes a parallel link mechanism 1A and a control device 50 that controls the parallel link mechanism 1A, and the parallel link mechanism 1A is a diagnosis target.

In the parallel link mechanism 1A, a distal end side link hub 15 is connected to a proximal end side link hub 14 via three sets of

link mechanisms

11, 12, and 13 so that the posture can be changed.

Reference numerals

12 and 13 denote base end side and front end side

end link members

11a, 12a, 13a, 11c, and 12c, respectively, one end of which is rotatably connected to the base end side link hub 14 and the front end side link hub 15. , 13c, and

central link members

11b, 12b, 13b whose both ends are rotatably connected to the other ends of the

end link members

11a, 12a, 13a, 11c, 12c, 13c on the proximal end side and the distal end side, respectively. Become. All of the three sets of

link mechanisms

11, 12, and 13 are provided with electric actuators 30 that arbitrarily change the distal end posture of the distal end side link hub 15 relative to the proximal end side link hub 14. Yes.

In FIG. 1, the actuator 30 is, for example, a rotary actuator, more specifically a servo motor including a motor 30 a and a speed reducer 30 b, and is fixed to the base 2 by a motor fixing member 32. The speed reduction mechanism 31 includes the speed reducer 30 b of the actuator 30 and a gear type speed reduction unit 33.

The control device 50 controls the motor 30a of each actuator 30 of the parallel link mechanism 1A according to an instruction such as a position command from a host control means (not shown) or according to an input operation such as a position command from the operation panel 59. This is a device controlled by the unit 50a. The position command is, for example, a command indicating the coordinate value of the movement destination of the distal end side link hub 15 or the like. The controller 50a constitutes a servo mechanism for each axis (each actuator 30) having a position feedback function.

The diagnostic device 51 will be described. The diagnostic device 51 is provided in the control device 50. A more specific configuration of the parallel link mechanism 1A will be described later. The diagnostic device 51 includes a preload application unit 52, a torque detection unit 53, a determination unit 54, and a notification unit 56.

The preload applying section 52 is means for driving the motor 30a of each actuator 30 to position it in the initial posture and applying preload to the link operating device 1. The preload application command is given to the control unit 50a, which is executed by the control unit 50a. The initial posture may be determined arbitrarily, and may be determined by selecting a posture suitable for diagnosis of the link actuating device 1, for example, a posture in which the preload is easily applied. In the operation of applying the preload by the preload applying unit 52, the link operating device 1 is set to the initial posture, and among the elements constituting the link operating device 1, the elements relatively move by driving the actuator 30 (for example, This is an operation of applying a force to move toward one side within the play of the pair of parts, such as a rotating pair of gears and bearings.

The torque detector 53 is means for detecting the driving torque of the motor 30a of each actuator 30 in the positioning state where the preload is applied. The detection of the driving torque is performed, for example, by detecting a current value detected by an ammeter (not shown) provided in the driving circuit of each motor 30a.

The determination unit 54 determines whether or not the torque detected by the torque detection unit 53 of the drive torque of each actuator 30 when the link actuating device 1 performs a predetermined operation under a predetermined condition is within a predetermined range. It is a means to judge. The predetermined range is appropriately determined by testing and design. The predetermined range is appropriately determined by design or the like. This predetermined range may be determined only by a threshold value indicating the upper limit. The determination unit 54 stores a combination of the predetermined operation, the predetermined condition, and the measurement result for a plurality of types, for example, the number of types of the operation when the link operating device 1 is operated in a predetermined form. In addition, when one or more operations are performed when performing abnormality determination by torque measurement, only that number may be stored. At the time of determination, the type of the corresponding operation is selected by an appropriate method, and the measured value of the operation is used for the determination.

The predetermined condition and the predetermined operation may be arbitrarily determined conditions and operations. For example, the predetermined condition may be that the preload is applied, the end of the link operating device 1 on the front end side. Including at least one of a load acting on the portion link members 11c, 12c, and 13c being within a predetermined range and a moving speed of the end link member being within a predetermined range, The operation may be that the link operating device 1 moves along a predetermined route. Even when the link actuating device 1 is in operation, as described above, when the component is normal, the link actuating device 1 is caused to perform a predetermined operation under a predetermined condition, and the driving torque during operation is measured and stored in advance. If the driving torque during execution of the same operation under the same conditions is compared with the normal torque, it can be correctly determined whether or not it is abnormal. Here, “during a predetermined operation” includes a positioning operation.

Further, the predetermined condition may be that the preload is applied, and the predetermined operation may be that the link operating device 1 is in a positioning state.

The notification unit 56 is a means for notifying the notification content display unit 58 of the determination result of the determination unit 54 and displaying it. The notification unit 56 includes not only a notification but also a function of determining whether to perform a notification in response to a condition and a command for initialization, as will be described later. The notification content display unit 58 includes, for example, an operation panel 57 in the operation panel 59 attached to the control device 50. The operation panel 57 may be a touch panel such as a liquid crystal display device, and may be capable of displaying an image and performing an input operation to the control unit 50a and the like.

As shown in FIG. 2, the diagnostic device 51 of the link actuating device having this configuration includes a storage unit 55, and stores the “number of times” determined by the determination unit 54 to be outside the predetermined range with respect to the predetermined range. 55, the notification unit 56 may perform a notification different from the notification, for example, a notification for urging component replacement when the “number of times” determined to be out of the predetermined range exceeds a threshold value. .

In addition to the “number of times”, “cycle” may be used as a determination target. That is, the “cycle” determined by the determination unit 54 to be outside the predetermined range with respect to the predetermined range is stored in the storage unit 55, and the notification unit 56 has the “cycle” determined to be out of the predetermined range. When it becomes shorter than the threshold value, a notification different from the notification, for example, a notification for urging component replacement may be performed. In other words, the notification unit 56 may perform a notification different from the notification when the period determined to be out of the predetermined range is less than the threshold.

The notification content display unit 58 may be provided at a position away from the control device 50 as shown in FIG. For example, it may be provided in a centralized management room or the like different from the room in which the link actuating device 1 is installed, or may be an image display device such as a computer connected via a wide-area communication network. .

The outline of the operation of the diagnostic apparatus 51 having the above-described configuration will be described. In the link actuating device 1, if preload is applied to the link actuating device 1 in advance, an actuator that moves the link mechanisms 11 to 13 by reducing the preload amount when deterioration such as wear occurs in a gear or a bearing as a component. The torque of the 30 motors 30a is reduced. That is, since the link operating device 1 performs positioning by the three motors 30a moving in synchronization, if the component parts deteriorate, the motor torque decreases during positioning. In addition, when foreign matter enters the gear portion or the like, the torque increases during positioning.

Utilizing this fact, the diagnostic device 51 of the link operating device 1 monitors the torque of the motor 30a by the torque detection unit 53, and detects the torque decrease and the torque increase exceeding the predetermined range at the time of positioning by the determination unit 54. In this case, a notification such as a torque reduction warning or a torque increase warning is given to the notification content display unit 58 such as a touch panel. When torque reduction or increase occurs frequently, the notification content display unit 58 is notified of the time for parts replacement, as will be described later.

The diagnostic device 51 of the link actuating device 1 performs an initialization process for setting a reference torque at the initial position before the link actuating device 1 is operated for the first time after assembly. For example, the link hub 15 on the distal end side of the link actuating device 1 is positioned at a predetermined position so that the link hub 15 is pressed against a container, for example. When the torque of the motor 30a rises or falls below the predetermined range in subsequent use, the predetermined torque can be newly set again by performing initialization processing again.

When the motor torque frequently increases / decreases for a specified operating time and the initialization process is performed more than a certain level, it is judged that the part is deteriorated / abnormal, and it is used by notifying that the part is being replaced. Encourage people to replace parts. By notifying the user that it is time to replace the parts before the gears or the like are damaged, the parts can be replaced before the apparatus becomes unusable, improving the maintainability. The notification is given to the operation panel 57 of the operation panel 59 of the link operating device 1 so that the user can easily notice.

Next, a specific operation example of the diagnostic apparatus 51 having the above-described configuration will be described with reference to FIGS. In FIG. 9, the motor servo of the control unit 50a is turned on (step R1) according to a command from the preload applying unit 52 in FIG. 1, and a predetermined operation is performed (step R2). The predetermined operation may be an operation in which the link hub 15 on the distal end side of the link operating device 1 moves in a predetermined section, or may be an operation in which the link hub 15 is positioned at a predetermined position. When the completion of the predetermined operation, for example, the movement to the end of the predetermined section or the completion of positioning is detected by the control unit 50a or the like, the torque of all the motors 30a is measured by the torque detection unit 53 ( Step 3R).

The determination unit 54 determines whether or not the torque is out of the predetermined range for all the motors 30a (step R4), and the notification unit 56 determines that the torque is abnormal if the torque of any number of motors 30a is out of the predetermined range. A counter (not shown) that counts the number of times of detection increments the count value by 1 (step R5), notifies the torque abnormality and displays it on the notification content display section 58 (step R6). This is because there is a high possibility that normal operation of the link operating device 1 can still be performed at this stage. In the motor torque determination step R4, when there are an arbitrary number or more of motors within the predetermined range, notification of torque abnormality is not performed (R7).

FIG. 10 shows a flow in the case where the storage unit 55 of FIG. 2 is provided and the part replacement time is notified at the detection frequency. While the torque abnormality notification is being displayed (step S1), an initialization process is performed (step S2). This initialization process is to reset the torque that serves as a reference at the initial position. The torques of all the motors 30a are measured (step S3), and it is determined whether the torques of an arbitrary number of motors 30a are outside a predetermined range (step S4). If it is determined that the torque of any number of motors 30a is within the predetermined range, the torque abnormality notification is deleted (step S8).

If it is determined that the torque of an arbitrary number of motors 30a is out of the predetermined range, the count value of a counter (not shown) that counts the number of detected torque abnormalities is incremented by 1 (step S5). It is determined whether or not the incremented number of times of torque detection exceeds a specified number (step S6), and if not, a torque abnormality notification is displayed (step S9). If it is determined in the determination step S6 that a part has been exceeded, a part replacement time notification is displayed on the notification content display unit 58 (step S7).

By such a series of processes, it is possible to determine whether or not the parts (gears, bearings, etc.) constituting the link operating device 1 are in the part replacement time, and appropriately notify the part replacement time.

FIG. 11 shows a case where the part replacement time notification is determined based on the length of the torque abnormality cycle. First, initialization processing (reset of a reference torque at the initial position) is performed (step T1). Thereafter, measurement of an abnormal torque period is started (step T2), and the motor servo by the control unit 50a is turned on (step T3). As a result, a predetermined operation (such as movement or positioning in a predetermined section) is performed (step T4). When the predetermined operation is completed, the torque of all the motors 30a is measured (step T5).

When there is an abnormality occurrence part in the link actuating device 1, as shown in FIG. 9 showing torque fluctuations of the three axes in the test example, a torque difference often occurs at the same time for a plurality of axes compared to the normal state. Therefore, it is determined whether or not the torque of any number or more of the motors 30a out of the predetermined range among all the motors 30a (step T6), and the torque of any number or more of the motors 30a is within the predetermined range. If this is the case, the measurement of the abnormal torque period is continued (step T11), and the process returns to the motor servo-on step T3.

FIG. 17 is a graph showing an example of a change in torque of the motor 30a (motors 1 to 3) when there is the abnormality occurrence portion, along with a normal change in torque.

When the torque of any number of motors 30a is out of the predetermined range, a torque abnormality notification is displayed (step T7), the torque abnormality period is stored (step T8), and the torque abnormality period is less than the specified period thereafter. It is determined whether or not there is (step T9). The specified period is set to an appropriate value by design. If it is longer than the specified period, the measurement of the torque abnormality period is reset (step T12), and the process returns to step T1 of the initialization process. If it is less than the specified period, a notification of the parts replacement time is displayed (step T10).

When the processing shown in FIG. 10 or FIG. 11 is performed, it is possible to notify the user that it is time to replace the parts with high reliability before the parts such as gears and gears are damaged. The parts can be replaced before the apparatus becomes unusable, and the maintainability is further improved.

Next, a specific configuration example of the link operating device 1 will be described. As shown in FIG. 1 and FIG. 4, the link actuating device 1 changes the posture of a tip mounting member 4 (FIG. 4) to which a medical instrument or the like is attached to a base 2 via a link mechanism portion 3. It is connected as possible. The link mechanism section 3 includes a base end side link hub 14 fixed to the base 2 via a spacer 5, a front end side link hub 15 fixed to the front end mounting member 4, and these base end side link hubs. 14 and three

link mechanisms

11, 12, and 13 (hereinafter sometimes referred to as “11 to 13”) that connect the link hub 15 to the distal end side link hub 15. In FIG. 4, only one set of link mechanisms 11 is displayed.

FIG. 6 is a perspective view of the link mechanism unit 3 of the link operating device 1. Each of the

link mechanisms

11, 12, and 13 constituting the link mechanism unit 3 includes end-side

end link members

11a, 12a, and 13a (hereinafter referred to as “11a to 13a”), and

center link members

11b and 12b. , 13b (hereinafter referred to as “11b to 13b”), and end link members 11c, 12c, and 13c (hereinafter referred to as “11c to 13c”) on the distal end side, and are composed of four rotating pairs. It forms a three-bar chain link mechanism. The end link members 11a to 13a and 11c to 13c on the base end side and the tip end side are L-shaped, and the base ends are rotatably connected to the link hub 14 on the base end side and the link hub 15 on the tip end side. ing. The central link members 11b to 13b are rotatably connected to the distal ends of the end link members 11a to 13a and 11c to 13c on the proximal end side and the distal end side, respectively.

The end link members 11a to 13a and 11c to 13c on the proximal end side and the distal end side have a spherical link structure, and the spherical link centers PA and PC (FIGS. 4 and 5) in the three sets of link mechanisms 11 to 13 coincide with each other. The distances from the spherical link centers PA and PC are also the same. The rotational couple axes that are the connecting portions of the end link members 11a to 13a, 11c to 13c and the central link members 11b to 13b may have a certain crossing angle or may be parallel to each other.

That is, the three sets of link mechanisms 11 to 13 have the same geometric shape. The geometrically identical shape means that a geometric model in which each link member 11a to 13a, 11b to 13b, 11c to 13c is expressed by a straight line is a proximal end portion and a distal end side with respect to the central portion of the central link members 11b to 13b. Says that the part is symmetrical. FIG. 7 is a diagram schematically representing one link mechanism 11 with a straight line.

The link mechanisms 11 to 13 of this embodiment are of a rotationally symmetric type, and include a base end side link hub 14 and a base end side end link member 11a to 13a, a front end side link hub 15 and a front end side end link member. The positional relationship with 11c to 13c is a position configuration that is rotationally symmetric with respect to the central axis A (FIG. 6) of the central link members 11b to 13b. 4 shows a state in which the central axis B of the link hub 14 on the proximal end side and the central axis C of the link hub 15 on the distal end side are collinear, and FIG. 5 shows the central axis of the link hub 14 on the proximal end side. A state in which the central axis C of the link hub 15 on the distal end side has taken a predetermined operating angle with respect to B is shown. Even if the postures of the link mechanisms 11 to 13 are changed, the distance D between the spherical link centers PA and PC on the proximal end side and the distal end side does not change.

The link hub 14 on the proximal end side and the link hub 15 on the distal end side are hexagonal columnar, and the proximal side of the three side faces 16 apart from every other one of the six side faces 16 (FIG. 6) constituting the outer peripheral surface. The end link members 11a to 13a and 11c to 13c on the front end side are rotatably connected to each other.

1 is a cross-sectional view showing a connecting portion between the base end side link hub 14 and the base end side end link members 11a to 13a, and FIG. 8 is a partially enlarged view thereof. A shaft portion 18 (FIG. 8) protrudes from a side surface 16 (FIG. 6) of the link hub 14 on the proximal end side, and an inner ring (not shown) of a double row bearing 17 (FIG. 6) is fitted on the shaft portion 18. An outer ring (not shown) of the bearing 17 is fitted into the end portion of the base end side link hub 11a to 13a on the base end side link hub side. That is, the inner ring is fixed to the link hub 14 on the base end side, and the outer ring rotates with the end link members 11a to 13a on the base end side. The bearing 17 is a ball bearing such as a deep groove ball bearing or an angular ball bearing, for example, and is fixed by applying a predetermined amount of preload by tightening with a nut 19. As the bearing 17, a roller bearing or a sliding bearing may be used in addition to the ball bearings arranged in a double row as in the illustrated example. The connecting portion between the link hub 15 on the distal end side and the end link members 11c to 13c on the distal end side has the same structure.

Further, the connecting portions of the end link members 11a to 13a and the central link members 11b to 13b on the base end side are also rotatably connected to each other via the double row bearings 20. That is, the outer ring (not shown) of the bearing 20 is fitted into the end link members 11a to 13a on the base end side, and the inner ring (not shown) of the bearing 20 is fitted to the shaft portion 21 provided on the central link members 11b to 13b. Is fitted. In FIGS. 1 and 8, only the connecting portion between the end link member 11a on the base end side and the central link member 11b is shown. The bearing 20 is, for example, a ball bearing such as a deep groove ball bearing or an angular ball bearing, and is fixed by applying a predetermined amount of preload by tightening with a nut 22. As the bearing 20, a roller bearing or a sliding bearing may be used in addition to the ball bearings arranged in a double row as in the illustrated example. The connecting portions of the end-side end link members 11c to 13c and the central link members 11b to 13b have the same structure.

In the link mechanisms 11 to 13 shown in FIG. 6, the angle and length of the shaft portion 18 (FIG. 8) of the

link hubs

14 and 15 on the proximal end side and the distal end side, and the end link members 11a to 13a and 11c to 13c. The geometrical shapes of the link hub 14 on the proximal end side and the link hub 15 on the distal end side are the same, and the central link members 11b to 13b also have the same relationship between the link hub 14 on the proximal end side and the link hub 14 on the distal end side. When the shapes are equal, the end link members 11a to 13a and 11c are connected to the center link members 11b to 13b and the base end side and front end

side link hubs

14 and 15 with respect to the symmetry plane of the center link members 11b to 13b. If the angular positional relationship with .about.13c is made the same between the base end side and the tip end side, the base end side link hub 14 and the base end side end link members 11a to 13a and the tip end side are considered from geometric symmetry. Move same as the end link members 11c ~ 13c of the link hub 15 and distal. For example, when the rotation shafts are provided coaxially with the central axes B and C on the

link hubs

14 and 15 on the proximal end side and the distal end side, respectively, and the rotation is transmitted from the link hub 14 on the proximal end side to the link hub 15 on the distal end side. The link hub 14 on the proximal end side and the link hub 15 on the distal end side form a constant velocity universal joint that rotates at a constant speed at the same rotation angle. The plane of symmetry of the central link members 11b to 13b when rotating at the same speed is referred to as an equal speed bisector.

For this reason, by arranging a plurality of link mechanisms 11 to 13 having the same geometric shape sharing the proximal end side link hub 14 and the distal end side link hub 15 on the circumference, the plurality of link mechanisms 11 to 13 are contradictory. The central link members 11b to 13b are limited to movements on the equally-divided bisection plane as a position where they can move without any problem, so that the link hub 14 on the proximal end side and the link hub 15 on the distal end side can take any operating angle. Fast rotation is obtained.

The rotating parts of the four rotary pairs in each of the link mechanisms 11 to 13, that is, the connecting portion between the base end side link hub 14 and the base end side end link members 11a to 13a, the front end side link hub 15 and the front end side The bearing portion has a coupling portion with the end link members 11c to 13c and two coupling portions of the end link members 11a to 13a, 11c to 13c on the base end side and the distal end side and the central link members 11b to 13b. As a result, the frictional resistance at the connecting portion can be suppressed to reduce the rotational resistance, and smooth power transmission can be ensured and the durability can be improved.

According to the structure of the link mechanism section 3, the movable range of the link hub 15 on the distal end side with respect to the link hub 14 on the proximal end side can be widened. For example, the maximum value (maximum bending angle) of the bending angle θ between the central axis B (FIG. 6) of the link hub 14 on the proximal end side and the central axis C of the link hub 15 on the distal end side can be about ± 90 °. . Further, the turning angle φ of the distal end side link hub 15 relative to the proximal end side link hub 14 can be set in a range of 0 ° to 360 °. The bending angle θ is a vertical angle at which the central axis C of the distal end side link hub 15 is inclined with respect to the central axis B of the proximal end side link hub 14, and the turning angle φ is the proximal end side link hub. 14 is a horizontal angle at which the central axis C of the link hub 15 on the distal end side is inclined with respect to the central axis B of 14.

All of the three sets of link mechanisms 11 to 13 are provided with an actuator 30 and a speed reduction mechanism 31. Hereinafter, the actuator 30 and the speed reduction mechanism 31 provided in the link mechanism 11 will be described together with FIG. 1 and FIG. 8, but those provided in the

link mechanisms

12 and 13 have the same configuration.

As shown in FIG. 1, the actuator 30 is a rotary actuator, more specifically, a servo motor 30a with a speed reducer 30b, and is fixed to the base 2 by a motor fixing member 32. The speed reduction mechanism 31 includes a speed reducer 30 b of the actuator 30 and a gear type speed reduction portion 33.

As shown in FIG. 8, the gear-type speed reducing portion 33 is connected to a small gear 36 connected to the output shaft 30 c of the actuator 30 via a coupling 35 so as to be able to transmit rotation, and a proximal end side end link member 11 a. The large gear 37 is fixed and meshed with the small gear 36. In the illustrated example, the small gear 36 and the large gear 37 are spur gears, and the large gear 37 is a sector gear in which teeth are formed only on the circumferential surface of the sector. The large gear 37 has a larger pitch circle radius than the small gear 36, and the rotation of the output shaft 30 c of the actuator 30 moves to the proximal end link member 11 a, and the proximal link hub 14 and the proximal end link It is decelerated and transmitted to the rotation of the member 11a around the rotation pair O1. The reduction ratio is 10 or more.

The pitch circle radius of the large gear 37 is set to 1/2 or more of the arm length L of the end link member 11a on the base end side. The arm length L is determined from the axial center point P1 of the rotation pair shaft O1 of the base end side link hub 14 and the base end side end link member 11a from the base end side end link member 11a and the central link member 11b. The axial center point P2 of the rotation pair O2 is projected onto a plane passing through the axial center point P1 perpendicular to the rotation pair axis O1 of the link hub 14 on the base end side and the end link member 11a on the base end side. This is the distance to the point P3. In the case of this embodiment, the pitch circle radius of the large gear 37 is not less than the arm length L. Therefore, it is advantageous to obtain a high reduction ratio.

The small gear 36 has shaft portions 36 b protruding on both sides of a tooth portion 36 a that meshes with the large gear 37, and both the shaft portions 36 b are arranged in a double row provided on a rotation support member 39 installed on the base 2. The bearings 40 are rotatably supported. The bearing 40 is a ball bearing such as a deep groove ball bearing or an angular ball bearing. In addition to arranging ball bearings in double rows as in the illustrated example, roller bearings or sliding bearings may be used. A shim (not shown) is provided between the outer rings (not shown) of the double row bearings 40, and a preload is applied to the bearing 40 by tightening a nut 41 screwed into the shaft portion 36b. The outer ring of the bearing 40 is press-fitted into the rotation support member 39.

The large gear 37 is a separate member from the base end side end link member 11a, and is detachably attached to the base end side end link member 11a by a coupler 42 such as a bolt.

The rotation axis O3 of the actuator 30 and the rotation axis O4 of the small gear 36 are located on the same axis. These rotation axes O3 and O4 are parallel to the rotation pair axis O1 of the base end side link hub 14 and the base end side end link member 11a and have the same height from the base 2.

In FIG. 1, a control device 50 is of a numerical control type by a computer, and a control unit 50a in the control device 50 defines, for example, a bending angle θ (FIG. 6) and a turning angle φ (FIG. 6). The attitude of the link hub 15 on the distal end side is set. Further, the rotation angle βn (β1, β2 in FIG. 6) of the end-side end link members 11a to 13a is detected by, for example, an encoder (not shown). Or you may use the encoder (not shown) of the actuator 30 for the attitude | position detection of the link hub 15 of the front end side. The bending angle θ, the turning angle φ, and each rotation angle βn are mutually related, and the other value can be derived from one value.

When the posture of the distal end side link hub 15 is changed with respect to the proximal end side link hub 14, the proximal end side end is changed according to the posture (or coordinate position) of the distal end side link hub 15 set in the control unit 50a. The control target value of the rotation angle βn of the partial link members 11a to 13a is calculated. The rotation angle βn means the operating position of the actuator 30. The calculation of the rotation angle βn is performed by inversely transforming Equation 1 below. Inverse conversion is conversion in which the rotation angle βn of the end link members 11a to 13a on the base end side is calculated from the bending angle θ and the turning angle φ.
cos (θ / 2) sinβn−sin (θ / 2) sin (φ + δn) cosβn + sin (γ / 2) = 0 (Formula 1)
Here, γ (FIG. 6) is the rotation pair O2 of the end link members 11a to 13a and the central link members 11b to 13b on the proximal end side, the end link members 11c to 13c on the distal end side, and the central link member 11b. This is the angle formed by the rotation pair O5 of ~ 13b. δn (δ1, δ2, δ3 in FIG. 6) is a circumferential separation angle of each of the base end side end link members 11a to 13a with respect to the base end side end link member 11a.

Once the control target value of the rotation angle βn is calculated, the output of each actuator 30 is controlled so that the actual rotation angle βn becomes the control target value by feedback control using a signal from an attitude detection means (not shown). . As a result, the end link members 11a to 13a on the base end side of all the link mechanisms 11 to 13 are rotated by a predetermined rotation angle βn, and the link hub 15 on the distal end side is set to the posture set by the posture setting means 51. Be changed.

12 to 14 show another specific example of the parallel link mechanism 1A (FIG. 1) to be diagnosed by the diagnostic device 51. FIG. The parallel link mechanism 1B shown in the figure has the same basic configuration as the parallel link mechanism 1A described with reference to FIGS. That is, the link hub 15 on the distal end side is connected to the link hub 14 on the proximal end side through three or more sets of link mechanisms 11 to 13 so that the posture can be changed. Proximal and distal

end link members

11a, 11c, 12a, 12c, 13a and 13c, one end of which is rotatably connected to the proximal link hub 14 and the distal link hub 15, and these proximal ends A

central link member

11b, 12b, 13b having both ends rotatably connected to the other end of the end link member on the side and the front end side, and the base end is included in all of the three or more sets of link mechanisms 11-13. A configuration in which an electric actuator 30 for arbitrarily changing a distal end posture, which is a posture of the distal end side link hub 15 with respect to the side link hub 14, is provided, and the link Regarding the configuration in which the geometric model expressing the

structures

11, 12, and 13 in a straight line has a shape in which the proximal end portion and the distal end portion are symmetrical with respect to the central portion of the

central link members

11b, 12b, and 13b. The same.
Except for the matters specifically described, the parallel link mechanism 1A shown in FIGS. 1 to 8 is the same.

As shown in FIG. 14, the link hub 15 on the distal end side has a flat plate-shaped distal end member 60 having a circular through hole 60 a at the center, and a circumferentially uniform distribution around the through hole 60 a of the distal end member 60. The three rotation shaft coupling members 64 are provided. The center of the through hole 60a is located on the link hub central axis QB on the distal end side. Each rotary shaft connecting member 64 is rotatably connected to a rotary shaft 72 whose axis intersects the link hub central axis QB. One end of each end link member 11c, 12c, 13c on the front end side is connected to the rotation shaft 72 of the link hub 15. A rotating shaft 75 that is rotatably connected to the other end of the central link member 11b is connected to the other ends of the end link members 11c, 12c, and 13c on the front end side. The rotation shaft 72 of the link hub 15 and the rotation shaft 75 of the central link member 11b rotate to the other ends of the rotation shaft connecting member 64 and the

central link members

11b, 12b, and 13b via two bearings (not shown). It is connected freely.

The configuration of the

end link members

11a, 12a, 13a, 11c, 12c, and 13c will be described with reference to FIGS. Since the

end link members

11a, 12a, 13a, 11c, 12c, and 13c on the proximal end side and the distal end side have the same configuration, the end link member 11a on the proximal end side will be described here as an example. As shown in FIG. 12, the parallel link mechanism 1B includes an end link member 11a fixed to one bending member 61 and the outer diameter side surface and the inner diameter side surface of both ends of the bending member 61, respectively. It is composed of four rotating shaft support members 62. The four rotating shaft support members 62 have the same shape.

The central link member 11b is rotatably connected to the rotary shaft 75 supported by the two rotary shaft support members 62 at one end of the end link member 11a, and the rotary shaft is supported by the two rotary shaft support members 62 at the other end. The link hub 14 on the proximal end side is rotatably connected to 72. A bearing such as a rolling bearing is interposed in each of these rotatable connecting portions.

As in the above embodiment, the posture changing actuator 30 includes a motor 30a and a speed reducer 30b, and an output shaft 30c of the speed reducer 30b is a flat flange surface orthogonal to the central axis of the output shaft 30c. 63. The output shaft 30c is connected to the rotating shaft support member 62 on the outer diameter side of the end link member 11a on the proximal end side by a bolt via the spacer 65 via the spacer 65.

15 and 16 show still another specific example of the parallel link mechanism 1A (FIG. 1) to be diagnosed by the diagnostic device 51. FIG. The parallel link mechanism 1C shown in the figure has the same basic configuration as the parallel link mechanism 1A described with reference to FIGS. That is, the link hub 15 on the distal end side is connected to the link hub 14 on the proximal end side through three or more sets of link mechanisms 11 to 13 so that the posture can be changed. Proximal and distal

end link members

11a, 12a, 13a, 11c, 12c and 13c, one end of which is rotatably connected to the proximal link hub 14 and the distal link hub 15, and these proximal ends

Central link members

11b, 12b, and 13b having both ends rotatably connected to the other ends of the

end link members

11a, 12a, 13a, 11c, 12c, and 13c on the side and front end sides. All of the three or more sets of link mechanisms 11 to 13 are provided with electric actuators 30 for arbitrarily changing the distal end posture of the distal end side link hub 15 with respect to the proximal end side link hub 14. The configuration and the geometric model in which the

link mechanisms

11, 12, and 13 are expressed by straight lines have a shape in which the proximal end portion and the distal end portion are symmetrical with respect to the central portion of the

central link members

11b, 12b, and 13b. The configuration is the same. Except for the matters specifically described, the parallel link mechanism 1A shown in FIGS. 1 to 8 is the same.

FIG. 16 shows the base end side link hub 14 and the base end side

end link members

11a, 12a, 13a, and the base end side

end link members

11a, 12a, 13a and the center link member 11b, It is sectional drawing which shows the rotation pair part of 12b, 13b. In the link hub 14 on the proximal end side, radial communication holes 81 communicating the axial through hole 95 and the outer peripheral side are formed at three locations in the circumferential direction, and two bearings provided in each communication hole 81 are provided. The shaft members 83 are rotatably supported by 82. The outer end portion of the shaft member 83 protrudes from the proximal-side link hub 14, and the proximal-side end link member 11 a is coupled to the protruding screw portion 83 a and is fastened and fixed by a nut 84.

The bearing 82 is a rolling bearing such as a deep groove ball bearing, for example, and an outer ring (not shown) is fitted to the inner circumference of the communication hole 81, and an inner ring (not shown) is the outer circumference of the shaft member 83. Is fitted. The outer ring is retained by a retaining ring 85. Further, a spacer 86 is interposed between the inner ring and the base end side end link member 11a, and the tightening force of the nut 84 is transmitted to the inner ring via the base end side end link member 11a and the spacer 86. Thus, a predetermined preload is applied to the bearing 82.

The rotating pair of the end link member 11a and the center link member 11b on the base end side is provided with two bearings 89 in communication holes 88 formed at both ends of the center link member 11b. A shaft portion 90 at the tip of the end link member 11a is rotatably supported. The bearing 89 is fastened and fixed by a nut 92 via a spacer 91.

The bearing 89 is a rolling bearing such as a deep groove ball bearing, for example, and an outer ring (not shown) is fitted to the inner circumference of the communication hole 88, and an inner ring (not shown) is the outer circumference of the shaft portion 90. Is fitted. The outer ring is retained by a retaining ring 93. The tightening force of the nut 92 screwed to the tip threaded portion 90 a of the shaft portion 90 is transmitted to the inner ring through the spacer 91, and a predetermined preload is applied to the bearing 89.

As described above, the rotation pair of the base end side link hub 14 and the base end side end link member 11a and the rotation end of the base end side link member 11a and the central link member 11b have been described. The rotation pair of the link hub 15 and the end link member 11c on the distal end side, and the rotation pair of the end link member 11c and the central link member 11b on the distal end side have the same configuration (not shown).

As described above, the four rotating pairs of the

link mechanisms

11, 12, and 13; that is, the rotating pairs of the proximal-side link hub 14 and the proximal-side

end link members

11a, 12a, and 13a, Rotating pair of link hub 15 and distal end side end link members 11c, 12c, 13c, proximal end

side link members

11a, 12a, 13a and

central link members

11b, 12b, 13b and rotated pair, and tip The

bearings

82 and 89 are provided at the rotational pair portions of the end link members 11c, 12c, and 13c on the side and the

central link members

11b, 12b, and 13b, so that the frictional resistance at each rotational pair is suppressed and rotated. Resistance can be reduced, smooth power transmission can be ensured and durability can be improved.

When the actuator 30 is driven to rotate, the rotation is transmitted to the shaft member 83 via a pair of bevel gears 96 and 97 (FIG. 15), and the proximal end side end link member 11a with respect to the proximal end side link hub 14 is transmitted. , 12a, 13a change. Thereby, the posture of the link hub 15 on the distal end side with respect to the link hub 14 on the proximal end side (hereinafter referred to as “tip posture”) is determined.

In any of the parallel link mechanisms 1A to 1C shown in the above embodiment, backlash and other play occur in the path for transmitting the drive of the actuator 30. Therefore, by diagnosing with the diagnostic device 51 of the above-mentioned embodiment, it is possible to accurately diagnose the deterioration state of the parts and inform the user before the device becomes unusable, such as breakage, improving the maintainability The advantage that it can be made effective is exhibited.

As described above, the preferred embodiments have been described with reference to the drawings. However, those skilled in the art will readily consider various changes and modifications within the obvious range by referring to this specification. Accordingly, such changes and modifications are to be construed as within the scope of the invention as defined by the appended claims.

DESCRIPTION OF SYMBOLS 1 ...

Link operation apparatus

1A, 1B, 1C ...

Parallel link mechanism

11, 12, 13 ...

Link mechanism

11a, 12a, 13a ... End

part link member

11b, 12b, 13b ... Central link member 11c, 12c, 13c on the base end side The distal end side link member 14 The proximal end side link hub 15 The distal end side link hub 30 The actuator 31 The speed reduction mechanism 50 The control device 52 The preload applying unit 53 The torque detecting unit 54 The determining unit 55 Storage unit 56 ... notification unit 57 ... operation panel 59 ... operation panel

Claims

The link hub on the distal end side is connected to the link hub on the proximal end side through three or more sets of link mechanisms so that the posture can be changed, and each link mechanism includes the link hub on the proximal end side and the link hub on the distal end side. End link members on the base end side and the tip end side, one end of which is rotatably connected to the link hub, and a center on which both ends are rotatably connected to the other ends of the end link members on the base end side and the tip end side, respectively. Each of the three or more sets of link mechanisms is provided with an attitude control actuator that arbitrarily changes the distal end attitude of the distal end side link hub relative to the proximal end side link hub. A diagnostic device in a link actuating device,
A preload applying unit that drives each actuator to apply a preload to the link actuator, a torque detector that detects a driving torque of each actuator, and the link actuator performs a predetermined operation under a predetermined condition. A diagnostic device for a link operating device, comprising: a determination unit that determines whether or not the driving torque of each actuator at a time is within a predetermined range; and a notification unit that notifies the notification content display unit of a determination result of the determination unit.
2. The diagnostic device for a link actuating device according to claim 1, wherein the predetermined condition is that the preload is applied and a load acting on an end link member on a distal end side of the link actuating device is defined. And the predetermined operation is that the link actuating device moves along a predetermined path, including at least one of being within the predetermined range. Link actuating device diagnostic device.
2. The diagnosis device for a link actuation device according to claim 1, wherein the predetermined condition is that the preload is applied, and the predetermined operation is that the link actuation device is in a positioning state. Actuator diagnostic device.
4. The link actuation apparatus diagnostic device according to claim 1, wherein each actuator includes an electric servo motor.
In the diagnostic device of the link operation device according to any one of claims 1 to 4,
The operation of applying the preload of the link operating device by the preload applying unit is configured by an element that moves relative to the link operating device by driving the actuator, with the link operating device as an initial posture. A diagnostic device for a link actuating device, which is an operation for applying a force to move toward one side within the play of the even-numbered portion for each of the even-numbered portion.
The link actuating apparatus diagnosis apparatus according to any one of claims 1 to 5, further comprising a storage unit that stores the number of times the determination unit determines that the predetermined range is out of a predetermined range, The said notification part is a diagnostic apparatus of the link actuating device which performs notification different from the said notification, when the frequency | count determined to be out of the said predetermined range exceeds a threshold value.
The link actuating apparatus diagnosis apparatus according to any one of claims 1 to 6, further comprising a storage unit that stores a cycle determined by the determination unit to be out of a predetermined range with respect to the predetermined range, The said notification part is a diagnosis apparatus of the link actuating device which performs notification different from the said notification when the period judged to be out of the said predetermined range becomes shorter than a threshold value.
8. The link operating device diagnosis device according to claim 1, wherein the notification content display means is an operation panel provided on an operation panel for operating the link operating device. Diagnostic equipment.