Link actuation device

Patent metadata

Field	Value
Publication number	US-2016256998-A1
Application number	US-201615157014-A
Country	US
Kind code	A1
Filing date	May 17, 2016
Priority date	Nov 22, 2013
Publication date	Sep 8, 2016
Grant date	—

Abstract

This link actuation device includes: a proximal end side link hub; a distal end side link hub; and three or more link mechanisms which each couple the distal end side link hub to the proximal end side link hub. Each link mechanism includes: proximal side and distal side end link members, and an intermediate link member. The link mechanism is provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub. A workpiece is disposed on the proximal end side link hub, and an end effector is disposed in the distal end side link hub so as to face inside of arrangement of the link hubs and perform work onto the workpiece.

First claim

What is claimed is:

1 . A link actuation device comprising:
a proximal end side link hub; a distal end side link hub; and three or more link mechanisms, each coupling the distal end side link hub to the proximal end side link hub such that a posture of the distal end side link hub is variable relative to the proximal end side link hub, wherein each of the link mechanisms includes: a proximal side end link member having one end thereof rotatably coupled to the proximal end side link hub; a distal side end link member having one end thereof coupled to the distal end side link hub; and an intermediate link member having opposite ends thereof rotatably coupled to other ends of the proximal side end link member and the distal side end link member, respectively, each of the link mechanisms has such a shape that a geometric model of the link mechanism represented by straight lines shows symmetry between a proximal end side portion thereof and a distal end side portion thereof with respect to a center portion of the intermediate link member, two or more link mechanisms among the three or more link mechanisms are each provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub, and an end effector is disposed in one of the proximal end side and distal end side link hubs so as to face inside of arrangement of the proximal end side link hub and the distal end side link hub, and the end effector performs work onto a workpiece disposed on the link hub side opposite to the other of the proximal end side and distal end side link hubs.

2 . The link actuation device as claimed in claim 1 , wherein the workpiece is supported by the link hub that is on the opposite side to the link hub where the end effector is disposed.

3 . The link actuation device as claimed in claim 1 , wherein the workpiece is disposed between the proximal end side link hub and the distal end side link hub.

4 . The link actuation device as claimed in claim 1 , wherein
the end effector is disposed on the distal end side link hub, a work hole which allows the end effector to be inserted therein is provided in the proximal end side link hub, and the end effector inserted in the work hole performs work onto the workpiece which is directly or indirectly supported by the proximal end side link hub and which is located to a proximal end side relative to the proximal end side link hub.

5 . The link actuation device as claimed in claim 1 , wherein the end effector comprises an applicator that applies a liquid substance to a surface of the workpiece.

6 . The link actuation device as claimed in claim 1 , wherein the end effector is a welding torch.

7 . The link actuation device as claimed in claim 1 , wherein the end effector is mounted on a linear motion actuator which advances and retracts along a central axis of the link hub where the end effector is disposed.

8 . The link actuation device as claimed in claim 1 , wherein the link hub that supports the workpiece is provided with a linear motion actuator configured to support the workpiece and to advance and retract along a central axis of such a link hub.

9 . The link actuation device as claimed in claim 1 , wherein the link hub that supports the workpiece is provided with an XY stage which allows the workpiece to move along a plane perpendicular to the central axis of the link hub.

Assignees

• Ntn Toyo Bearing Co Ltd

Inventors

• Isobe Hiroshi
• Sakata Seigo
• Yamada Hiroyuki

Classifications

• B25J9/0048 Primary

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

• B23K31/02

  relating to soldering or welding · CPC title

• B05B13/0431

  with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces · CPC title

• Y10S901/42

  Welding · CPC title

• B23K37/0241

  Attachments between the welding or cutting element and the carriage · CPC title