Working device using parallel link mechanism

Patent metadata

Field	Value
Publication number	US-11072066-B2
Application number	US-201816204777-A
Country	US
Kind code	B2
Filing date	Nov 29, 2018
Priority date	May 30, 2016
Publication date	Jul 27, 2021
Grant date	Jul 27, 2021

Abstract

A working device ( 1 ) using a parallel link mechanism includes: a parallel link mechanism ( 10 ) by which end effectors ( 4, 5 ) are supported so as to be changeable in posture; and posture-controlling actuators ( 11 ) which actuate the parallel link mechanism ( 10 ). In the parallel link mechanism ( 10 ), a distal-end-side link hub ( 13 ) is connected to a proximal-end-side link hub ( 12 ) via three or more link mechanisms ( 14 ) so as to be changeable in posture of the distal-end-side link hub ( 13 ) relative to the proximal-end-side link hub ( 12 ). The end effectors ( 4, 5 ) are mounted to the distal-end-side link hub ( 12 ), and includes one main end effector ( 4 ) which performs a main work on a workpiece ( 3 ) and one or multiple sub end effectors ( 5 ) which perform an auxiliary work on the workpiece ( 3 ).

First claim

What is claimed is:

1. A working device using a parallel link mechanism, the working device being configured to perform a work on a workpiece with use of end effectors,
the working device comprising:
a parallel link mechanism by which the end effectors are supported so as to be changeable in posture; and
posture-controlling actuators configured to actuate the parallel link mechanism, wherein
the parallel link mechanism includes:
a proximal-end-side link hub;
a distal-end-side link hub; and
three or more link mechanisms which are disposed between the proximal-end-side link hub and the distal-end-side link hub, and by which the distal-end-side link hub is connected to the proximal-end-side link hub so that the posture of the distal-end-side link hub relative to the proximal-end-side link hub can be changed,

each link mechanism includes:
a proximal-side end link member having one end rotatably connected to the proximal-end-side link hub;
a distal-side end link member having one end rotatably connected to the distal-end-side link hub; and
a center link member having opposite ends rotatably connected to other ends of the proximal-side and distal-side end link members, respectively,

the posture-controlling actuators are provided to two or more link mechanisms among the three or more link mechanisms, the posture-controlling actuators being configured to arbitrarily change the posture of the distal-end-side link hub relative to the proximal-end-side link hub,
the end effectors are mounted to the distal-end-side link hub and include one main end effector configured to perform a main work on the workpiece and one or a plurality of sub end effectors configured to perform an auxiliary work on the workpiece, and
switching between a state where a work is performed by the main end effector and a state where a work is performed by the one or a plurality of sub end effectors,
wherein when the main end effector performs the work on the workpiece, an axis of a distal end of the main end effector is located at a non-perpendicular angle to a central vertical axis of the workpiece and at a non-perpendicular angle to an axis of a distal end of the one or a plurality of sub end effectors.

2. The working device using the parallel link mechanism as claimed in claim 1 , wherein
the main end effector and each sub end effector are mounted to the distal-end-side link hub, such that the axis of the distal end of the main end effector intersects with an axis of a distal end of each sub end effector at an arbitrary degree angle.

3. The working device using the parallel link mechanism as claimed in claim 1 , wherein
in a case where:
a point, at which an axis of a revolute pair between the proximal-end-side link hub and each proximal-side end link member intersects with an axis of a revolute pair between the proximal-side end link member and the corresponding center link member, is referred to as a proximal-end-side spherical link center; and
a straight line that passes the proximal-end-side spherical link center and that intersects, at a right angle, with the axis of the revolute pair between the proximal-end-side link hub and the proximal-side end link member, is referred to as an axis of the proximal-end-side link hub,

each of the main end effector and the sub end effector is mounted to the distal-end-side link hub, such that an axis of a distal end of the each end effector coincides with the axis of the proximal-end-side link hub in a state where the distal-end-side link hub has a predetermined posture relative to the proximal-end-side link hub.

4. The working device using the parallel link mechanism as claimed in claim 1 , wherein
in a case where:
a point, at which an axis of a revolute pair between the distal-end-side link hub and each distal-side end link member intersects with an axis of a revolute pair between the distal-side end link member and the corresponding center link member, is referred to as a distal-end-side spherical link center; and
a straight line that passes the distal-end-side spherical link center and that intersects, at the right angle, with the axis of the revolute pair between the distal-end-side link hub and the distal-side end link member, is referred to as an axis of the distal-end-side link hub,

the axis of the distal end of the main end effector coincides with the axis of the distal-end-side link hub.

5. The working device using the parallel link mechanism as claimed in claim 1 , wherein
in a case where:
the point, at which an axis of a revolute pair between the proximal-end-side link hub and each proximal-side end link member intersects with an axis of a revolute pair between the proximal-side end link member and the corresponding center link member, is referred to as the proximal-end-side spherical link center;
a straight line that passes the proximal-end-side spherical link center and that intersects, at the right angle, with the axis of the revolute pair between the proximal-end-side link hub and the proximal-side end link member, is referred to as the axis of the proximal-end-side link hub,
a point, at which the axis of the revolute pair between the distal-end-side link hub and each distal-side end link member intersects with an axis of a revolute pair between the distal-side end link member and the corresponding center link member, is referred to as the distal-end-side spherical link center; and
the straight line that passes the distal-end-side spherical link center and that intersects, at the right angle, with the axis of the revolute pair between the distal-end-side link hub and the distal-side end link member, is referred to as an axis of the distal-end-side link hub,

a distance from the proximal-end-side spherical link center to the distal end of the sub end effector, in a state where the axis of the distal end of the sub end effector and the axis of the proximal-end-side link hub coincide with each other, is equal to or shorter than a distance from the proximal-end-side spherical link center to the distal end of the main end effector in a state where the axis of the proximal-end-side link hub and the axis of the distal-end-side link hub coincide with each other.

6. The working device using the parallel link mechanism as claimed in claim 1 , wherein
the proximal-end-side link hub is mounted to a linear motion mechanism including a linear motion actuator with one or more axes.

7. The working device using the parallel link mechanism as claimed in claim 1 , wherein
the main end effector is a welding torch, and the sub end effector is a heating device.

Assignees

• Ntn Toyo Bearing Co Ltd

Inventors

• Konagai Naoya
• Isobe Hiroshi

Classifications

• B25J9/0048 Primary

  with kinematics chains of the type rotary-rotary-rotary · CPC title

• F16H21/48

  for conveying rotary motions · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• F16H21/54

  for conveying or interconverting oscillating or reciprocating motions · CPC title

• B25J15/0019

  End effectors other than grippers · CPC title