JP7260987B2 - Dual-arm work device - Google Patents

Description

The present invention relates to the configuration of a dual-arm working device used for equipment that requires high-speed, high-precision and detailed work such as assembly, such as medical equipment and industrial equipment, and for robots that coexist with humans.

For example, Patent Document 1 discloses a dual-arm working device. The working device of Patent Document 1 has a configuration with six degrees of freedom as a whole by combining six mechanisms each having one degree of freedom in rotation.

Japanese Patent No. 4528312

However, the dual-arm working device of Patent Document 1 has the following problems.
Since everything is composed of a combination of 1 rotational degrees of freedom, even if the posture of the end effector mounted on the tip is slightly changed, it is necessary to move a certain joint greatly, or to move the entire arm by coordinating multiple motors. . Therefore, detailed work could not be performed at high speed. In addition, since the entire arm moves greatly, it is likely to come into contact with surrounding objects, and it is necessary to provide a large enclosure (large occupied area). In addition, the arms (dual-arm working device) are likely to interfere with each other, and knowledge and experience are required to operate the arms so that they do not come into contact with each other.

In addition, there are multiple solutions (combinations of multiple joint angles) for one posture of the working body (end effector), and even if each axis is moved during teaching, the tip will move in any direction. It's hard to imagine how to move. For this reason, knowledge and experience were required for operation. Also, since the movable range is wide, a mechanism for avoiding contact with objects is required. For this reason, there are problems such as the cost of the entire apparatus, the need to reduce the speed of the work, and the need to limit the range of operation to perform the work.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a double-arm working device that does not easily interfere with each other while securing a wide working space.

In order to achieve the above object, the dual-arm working device of the present invention has two working devices that perform work using an end effector mounted at the tip thereof and are arranged side by side so as to be geometrically symmetrical. It is a dual-arm work device. The working device includes a linear motion unit that combines linear motion actuators of one axis or multiple axes, and a rotation unit that combines a rotation mechanism having one or more rotational degrees of freedom. The end effector is mounted on the output section of the rotating unit. The linear motion actuator has a drive source and a slide member that moves relative to the guide member by the power of the drive source. A slide member of the linear motion actuator on the output side of the linear motion unit is fixed to a frame or a slide member of another linear motion actuator. The rotary unit is installed at an arbitrary angle with respect to the guide member of the linear motion actuator on the output side of the linear motion unit.

Here, "the linear motion actuator on the output side of the linear motion unit" refers to the linear motion actuator to which the rotary unit is attached. For example, when the linear motion unit is composed of a single-axis linear motion unit, the slide member of the linear motion actuator on the output side of the linear motion unit is fixed to the base. Further, when the linear motion unit is composed of a combination of linear motion actuators with a plurality of axes, the slide member of the linear motion actuator on the output side of the linear motion unit is fixed to the slide member of the other linear motion actuator. .

According to this configuration, the slide member of the linear motion actuator on the output side to which the rotation unit is attached constitutes the fixed portion, and the guide member constitutes the movable portion. Therefore, the guide member, which occupies most of the volume of the linear motion actuator, moves in conjunction with the rotating unit. As a result, the work space can be widened. In addition, it becomes difficult for the working devices arranged symmetrically to come into contact with each other, and it becomes difficult for the direct-acting actuator to come into contact with other components and workpieces. Therefore, it becomes easy to set the operation of the working device. Furthermore, since the rotary unit and the linear motion unit are provided separately, parts can be shared, for example, only one unit can be changed according to the specifications.

In the present invention, the linear motion unit is composed of three linear motion actuators, first to third, the third linear motion actuator constitutes the linear motion actuator on the output side of the linear motion unit, and the first The guide member of the linear motion actuator is fixed to the base, the guide member of the second linear motion actuator is fixed to the slide member of the first linear motion actuator, and the slide member of the third linear motion actuator is fixed to It may be fixed to the slide member of the second linear actuator, and the rotating unit may be fixed to the guide member of the third linear actuator.

According to this configuration, the position of the end effector is determined mainly by the linear motion unit with three degrees of freedom, and the posture of the end effector is determined by the rotation unit with three degrees of freedom. Since each linear motion actuator of the linear motion unit and each rotation mechanism of the rotation unit correspond to the position and orientation of the end effector expressed in the orthogonal coordinate system, each linear motion actuator and each rotation relative to the position and orientation of the end effector It is easy to imagine the operation of the mechanism, and it is easy to set operation patterns such as posture teaching work. Further, the operating position of each linear actuator and the operating angle of each rotating mechanism are uniquely determined with respect to the position and orientation of the end effector. That is, it has no singularity. For these reasons, the work device can be operated even without skilled knowledge and experience.

Further, when performing detailed work such as assembly work, the work can be performed mainly by moving only the rotating unit. Therefore, the movement amount of the linear motion unit is small, and the movable range of the entire device is reduced. As a result, it is possible to narrow the area where the mechanism for avoiding contact with an object is provided. Furthermore, since linear actuators are used in parts that greatly affect the range of motion, the range of motion can be easily limited using mechanical stoppers and limit sensors according to the work content and the surrounding environment.

In addition, since the position of the end effector is determined by the linear motion actuator, the linear motion of the end effector can be performed accurately at high speed. Moreover, an enclosure such as a cover can be installed in a simple shape such as a rectangular parallelepiped. In that case, the volume of the internal space of the enclosure and the volume of the region in which the movable part of the device moves can be approximately equal. Therefore, a compact configuration can be realized even if the enclosure for avoiding contact is included.

In this case, each of the first to third direct acting actuators may be arranged such that the slide member faces outward with respect to a work space in which work is performed by the end effector. Here, "the slide member faces outward with respect to the work space" means that the mounting surface of the slide member to which each member is mounted faces the side opposite to the work space. According to this configuration, the work space is widened, and it is easy to avoid contact with objects.

In this invention, the drive source of the linear motion actuator on the output side of the linear motion unit may be arranged on the slide member. According to this configuration, since the drive source is provided in the slide member, which is the fixed portion, the weight of the movable portion can be reduced. As a result, it is possible to reduce the capacity of the output-side direct-acting actuator, thereby making it possible to reduce the size of the entire device and achieve high-speed operation. Further, since the drive source is arranged on the slide member, which is the fixed portion, wiring to the drive source can be easily routed.

In the present invention, an additional end effector different from the end effector may be mounted on the guide member of the linear motion actuator on the output side of the linear motion unit. According to this configuration, an end effector that performs work only by linear motion and an end effector that performs work by combining linear motion and rotary motion can be installed in one work device. As a result, the end effector can be selected according to the characteristics of the work, thereby improving the accuracy and efficiency of the work. For example, extraction/attachment of parts, insertion of parts, press-fitting, etc., can be performed using only linear motion.

Since the linear motion unit needs to move the rotary unit, a drive source larger than that of the rotary unit is used. Therefore, the weight capacity of the linear motion unit is larger than that of the rotary unit. Therefore, the additional end effector installed in the linear motion unit can perform relatively heavy-load work such as press-fitting.

In this case, the rotating unit may be arranged such that the entire rotating unit is positioned above the lowermost surface of the additional end effector when the posture is changed from the original posture. According to this configuration, the rotating unit is less likely to come into contact with the work when performing work with the additional end effector.

In the present invention, in the rotating unit, at least one of the plurality of rotating mechanisms is a two-degree-of-freedom link actuating device, and the link actuating device has a link hub on the distal end side with respect to a link hub on the proximal end side. Three or more sets of link mechanisms are connected so as to be able to change their posture, and each of the link mechanisms includes a proximal end link member having one end rotatably connected to the proximal link hub; A distal end link member having one end rotatably connected to a distal link hub, and a center having both ends rotatably connected to the other ends of the proximal and distal end link members, respectively. and a link member, and causes two or more link mechanisms out of the three or more link mechanisms to arbitrarily change the attitude of the link hub on the distal end side with respect to the link hub on the proximal end side. may be provided.

According to this configuration, the link actuating device includes a proximal link hub, a distal link hub, and three or more sets of link mechanisms, and the distal link hub is orthogonal to the proximal link hub. A two-degree-of-freedom mechanism that can freely rotate about two axes is constructed. This two-degree-of-freedom mechanism is compact, but allows a wide movable range of the link hub on the tip side. For example, the maximum value of the bending angle between the center axis of the link hub on the proximal side and the center axis of the link hub on the distal side is about ±90°. It can be set in the range of 0° to 360°. In addition, smooth operation without singular points is possible in the operation range of a bending angle of 90° and a turning angle of 360°.

As described above, by using the link actuating device that has a wide movable range and is capable of smooth operation, it is possible to perform detailed work at high speed. For example, if you want to slightly change the posture of the wrist joint, it is necessary to move a part of the wrist joint of a general vertical multi-joint robot greatly, or to move the entire arm by coordinating multiple motors. so it slows down. However, in the above configuration, the link actuating device can move in the shortest distance, so smooth and quick operation can be realized. In addition, since the link actuating device has a wide movable range while having a compact structure, the working device as a whole has a compact structure.

In this case, the central axis of the link hub on the base end side or the central axis of the link hub on the distal end side and the central axis of the rotation mechanism other than the link actuating device may be located on the same line.

Here, "the center axis of the base end link hub" is perpendicular to the center axis of each rotation pair of the base end link hub and the base end link member that passes through the center of the base end spherical link. "Center axis of the link hub on the tip side" means a line that passes through the center of the spherical link on the tip side and is perpendicular to the center axis of each rotation pair of the link hub on the tip side and the end link member on the tip side. A straight line that intersects. In addition, the "base end spherical link center" means the center axis of each rotation pair of the base end link hub and the base end link member, and the center axis of the base end link member and the center link member. Refers to the point where the central axes of each rotating pair intersect, and "the center of the spherical link on the tip side" is the center axis of each rotating pair of the link hub on the tip side and the end link member on the tip side and the end on the tip side. The point at which the central axes of the rotational pairs of the link member and the central link member intersect.

According to this configuration, since the center axis of the link hub and the rotation axis of the rotation mechanism other than the link actuating device are located on the same line, coordinate calculation is facilitated. In addition, since the operator can easily imagine the operation of the working device, the operator can easily operate the device. For example, the position of 3 degrees of freedom determined by the linear motion unit is fixed, the angle of 2 degrees of freedom among the angles of 3 degrees of freedom determined by the rotation unit is fixed, and the angle of the remaining 1 degree of freedom (for example, , the angle around the central axis of the link hub on the tip side) can be changed to change the posture of the end effect while working.

When the rotating unit is a link actuating device with two degrees of freedom, a rotating mechanism other than the link actuating device is provided on the base end side of the link actuating device, and the end effector is provided on the distal end side of the link actuating device. may be provided. According to this configuration, for example, since it is necessary to consider the cable for the attitude control actuator of the link actuating device, the rotation angle is limited, but the load on the link actuating device can be reduced, so the link actuating device can be made compact. can be made smaller and lighter. Further, the link actuating device has a configuration of a constant velocity universal joint in which the proximal side and the distal side rotate at the same rotation angle and constant velocity when rotation is transmitted from the proximal side to the distal side. Therefore, the coordinated control of the link actuating device and other rotating mechanisms facilitates the work of changing the attitude of the end effect by the angle about the central axis of the link hub on the tip side.

In this case, the two or more attitude control actuators of the link actuating device are arranged on a circle around the central axis of the link hub on the base end side, and the center of the attitude control actuators arranged on the circumference is The portion may be provided with the other rotating mechanism, and the other rotating mechanism may rotate the link actuating device around the central axis of the link hub on the base end side. According to this configuration, another rotating machine is provided at the center of the drive source of the link actuating device, so that the rotating unit has a compact configuration.

According to the dual-arm working device of the present invention, interference between the working devices can be suppressed while securing a wide working space.

1 is a front view of a dual-arm working device according to a first embodiment of the present invention; FIG. It is a front view of the direct-acting unit of the working device. It is a top view of the linear motion unit. It is a front view of the rotating unit of the same working device. It is a top view of the same rotation unit. FIG. 5 is a front view of a dual-arm working device according to a second embodiment of the present invention; FIG. 4 is a partial cross-sectional view of a rotation unit of the working device; FIG. 10 is a partial cross-sectional view of another rotating unit of the working device; FIG. 4 is a perspective view of a parallel link mechanism of the link actuating device of the same rotating unit; It is a perspective view of a different state of the same parallel link mechanism. It is sectional drawing explaining the rotation pair part of the center link member with respect to the end part link member of the base end side of the same parallel link mechanism, and the link hub of the base end side. It is the figure which expressed one link mechanism of the same link actuation device with a straight line. FIG. 11 is a front view of a dual-arm working device according to a third embodiment of the present invention; FIG. 4 is a partial cross-sectional view of a drive mechanism portion of a rotation unit of the working device; FIG. 10 is a cross-sectional view for explaining a rotation pair portion of a central link member and a proximal side link hub with respect to a proximal side end link member of a parallel link mechanism of a link actuating device of the same rotary unit; FIG. 10 is a cross-sectional view of a modification of the rotating unit of the working device; FIG. 11 is a front view of a dual-arm working device according to a fourth embodiment of the present invention; It is a front view of the direct-acting unit of the working device. It is explanatory drawing of the same direct-acting unit. It is a front view of the modification of the direct-acting unit of the same working apparatus. FIG. 11 is a front view of a dual-arm working device according to a fifth embodiment of the present invention; FIG. 4 is a front view showing a state in which the posture of the rotating unit of the working device is different;

Preferred embodiments of the present invention will be described below with reference to the drawings.
1 to 3B show a dual-arm working device according to a first embodiment of the present invention. As shown in FIG. 1, in the dual-arm working device of the present invention, a pair of working devices 1, 1 are arranged side by side so as to be geometrically symmetrical. Each working device 1 , 1 is supported by a frame 2 . The gantry 2 has a horizontal portion 2a that extends substantially horizontally with the ground G, and two pillars 2b that connect the horizontal portion 2a and the ground G, and forms a gate-shaped gantry 2 as a whole. Each work device 1, 1 is attached to a horizontal portion 2a of a frame 2. As shown in FIG.

Each work device 1 includes a linear motion unit 3 fixed to a frame 2 , a rotation unit 4 fixed to the linear motion unit 3 , and an end effector 5 mounted on the output portion (tip) of the rotation unit 4 . ing. A work table 6 is installed inside the gate-shaped frame 2, and a work 7 is placed on the work table 6. As shown in FIG. The end effector 5 works on this work 7 . The end effector 5 may work in contact with the workpiece 7 or may work in a non-contact manner. Work on the workpiece 7 by the end effector 5 is possible within the working space S.

The linear motion unit 3 of this embodiment has a three-degree-of-freedom configuration in which three linear motion actuators are combined. Further, the rotating unit 4 has a three-degree-of-freedom configuration in which three rotating mechanisms each having one degree of rotational freedom are combined. Therefore, the working device 1 of this embodiment has a configuration with six degrees of freedom as a whole. However, the linear motion unit 3 is not limited to this, and may be a combination of one-axis or multiple-axis linear motion actuators. Moreover, the rotating unit 4 is not limited to this, either, and may be a combination of rotating mechanisms having one or more rotational degrees of freedom. Accordingly, the work device 1 is also not limited to a six-degree-of-freedom configuration.

2A is a front view of the linear motion unit 3, and FIG. 2B is a plan view of the linear motion unit 3. FIG. The linear motion unit 3 includes a first linear motion actuator 11 , a second linear motion actuator 12 and a third linear motion actuator 13 . In the linear motion actuators 11 to 13 of this embodiment, rotary motion of the drive source is converted into linear motion by a ball screw mechanism (not shown) comprising a screw shaft, nuts, balls, and the like. More specifically, each linear motion actuator 11, 12, 13 includes motors 11a, 12a, 13a as drive sources, slide tables 11b, 12b, 13b connected to the nuts (not shown), and slide table 11b. , 12b and 13b so as to be relatively movable.

That is, the slide tables 11b, 12b, and 13b constitute slide members 11b, 12b, and 13b that move relative to guide members (guides 11c, 12c, and 13c) by the power of motors (driving sources) 11a, 12a, and 13a. . In this embodiment, guides 11c and 12c movably guide slide members 11b and 12b, and guide 13c moves relative to slide member 13b. However, the linear motion actuator is not limited to the ball screw mechanism, and may be, for example, a belt pulley mechanism.

In this embodiment, the first direct-acting actuator 11 is fixed to the horizontal portion 2a of the base 2, and the slide table 11b advances and retreats in the left-right direction (X-axis direction). The second linear actuator 12 is installed on the slide table 11b of the first linear actuator 11, and the slide table 12b advances and retreats in the front-rear direction (Y-axis direction). The third linear actuator 13 is installed on the slide table 12b of the second linear actuator 12, and the guide 13c advances and retreats in the vertical direction (Z-axis direction).

In this embodiment, the directions of the axial centers C1, C2 and C3 of the motors 11a, 12a and 13a are parallel to the advancing and retreating directions (X-axis direction, Y-axis direction and Z-axis direction) of the slide tables 11b, 12b and 13b. ing. In this embodiment, motors 11a, 12a and 13a are attached to guides 11c, 12c and 13c in the first to third linear actuators 11, 12 and 13, respectively.

The guides 11c, 12c, 13c in this embodiment have guide rails extending along the advance and retreat directions (X-axis direction, Y-axis direction, Z-axis direction), and the volume of the linear motion actuators 11, 12, 13 accounts for the majority of The slide tables 11b, 12b and 13b are movably supported by guides 11c, 12c and 13c. The structures of slide tables 11b, 12b, 13b and guides 11c, 12c, 13c are not limited to this embodiment.

In this embodiment, the guide 12c of the second linear motion actuator 12 is fixed to the slide table 11b of the first linear motion actuator 11 via the first connecting fixing member . Further, the slide table 13b of the third linear motion actuator 13 is fixed to the slide table 12b of the second linear motion actuator 12 via the second connecting fixing member 15. As shown in FIG.

Specifically, the first connecting fixing member 14 is made of a steel flat plate and is connected to the upper end of the slide table 11b of the first direct-acting actuator 11 by bolts. A guide 12 c of the second direct acting actuator 12 is bolted to the top surface of the first connecting fixing member 14 .

The second connecting/fixing member 15 is formed by bending a metal sheet 90 degrees to have an L-shaped longitudinal section. That is, the second connecting fixing member 15 has a first portion 15a having a principal surface in the vertical direction (Z-axis direction) and a second portion 15b having a principal surface in the horizontal direction (X-axis direction). . The upper end of the slide table 12b of the second linear motion actuator 12 is bolted to the first portion 15a of the second connection fixing member 15, and the second portion 15b of the second connection fixing member 15 is connected to the third linear motion actuator 13. is bolted to the slide table 13b. However, the guide 12c and the slide table 13b may be fixed directly to the slide tables 11b and 12b without the connecting fixing members 14 and 15 interposed therebetween.

The linear actuators 11, 12, 13 are electric actuators driven by motors 11a, 12a, 13a. The slide tables 11b, 12b, 13b of the respective linear motion actuators 11, 12, 13 are arranged so as to face outward with respect to the work area S. As shown in FIG. Here, "the slide tables 11b, 12b, and 13b face the outside with respect to the work space S" means that the mounting surfaces of the slide tables 11b, 12b, and 13b to which the respective members are mounted face the side opposite to the work space S. Say things.

Specifically, the mounting surface of the slide table 11b to which the guide 12c (the first connecting and fixing member 14) is mounted faces the upper side opposite to the work space S. As shown in FIG. Further, the mounting surface of the slide table 12b to which the slide table 13b (the second connecting and fixing member 15) is mounted faces the upper side opposite to the work space S. As shown in FIG. Further, the mounting surface of the slide table 13b to which the slide table 12b (the second connecting and fixing member 15) is mounted faces outward in the X-axis direction opposite to the work space S. However, the slide tables 11b, 12b, and 13b may be arranged to face the work space S inward.

The third linear actuator 13 constitutes the linear actuator on the output side of the linear actuator 3 . Here, "the linear motion actuator on the output side of the linear motion unit 3" refers to the linear motion actuator to which the rotation unit 4 is attached. That is, the rotation unit 4 is fixed to the guide 13c of the third direct acting actuator 13. As shown in FIG. Specifically, the rotation unit 4 is installed at an arbitrary angle with respect to the guide 13c of the third direct acting actuator 13 via the rotation unit mounting member 20. As shown in FIG. The installation angle of the rotating unit 4 is arbitrarily set by adjusting the shape of the rotating unit mounting member 20 . In this embodiment, the rotation unit 4 is installed in a state inclined by 45° with respect to the guide 13c of the third direct acting actuator 13. As shown in FIG.

3A and 3B are a front view and a plan view of the rotating unit 4. FIG. The rotation unit 4 includes a first rotation mechanism 21 attached to a rotation unit attachment member 20, a second rotation mechanism 22 attached to a rotation portion 21a of the first rotation mechanism 21, and a second rotation mechanism 22. and a third rotating mechanism 23 attached to the rotating portion 22a of the. The rotation axes 21b, 22b, 23b of the first to third rotation mechanisms 21, 22, 23 are orthogonal to each other. Rotation drive sources of the rotation mechanisms 21, 22, 23 are, for example, motors 21c, 22c, 23c.

The end effector 5 is attached to the rotating portion 23 a of the third rotating mechanism 23 . That is, the rotating portion 23a of the third rotating mechanism 23 constitutes the output portion of the rotating unit 4 to which the end effector 5 is attached.

The operation of this work device 1 will be described.
According to this configuration, the position of the end effector 5 is mainly determined by the linear motion unit 3 with three degrees of freedom, and the posture of the end effector 5 is determined by the rotation unit 4 with three degrees of freedom. Since each of the linear motion actuators 11, 12, 13 of the linear motion unit 3 and each of the rotation mechanisms 21, 22, 23 of the rotation unit 4 corresponds to the position and attitude of the end effector 5 represented by the orthogonal coordinate system, the end It is easy to imagine the operations of the linear actuators 11, 12, 13 and the rotary mechanisms 21, 22, 23 with respect to the position and attitude of the effector 5, and it is easy to set the operation patterns for attitude teaching work.

Also, the linear motion actuators 11, 12,
The operating position of 13 and the operating angle of each rotating mechanism 21, 22, 23 are uniquely determined. That is, it has no singularity. From these, when teaching, it is easy to imagine in what direction the tip moves when each axis is moved. Therefore, the work device 1 can be operated without skilled knowledge or experience.

Also, when performing detailed work such as assembly work, the work can be performed by mainly moving only the rotating unit 4 . Therefore, the amount of movement of the direct-acting unit 3 is small, and the movable range of the entire device is reduced. As a result, it is possible to narrow the area where the mechanism for avoiding contact with an object is provided. Furthermore, since the direct acting actuators 11, 12, and 13 are used in portions that greatly affect the movable range, the movable range can be easily limited using mechanical stoppers and limit sensors according to the work content and the surrounding environment.

Further, since the position of the end effector 5 is determined by the linear motion actuators 11, 12, 13, the linear motion of the end effector 5 can be performed accurately at high speed. Moreover, an enclosure such as a cover can be installed in a simple shape such as a rectangular parallelepiped. In that case, the volume of the internal space of the enclosure and the volume of the region in which the movable part of the device moves can be approximately equal. Therefore, a compact configuration can be realized even if the enclosure for avoiding contact is included.

Since the linear motion actuators 11, 12, 13 of the linear motion unit 3 are arranged to face outward with respect to the work space S, the work space S can be widened and contact with objects can be avoided. easy to let

According to the above configuration, the slide table 13b of the third direct acting actuator 13 to which the rotation unit 4 is attached constitutes the fixed portion, and the guide 13c constitutes the movable portion. Therefore, the guide 13 c that occupies most of the volume of the third direct acting actuator 13 moves together with the rotation unit 4 . As a result, the work space S can be widened. In addition, it becomes difficult for the working devices 1, 1 arranged symmetrically to come into contact with each other, and it becomes difficult for the third direct-acting actuator 13 to come into contact with other components and the workpiece 7. FIG. Therefore, the operation setting of the working device 1 is facilitated.

Furthermore, since the rotary unit 4 and the direct-acting unit 3 are provided separately, it is possible to standardize parts, for example, it is possible to change only one of the units according to the specifications. For example, the rotary unit 4 can be changed from the form shown in FIGS. 3A and 3B to the form shown in FIG. 5, the form shown in FIG. 12, the form shown in FIG. 14, and the like. As a result, it is possible to share parts between the working devices 1 having different specifications.

In this embodiment, the rotation unit 4 is installed at the lower end of the guide 13c of the third direct acting actuator 13 via the rotation unit connecting member 20, but other than the guide 13c of the third direct acting actuator 13 You may install the rotation unit 4 in a place.

In this embodiment, two working devices 1, 1 with 6 degrees of freedom are arranged so as to be geometrically symmetrical. However, depending on the application, a linear motion actuator, a rotation mechanism, or the like may be added separately in order to add the degree of freedom of the working device 1. Further, a part of the linear motion actuator and the rotation mechanism configured in this embodiment may be used. may be excluded.

In this embodiment, the third linear actuator 13 constitutes the linear actuator on the output side of the linear actuator 3, and its slide table 13b is fixed to the slide table 12b of the second linear actuator 12. . However, when the linear motion unit 3 is composed of a one-axis linear motion unit, the guide member of the linear motion actuator 3 on the output side of the linear motion unit 3 is fixed to the base 2 .

4-10 show a second embodiment of the invention.
As shown in FIG. 4, the rotating unit 4 of each working device 1 of this dual-arm working device is composed of a first rotating mechanism 21, which is a rotating mechanism with one degree of freedom, and a link actuating device 29 with two degrees of freedom. and a second rotating mechanism. That is, the second rotating mechanism 22 and the third rotating mechanism 23 in the embodiment of FIG. 1 are replaced with the link actuating device 29 . Other configurations are the same as those of the first embodiment. The first rotating mechanism 21 constitutes "another rotating mechanism other than the link actuating device 29".

As shown in FIG. 5 , the link actuating device 29 has a parallel link mechanism 30 and an attitude control actuator 31 that actuates the parallel link mechanism 30 . 7 and 8 are perspective views showing only the parallel link mechanism 30, showing different states. As shown in FIGS. 6 to 8, in the parallel link mechanism 30, a link hub 33 on the distal end side is connected to a link hub 32 on the proximal end side through three sets of link mechanisms 34 so that the posture can be changed. . In FIG. 6, only one set of linkages 34 is shown. The number of link mechanisms 34 may be four or more.

Each link mechanism 34 has an end link member 35 on the base end side, an end link member 36 on the tip end side, and a center link member 37, and constitutes a four-bar linkage link mechanism composed of four rotating pairs. there is The end link members 35 and 36 on the proximal side and the distal side have an L-shape, and one end thereof is rotatably connected to the link hub 32 on the proximal side and the link hub 33 on the distal side, respectively. Both ends of the central link member 37 are rotatably connected to the other ends of the proximal and distal end link members 35 and 36, respectively.

The parallel link mechanism 30 has a structure in which two spherical link mechanisms are combined. The central axis of each rotational pair of the proximal side link hub 32 and the proximal side end link member 35 and each rotational pair of the proximal side end link member 35 and the central link member 37 is aligned with the proximal side. They intersect at the spherical link center PA (Fig. 5). Similarly, the central axis of each rotating pair of the tip-side link hub 33 and the tip-side end link member 36, and each rotating pair of the tip-side end link member 36 and the center link member 37 is the tip-side spherical surface. They intersect at the link center PB (Fig. 5).

In addition, the distance from each rotation pair of the base end link hub 32 and the base end link member 35 and the base end spherical link center PA is the same, and the base end link member 35 and the base end link member 35 Each rotation pair of the central link member 37 and the distance from the proximal side spherical link center PA are also the same. Similarly, the distance from each rotating pair of the tip-side link hub 33 and the tip-side end link member 36 and the tip-side spherical link center PB is the same, and the tip-side end link member 36 and the center link member are the same. The distance from each rotational pair of 37 and the center PB of the spherical link on the tip side is also the same.

Here, "the distance from the rotational pair and the center of the spherical link" means the distance between the center of the length along the central axis of the rotational pair and the center of the spherical link. The central axis of each rotational pair between the end link member 35 and the central link member 37 on the proximal side and the central axis of each rotational pair between the end link member 36 and the central link member 37 on the distal side form a crossing angle. It may have γ (Fig. 5) or may be parallel.

FIG. 9 is a cross-sectional view for explaining the rotational pair of the center link member and the base end link hub with respect to the base end link member in FIG. 5 . In the figure, the central axis O1 of each rotational pair of the link hub 32 on the proximal side and the end link member 35 on the proximal side, and the rotational pair of the central link member 37 and the end link member 35 on the proximal side are shown. The relationship between the central axis O2 and the spherical link center PA on the base end side is shown. That is, the point where the central axis O1 and the central axis O2 intersect is the spherical link center PA. The shape and positional relationship of the link hub 33 on the tip side and the end link member 36 on the tip side are also the same as in FIG. 9 (not shown). In the illustrated example, the center axis O1 of each rotational pair between the link hub 32 (33) and the end link member 35 (36) and the rotational pair between the end link member 35 (36) and the central link member 37 Although the angle α formed with the central axis O2 is 90°, the angle α may be other than 90°.

The three sets of link mechanisms 34 are geometrically identical. The geometrically identical shape is represented by a geometric model in which each link member 35, 36, 37 is represented by a straight line, that is, each rotational pair and a straight line connecting these rotational pairs, as shown in FIG. It means that the model has a shape in which the proximal side portion and the distal side portion with respect to the central portion of the central link member 37 are symmetrical. FIG. 10 is a diagram representing a set of link mechanisms 34 in straight lines.

The parallel link mechanism 30 of this embodiment is of a rotationally symmetrical type. In other words, the positions of the proximal side portion composed of the proximal side link hub 32 and the proximal side end link member 35 and the distal side portion composed of the distal side link hub 33 and the distal side end link member 36 The relationship is rotationally symmetrical with respect to the center line C of the central link member 37 . A central portion of each central link member 37 is positioned on a common orbital circle D. As shown in FIG.

A link hub 32 on the proximal side, a link hub 33 on the distal side, and three sets of link mechanisms 34 provide two freedoms in which the link hub 33 on the distal side is rotatable about two orthogonal axes with respect to the link hub 32 on the proximal side. A degree mechanism is configured. In other words, the link hub 33 on the distal end side can be rotated with two degrees of freedom and the posture can be freely changed with respect to the link hub 32 on the proximal end side. This two-degrees-of-freedom mechanism is compact, but allows a wide movable range of the link hub 33 on the distal side with respect to the link hub 32 on the proximal side.

For example, a straight line that passes through the base-side spherical link center PA and perpendicularly intersects the central axis O1 (FIG. 9) of each rotation pair of the base-side link hub 32 and the base-side end link member 35 is the base end. The central axis QA of the link hub 32 on the side. Similarly, a straight line that passes through the center PB of the spherical link on the tip side and perpendicularly intersects the center axis O1 (FIG. 9) of each rotation pair of the link hub 33 on the tip side and the end link member 36 on the tip side is defined as the link on the tip side. It is assumed that the center axis of the hub 33 is QB.

In this case, the maximum value of the bending angle θ (FIG. 10) between the center axis QA of the link hub 32 on the base end side and the center axis QB of the link hub 33 on the tip end side can be about ±90°. Further, the turning angle φ (FIG. 10) of the link hub 33 on the distal end side with respect to the link hub 32 on the proximal end side can be set within the range of 0° to 360°. The bending angle θ is a vertical angle at which the central axis QB of the link hub 33 on the distal end side is inclined with respect to the central axis QA of the link hub 32 on the proximal side. The turning angle φ is a horizontal angle at which the central axis QB of the link hub 33 on the distal side is inclined with respect to the central axis QA of the link hub 32 on the proximal side.

The posture of the link hub 33 on the front end side relative to the link hub 32 on the base end side is changed with the intersection O between the center axis QA of the link hub 32 on the base end side and the center axis QB of the link hub 33 on the front end side as the center of rotation. will be 7 shows a state in which the central axis QA of the link hub 32 on the proximal side and the central axis QB of the link hub 33 on the distal side are on the same line, and FIG. 8 shows the central axis QA of the link hub 32 on the proximal side. 2 shows a state in which the center axis QB of the link hub 33 on the tip end side takes a predetermined operating angle. Even if the posture changes, the distance L (FIG. 10) between the spherical link center PA on the base end side and the spherical link center PB on the distal end side does not change.

If each link mechanism 34 satisfies the following conditions, due to geometric symmetry, the proximal side portion consisting of the proximal side link hub 32 and the proximal side end link member 35 , and the distal side link hub 33 . and distal end link members 36 move in the same manner. Therefore, when the rotation is transmitted from the proximal side to the distal side, the parallel link mechanism 30 functions as a constant velocity universal joint in which the proximal side and the distal side have the same rotation angle and rotate at a constant speed.

Condition 1: The angles and lengths of the central axes O1 of the rotational pairs of the link hubs 32, 33 and the end link members 35, 36 in each link mechanism 34 are equal on the proximal side and the distal side.
Condition 2: On the proximal side and the distal side, the central axis O1 of the rotational pair between the link hubs 32, 33 and the end link members 35, 36 and the rotational pair between the end link members 35, 36 and the central link member 37 The center axis O2 intersects at the spherical link centers PA and PB.

Condition 3: The geometric shapes of the proximal end link member 35 and the distal end link member 36 are the same.
Condition 4: The geometric shapes of the proximal side portion and the distal side portion of the central link member 37 are equal.
Condition 5: The angular positional relationship between the central link member 37 and the end link members 35 and 36 with respect to the plane of symmetry of the central link member 37 is the same on the proximal side and the distal side.

As shown in FIGS. 5, 7 and 8, the link hub 32 on the base end side has a base end member 40 and three rotating shaft connecting members 41 provided integrally with the base end member 40. As shown in FIGS. are doing. As shown in FIG. 9, the base end member 40 has a circular through hole 40a in the central portion, and three rotating shaft connecting members 41 are arranged around the through hole 40a at equal intervals in the circumferential direction. there is The center of the through hole 40a is located on the central axis QA (FIG. 5) of the link hub 32 on the base end side. A rotating shaft 42 is rotatably connected to each rotating shaft connecting member 41 . The axis of the rotating shaft 42 intersects the central axis QA of the link hub 32 on the base end side. One end of the proximal end link member 35 is connected to the rotating shaft 42 .

As shown in FIG. 9, the rotary shaft 42 is rotatably supported by the rotary shaft connecting member 41 via two bearings 43 . The bearing 43 is, for example, a ball bearing such as a deep groove ball bearing or an angular ball bearing. These bearings 43 are installed in an inner diameter hole 44 provided in the rotary shaft connecting member 41 in a fitted state and fixed by a method such as press-fitting, adhesion, or crimping. The same applies to the types and installation methods of bearings provided in other rotating pairs.

One end of the end link member 35 on the base end side and a fan-shaped bevel gear 45 (to be described later) are connected to the rotating shaft 42 . One end of the end link member 35 on the base end side and the fan-shaped bevel gear 45 rotate integrally with the rotating shaft 42 . Specifically, a notch 46 is formed at one end of the end link member 35 on the base end side, and both sides of the notch 46 are an inner rotation shaft support portion 47 and an outer rotation shaft support portion 48 . is formed. A rotating shaft connecting member 41 is arranged between the inner and outer rotating shaft support portions 47 and 48 . The bevel gear 45 is arranged in contact with the inner surface of the rotating shaft support portion 47 on the inner side.

The rotary shaft 42 is arranged from the inside through a through hole formed in the bevel gear 45, a through hole formed in the inner rotary shaft support portion 47, an inner ring of the bearing 43, and a through hole formed in the outer rotary shaft support portion 48. , and the threaded portion 42 b of the rotating shaft 42 is screwed to the nut 50 . In this state, the bevel gear 45, the inner and outer rotating shaft support portions 47 and 48, and the inner ring of the bearing 43 are sandwiched between the head portion 42a of the rotating shaft 42 and the nut 50 and are connected to each other. A spacer 51 is interposed between the inner rotating shaft support portion 47 and the bearing 43 , and a spacer 52 is interposed between the outer rotating shaft support portion 48 and the bearing 43 . As a result, preload is applied to the bearing 43 when the nut 50 is screwed.

A rotary shaft 55 is coupled to the other end of the end link member 35 on the base end side. The rotating shaft 55 is rotatably connected to one end of the central link member 37 via two bearings 53 . Specifically, a notch 56 is formed at the other end of the end link member 35 on the proximal side, and the notch 56
An inner rotary shaft support portion 57 and an outer rotary shaft support portion 58 are formed on both sides of the . One end of the central link member 37 is arranged between the inner and outer rotating shaft support portions 57 and 58 .

The rotating shaft 55 is inserted through the through hole formed in the outer rotating shaft support portion 58, the inner ring of the bearing 53, and the through hole formed in the inner rotating shaft support portion 57 in this order from the outside. The portion 55b is screwed onto the nut 60. As shown in FIG. In this state, the head portion 55a of the rotating shaft 55 and the nut 60 sandwich the inner rotating shaft supporting portion 57, the outer rotating shaft supporting portion 58, and the inner ring of the bearing 53 and are connected to each other. A spacer 61 is interposed between the inner rotating shaft support portion 57 and the bearing 53 , and a spacer 62 is interposed between the outer rotating shaft support portion 58 and the bearing 53 . Thereby, a preload is applied to the bearing 53 when the nut 60 is screwed.

As shown in FIGS. 7 and 8, the link hub 33 on the tip side has a tip member 70 and three rotating shaft connecting members 71 provided on the inner surface of the tip member 70 at equal intervals in the circumferential direction. are doing. The center of the circumference where each rotating shaft connecting member 71 is arranged is located on the center axis QB of the link hub 33 on the tip side. A rotating shaft 73 is rotatably connected to each rotating shaft connecting member 71 . The axis of the rotating shaft 73 intersects the link hub central axis QB.

One end of the end link member 36 on the tip side is connected to the rotating shaft 73 of the link hub 33 on the tip side. A rotating shaft 75 is connected to the other end of the end link member 36 on the tip side. The rotating shaft 75 is rotatably connected to the other end of the central link member 37 . The rotating shaft 73 of the link hub 33 on the tip end side and the rotating shaft 75 of the central link member 37 are connected to the rotating shaft connecting member 71 and the central link via two bearings (not shown) in the same manner as the rotating shafts 42 and 55. They are rotatably connected to the other ends of the members 37, respectively.

As shown in FIG. 5 , the parallel link mechanism 30 has the proximal end member 40 connected to the base member 80 via a plurality of shafts 81 . Thereby, the parallel link mechanism 30 is installed on the first rotating mechanism 21 . The center axis QA of the link hub 32 on the base end side and the rotation axis 21b of the first rotation mechanism 21 are located on the same line. The base member 80 is fixed to the rotating portion 21 a of the first rotating mechanism 21 . A cover 82 is attached between the outer peripheral edge of the base member 40 and the outer peripheral edge of the base member 80 . As a result, a shielded space 83 shielded from the outside is formed between the proximal end member 40 and the base member 80 .

The attitude control actuator 31 that operates the parallel link mechanism 30 is arranged in the shielded space 83 and supported by the base end member 40 . The number of attitude control actuators 31 is three, which is the same number as the link mechanisms 34 . The attitude control actuator 31 is, for example, a rotary actuator such as a motor. A bevel gear 76 is attached to the rotation output shaft 31a of the attitude control actuator 31, and a fan-shaped bevel gear 45 is attached to the rotation shaft 42 of the link hub 32 on the base end side. These bevel gears 76 and the fan-shaped bevel gears 45 are in mesh with each other. The bevel gear 76 and the fan-shaped bevel gear 45 constitute an axis-perpendicular reduction gear 77 . A cross-axis reduction gear may be configured using a mechanism other than bevel gears (for example, a worm mechanism).

In this embodiment, the same number of attitude control actuators 31 as the link mechanisms 34 are provided. The posture of the link hub 33 on the tip side with respect to the link hub 32 can be determined.

In the link actuating device 29, the parallel link mechanism 30 is actuated by rotationally driving the attitude control actuators 31. As shown in FIG. More specifically, when the attitude control actuator 31 is rotationally driven, its rotation is reduced in speed via the axis-perpendicular reduction gear 77 and transmitted to the rotary shaft 42 . This changes the angle of the end link member 35 on the proximal side with respect to the link hub 32 on the proximal side. As a result, the position and attitude of the distal link hub 33 with respect to the proximal link hub 32 are determined. Since the center axis QA of the link hub 32 on the base end side and the rotation axis 21b of the first rotation mechanism 21 are located on the same line, coordinate calculation is easy.

Further, when the center axis QA of the link hub 32 on the base end side and the rotation axis 21b of the first rotation mechanism 21 are positioned on the same line, the operator can easily imagine the operation of the working device 1, so that the operation is easy. can. For example, the position with 3 degrees of freedom determined by the linear motion unit 3 is fixed, and the angle with 2 degrees of freedom out of the angles with 3 degrees of freedom determined by the rotation unit 4 is fixed. In this state, work can be performed while changing the posture of the end effect 5 by changing only the angle of the remaining one degree of freedom (for example, the angle around the central axis QB of the link hub 33 on the tip side).

As described above, the link actuating device 29 has a wide movable range and is capable of smooth operation. Therefore, when the rotation unit 4 includes the link actuating device 29, it is possible to perform high-speed and detailed work. For example, if you want to slightly change the posture of the wrist joint, it is necessary to move a part of the wrist joint of a general vertical multi-joint robot greatly, or to move the entire arm by coordinating multiple motors. so it slows down. However, in the above configuration, the link actuating device 29 can move in the shortest distance, so smooth and quick operation can be realized. In addition, since the link actuating device 29 has a wide movable range while having a compact structure, the working device 1 as a whole has a compact structure.

In this embodiment, the first rotating mechanism 21 is arranged on the base end side of the link actuating device 29, and the end effector 5 is mounted on the link hub 33 on the distal end side. As a result, the load on the link actuating device 29 can be reduced, so that the link actuating device 29 can be made compact and lightweight. Since the parallel link mechanism 30 of the link actuating device 29 is configured as a constant velocity universal joint, the posture of the end effect 5 can be adjusted by cooperative control of the link actuating device 29 and the first rotating mechanism 21. It is easy to perform the work while changing only the angle around the central axis QB. However, since it is necessary to consider the cable connected to the attitude control actuator 31, the rotation angle is limited.

FIG. 6 shows the rotation unit 4 in which the arrangement of the first rotation mechanism 21 and the link actuating device 29 is reversed from that of FIG. In this case, the center axis QB of the link hub 33 on the distal end side of the link actuating device 29 and the rotation axis 21b of the first rotation mechanism 21 are positioned on the same line. Other configurations are the same as in FIG.

According to the configuration of the rotation unit 4 in FIG. 6, the wiring of the cable connected to the attitude control actuator 31 is easy, and the rotation angle is not easily restricted. On the other hand, there is a drawback that the load on the link actuating device 29 increases. Other than that, the same actions and effects as those of the rotating unit 4 of FIG. 5 can be obtained.

11-13 show a third embodiment of the invention. As shown in FIG. 11, in this working device 1, as in the second embodiment of FIG. and a link actuating device 29 which is a rotating mechanism. The working device 1 of the third embodiment differs from the second embodiment of FIG. 4 in that the first rotating mechanism 21 is arranged at the center of each attitude control actuator 31 of the link actuating device 29. are doing.

As shown in FIG. 12 , the first rotating mechanism 21 includes a fixed portion 90 fixed to the base member 80 , a rotating portion 91 fixed to the proximal end member 40 of the link actuator 29 , and a motor 93 as a driving source installed in the fixed portion 90; and a pair of spur gears 94 and 95 for transmitting the rotation of the motor 93 to the rotating portion 91. and

The base member 80 is fixed to the rotary unit mounting member 20 (FIG. 11). The fixed portion 90 has a first mounting member 96 fixed to the base member 80 and a second mounting member 97 fixed to the first mounting member 96 . The first mounting member 96 has a U-shaped cross section. The second mounting member 97 has a bottom portion 97a fixed to the first mounting member 96 and a tubular portion 97b extending upward in FIG. 12 from the outer peripheral edge of the bottom portion 97a.

The rotating portion 91 is fixed to the proximal member 40 of the link hub 32 on the proximal side. A rotation axis 91a of the rotation portion 91 is coaxial with the central axis QA of the link hub 32 on the base end side. The two bearings 92 are arranged on the inner periphery of the cylindrical portion 97b of the second mounting member 97. As shown in FIG.

The motor 93 is arranged in a recessed portion 96 a of a first mounting member 96 having a U-shaped cross section and is fixed to a bottom portion 97 a of a second mounting member 97 . An output shaft 93a of the motor 93 extends upward through a bottom portion 97a of the second mounting member 97, and a drive-side spur gear 94 is mounted on its upper end. A driving side spur gear 94 meshes with a driven side spur gear 95 attached to the rotating portion 91 . A driven-side spur gear 95 is fitted to the outer periphery of the rotating portion 91 . A threaded portion is provided at the lower end of the rotating portion 91 and a nut 98 is screwed onto the threaded portion. The spur gear 95 on the driven side is tightened and fixed to the rotating portion 91 by the nut 98 .

Wiring holes 100, 101, and 102 passing through the bottom portion 97a of the second mounting member 97, the rotating portion 91, and the base end member 40 along the rotation axis 91a of the rotating portion 91 are provided, respectively. A cover 82 is attached to the outer peripheral edge of the proximal member 40 and extends near the outer peripheral edge of the base member 80 . Cover 82 and base member 80 are not connected.

Similar to the configuration of FIG. 5, the three attitude control actuators 31 of the link actuating device 29 are arranged on the virtual circumference of the proximal end member 40 . The rotational driving force of the rotational output shaft 31a of each attitude control actuator 31 is transmitted to the link mechanism 34 via the reduction gear 77 of the orthogonal type. With such an arrangement of the attitude control actuators 31, the first rotation mechanism 21 can be arranged at the center of the arrangement of the attitude control actuators 31 as in this embodiment. Thereby, the structure of the rotation unit 4 becomes compact.

When the motor 93 is driven, the entire link actuator 29 and the cover 82 rotate with the rotating portion 91 . By passing the wires through the wiring holes 100 , 101 , 102 , the wires can be wired to the end effector 5 from the inner space side of the link actuating device 29 without interfering with the link mechanism 34 . Therefore, restrictions on the wiring of cables connected to the attitude control actuator 31 are reduced. Here, the internal space of the link actuating device 29 refers to the space surrounded by the link hub 32 on the proximal end side, the link hub 33 on the distal end side, and each link mechanism 34 .

FIG. 14 is a front view of a main part of a modification of the rotating unit of the working device according to the third embodiment; In the rotating unit 4 , the first rotating mechanism 21 is arranged at the center of each attitude control actuator 31 of the link actuating device 29 . This point is the same as the configuration shown in FIG. 12, but differs from the configuration in FIG. 12 in that the drive source of the first rotating mechanism 21 is a hollow shaft motor 110.

The hollow shaft motor 110 has a motor body 110a and an output shaft 110b. The motor main body 110a is fixed to the base member 80 via the motor mounting member 111, and the base end member 40 of the link hub 32 on the base end side is fixed to the output shaft 110b. The hollow shaft motor 110 is
It has a wiring hole 112 axially penetrating the motor main body 110a and the output shaft 110b. Also, a wiring hole 113 is provided coaxially with the wiring hole 112 in the proximal member 40 of the link hub 32 on the proximal side. The rest of the configuration is the same as the configuration in FIG. 12, and effects and effects similar to those of the configuration shown in FIG. 12 can be obtained.

15 to 18 show a schematic configuration of a dual-arm working device according to a fourth embodiment of the invention. The working device 1 of the fourth embodiment differs from the third embodiment of FIGS. 11 to 14 in the configuration of the third direct acting actuator 13. The direct-acting actuator 13 has a motor (driving source) 13a attached to a slide table 13b.

As the direct acting actuator 13 in which the motor 13a is attached to the slide table, there are structures shown in FIGS. 17 and 18, for example. The direct acting actuator 13 of FIG. 17 is of a timing belt drive type. Specifically, the linear actuator 13 of FIG. 17 has a drive pulley 120, a flexure pulley 122 and a timing belt 124. A timing belt 124 is fixed to both ends of the guide 13c, and a driving pulley 120 is provided on the slide table 13b. Positioning control is performed by rotating the drive pulley 120 with the motor 13a. In addition to the drive pulley 120, a deflection pulley 122 is installed on the slide table 13b. Flexure pulley 122 adjusts the flexure of timing belt 124 .

The linear motion actuator 13 of FIG. 18 is of a rack and pinion type. An L-shaped motor mounting member 130 is fixed to the slide table 13b, and the motor 13a is installed on the motor mounting member 130. As shown in FIG. A pinion gear 132 is attached to the output shaft of the motor 13a. A rack 134 is fixed to the guide 13c. The pinion gear 132 of the motor 13a and the rack 134 of the guide 13c are meshed. Accordingly, when the motor 13a is driven, its power is transmitted to the guide 13c via the pinion gear 132 and the rack 134. As shown in FIG.

Although the timing belt drive system and the rack and pinion drive system have been exemplified as the drive method of the slide table 13b, a slide screw, a ball screw, a linear motor, a steel belt, or the like may be appropriately selected. Other configurations are the same as those of the third embodiment shown in FIGS.

According to the fourth embodiment, since the motor 13a is provided on the slide table 13b, which is the fixed portion, the weight of the movable portion can be reduced. As a result, the capacity of the third direct-acting actuator 13 can be reduced, and the overall device can be made compact and can be operated at high speed. Further, since the motor 13a is arranged on the slide table 13b, which is a fixed portion, wiring to the motor 13a can be easily routed.

FIG. 19 shows a dual-arm working device according to a fifth embodiment of the present invention. FIG. 20 shows a state in which the orientation of the rotating unit 4 is different from that in FIG. The dual-arm working device of the fifth embodiment differs from the third embodiment shown in FIGS. 11 to 14 in the number of end effectors 5 installed. Specifically, in addition to the end effector 5 installed in each rotating unit 4 , the linear motion unit 3 is also provided with an additional end effector 140 . An additional end effector 140 is installed at the lower end of the guide 13 c of the third linear actuator 13 .

As shown in FIG. 20 , the rotation unit 4 guides the third linear actuator 13 so that the entire rotation unit is positioned above the bottom surface of the additional end effector 140 when the attitude of the rotation unit 4 is changed. 13c. Other configurations are shown in Figures 11-1.
4 is the same as the third embodiment.

According to the fifth embodiment, since the amount of movement of the entire working device 1 is small in fine movements, it is possible to shorten the setup change time and adjustment time and achieve high-speed operation. As a result, productivity is improved and detailed manual work that was difficult with other robots can be automated.

Furthermore, according to the fifth embodiment, one work device 1 can be provided with the end effector 140 that performs work only by linear motion and the end effector 5 that performs work by combining linear motion and rotary motion. As a result, the end effector can be selected according to the characteristics of the work, thereby improving the accuracy and efficiency of the work. For example, extraction/attachment of parts, insertion of parts, press-fitting, etc., can be performed using only linear motion.

Since the linear motion unit 3 needs to move the rotation unit 4, a drive source larger than that of the rotation unit 4 is used. Therefore, the weight capacity of the linear motion unit 3 is larger than that of the rotation unit 4 . Therefore, the additional end effector 140 installed in the linear motion unit 3 can perform relatively heavy-load work such as press-fitting.

Further, the entire rotation unit 4 is located above the lowermost surface of the additional end effector 140 when the posture is changed from the origin posture. This makes it difficult for the rotating unit 4 to come into contact with the work 7 when performing work with the additional end effector 140 .

The present invention is not limited to the above embodiments, and various additions, changes, or deletions are possible without departing from the scope of the present invention. Accordingly, such are also included within the scope of this invention.

Reference Signs List 1 work device 2 base 3 linear motion unit 4 rotation unit 5 end effector 11 first linear motion actuator (linear motion actuator)
12 second linear actuator (another linear actuator)
13 Third linear actuator (output side linear actuator)
11a, 12a, 13a motor (driving source)
11b, 12b, 13b slide table (slide member)
11c, 12c, 13c guide (guide member)
21 first rotation mechanism (rotation mechanism)
22 Second rotation mechanism (rotation mechanism)
23 Third rotation mechanism (rotation mechanism)
23a Rotating part of the third rotating mechanism (output part of the rotating unit)
29 link actuator 31 attitude control actuator 32 proximal link hub 33 distal link hub 34 link mechanism 35 proximal end link member 36 distal end link member 37 central link member 140 additional end Effector PA Base end spherical link center PB Distal end spherical link center QA Base end link hub center axis QB Distal end link hub center axis S Working space

Claims (8)

A double-arm type working device in which two working devices that perform work using an end effector mounted at the tip are arranged side by side so as to be geometrically symmetrical,
The work device includes a linear motion unit that combines linear motion actuators of one axis or multiple axes, and a rotation unit that combines a rotation mechanism having one or more degrees of freedom of rotation,
The end effector is mounted on the output part of the rotating unit,
The linear motion actuator has a drive source and a slide member that moves relative to a guide member by power of the drive source,
a slide member of the linear motion actuator on the output side of the linear motion unit is fixed to a frame or a slide member of another linear motion actuator;
the rotary unit is installed at an arbitrary angle with respect to a guide member of a linear motion actuator on the output side of the linear motion unit;
An additional end effector different from the end effector is mounted on the guide member of the linear motion actuator on the output side of the linear motion unit,
The rotating unit is a dual-arm working device arranged so that the entire rotating unit is positioned above the lowermost surface of the additional end effector when the posture is changed from the original posture. 2. The dual-arm work device according to claim 1, wherein the linear motion unit is composed of three linear motion actuators, first to third,
the third linear motion actuator constitutes an output side linear motion actuator of the linear motion unit;
A guide member of the first linear motion actuator is fixed to the base, a guide member of the second linear motion actuator is fixed to a slide member of the first linear motion actuator, and a guide member of the third linear motion actuator is fixed to the base. a slide member fixed to the slide member of the second linear actuator;
A dual-arm working device, wherein the rotating unit is fixed to the guide member of the third direct-acting actuator. 3. The dual-arm work device according to claim 2, wherein each of said first to third linear motion actuators is arranged such that said slide member faces outward with respect to a work space in which work is performed by said end effector. A double-armed working device. 4. The dual-arm working device according to claim 1, wherein a driving source of a linear motion actuator on the output side of said linear motion unit is disposed on the slide member. In the dual-arm working device according to any one of claims 1 to 4 ,
in the rotating unit, at least one of the plurality of rotating mechanisms is a two-degree-of-freedom link actuator;
In the link actuating device, the link hub on the distal end side is connected to the link hub on the proximal end side via three or more sets of link mechanisms so that the posture can be changed,
Each of the link mechanisms includes a proximal end link member having one end rotatably connected to the proximal link hub, and a distal end link member having one end rotatably connected to the distal link hub. end link members, and a center link member having both ends rotatably connected to the other ends of the end link members on the base end side and the tip end side,
Two or more of the three or more link mechanisms are provided with attitude control actuators for arbitrarily changing the attitude of the tip side link hub with respect to the base side link hub. working equipment. 6. The dual-arm working device according to claim 5 , wherein the central axis of each rotation pair of the proximal side link hub and the proximal side end link member, and the proximal side end link member and the center axis of each rotational pair of the central link member intersect is called the base end spherical link center,
A straight line that passes through the center of the base end spherical link and perpendicularly intersects the center axes of the rotation pairs of the base end link hub and the base end link member is the center axis of the base end link hub. is called
The point at which the central axis of each rotational pair of the tip-side link hub and the tip-side end link member and the central axis of each rotational pair of the tip-side end link member and the center link member intersect is the tip. called the spherical link center on the side,
A straight line that passes through the center of the spherical link on the tip side and perpendicularly intersects the center axes of the rotational pairs of the link hub on the tip side and the end link member on the tip side is called the center axis of the link hub on the tip side,
A dual-arm working device in which the center axis of the link hub on the base end side or the center axis of the link hub on the tip end side and the center axis of a rotating mechanism other than the link actuating device are located on the same line. 7. The dual-arm working device according to claim 5 , wherein a rotating mechanism other than the link actuating device is provided on the base end side of the link actuating device, and the end effector is provided on the distal end side of the link actuating device. A dual-arm type work device provided with. 8. The dual-arm work device according to claim 7 , wherein the two or more attitude control actuators of the link actuation device are arranged circumferentially around the central axis of the link hub on the base end side,
The other rotating mechanism is provided at the center of the attitude control actuators arranged on the circumference,
The other rotating mechanism is a dual-arm working device that rotates the link actuating device around the central axis of the link hub on the base end side.

Images