working device

Abstract

The work device (1) is provided with: a direct drive mechanism section (60) having a direct drive two-axis actuator; a rotation mechanism section (80) having a rotation actuator (Ra); and an angle control mechanism section (7) having a rotation actuator (10) that positions a work body (E) in a rotation two-degree-of-freedom angle. A control section (70) is also provided for determining the positions and angles of the direct drive mechanism section (60), the rotation mechanism section (80), and the angle control mechanism section (7), and issuing movement instructions to each actuator. Work is performed in such a manner that the distance between the mounting position and the work position of the work body is a specified value, in accordance with the movement instructions from the control section (70). In a state in which the angle between the rotation axis (C1) of the rotation mechanism section (80) and the proximal end side central axis (QA) of the angle control mechanism section (7) is kept constant, in order to be able to change the relative positions of the rotation mechanism section (80) and the angle control mechanism section (7), at least one of the rotation mechanism section (80) and the angle control mechanism section (7) is mounted on the direct drive mechanism section (60).

Description

[0001] Related applications

[0002] This application claims priority to Japanese Patent Application No. 2024-045262, filed on March 21, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a compact working device, which is used, for example, in medical equipment or industrial equipment that requires high speed, high precision, wide range of motion, and fine operation. Background Technology

[0004] As a working device that performs work on a work object through a working body, a structure like that in Patent Documents 1 and 2 has been proposed.

[0005] Patent Document 1 Figure 1 The device shown discloses a mechanism for moving the head along three orthogonal axes of X, Y, and Z, and a technique for mounting the workpiece to the front end of the head via a rotating mechanism.

[0006] Patent document 2 discloses a technique for inspecting items using a vertical multi-joint robot.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent Application Publication No. 2013-64644

[0010] Patent Document 2: Japanese Patent Application Publication No. 2017-26441 Summary of the Invention

[0011] The problem the invention aims to solve

[0012] In the structure described in Patent Document 1, when working on the entire circumference of the side of the workpiece supported on the reference platform, the workpiece needs to be moved along the entire circumference of the workpiece. Therefore, this results in problems such as increased device size, increased number of parts, and increased structural complexity leading to higher manufacturing costs.

[0013] In the structure of a vertical multi-joint robot like in Patent Document 2, the overall size of the device increases due to the large amount of movement of the robot as a whole, and if safety fences or similar structures are installed.

[0014] The purpose of this invention is to provide a working device that, compared with existing structures, can achieve compactness and reduce manufacturing costs.

[0015] Solution for solving the problem

[0016] The working device of the present invention is a working device comprising:

[0017] The direct-acting mechanism has two-axis direct-acting actuators whose directions of movement are orthogonal to each other;

[0018] A rotating mechanism having a rotary actuator that rotates the workpiece about a rotating axis;

[0019] Angle control mechanism, comprising a rotary actuator for positioning the workpiece at a two-degree-of-freedom rotational angle; and

[0020] The control unit determines the position and angle of the linear mechanism, the rotary mechanism, and the angle control mechanism, and issues movement commands to each actuator.

[0021] The work body is configured to perform work according to a movement command from the control unit, such that the distance between the installation position of the work body and the work position where the work body performs the work is a specified value.

[0022] While the angle between the rotation axis of the rotating mechanism and the base-side center axis of the angle control mechanism remains unchanged, in order to change the relative position of the rotating mechanism and the angle control mechanism, at least one of the rotating mechanism and the angle control mechanism is mounted on the linear motion mechanism.

[0023] According to this structure, one degree of freedom of the linear motion mechanism can be compensated by the relative positional relationship between the rotation mechanism and the angle control mechanism. Therefore, even if the linear motion mechanism has two degrees of freedom, it is possible to perform operations from multiple directions through the workpiece, significantly reducing the size of the working device in the width or depth direction compared to existing structures. Since one degree of freedom of the linear motion mechanism can be reduced, the number of parts is reduced and the structure is simplified compared to existing structures, thereby reducing manufacturing costs. However, reducing one degree of freedom of the linear motion mechanism increases the number of restrictions in teaching operations to perform work at the desired position, potentially making teaching operations difficult without a certain level of expertise. However, the working device of this invention includes a control unit, which can automatically perform complex coordinate transformations, allowing operators to easily perform teaching operations even without specialized knowledge.

[0024] In the rotating mechanism section, the virtual plane formed on the extension line of the rotating shaft when the rotating shaft moves, or the rotating shaft when the rotating shaft does not move, and in the angle control mechanism section, the virtual plane formed on the extension line of the base end side center axis when the base end side center axis moves, or the base end side center axis when the base end side center axis does not move, can be parallel to each other or on the same plane.

[0025] By arranging the rotating mechanism's rotation axis plane or rotation axis parallel to the angle control mechanism's base-side center axis plane or base-side center axis, the movement direction of the linear mechanism becomes parallel to the angle control mechanism's base-side center axis, making teaching operations easier. Furthermore, if the rotating mechanism and angle control mechanism are designed to move in the same plane, excess space is reduced, and the working device becomes most compact in either the width or depth direction.

[0026] The control unit may include: a rotation calculation unit that determines a command rotation angle to be issued to the rotation mechanism unit based on the working position information and working direction of the workpiece; and a coordinate transformation unit that determines a command position to be issued to the direct actuator and a command angle to be issued to the angle control mechanism unit based on the command rotation angle determined by the rotation calculation unit.

[0027] Based on this structure, coordinate transformations can be easily implemented.

[0028] Alternatively, the angle control mechanism can be a linkage action device, in which the linkage hub at the front end is connected to the linkage hub at the base end via three or more linkage mechanisms in a manner that can change the posture.

[0029] Each linkage mechanism has: an end linkage component on the base end side and the front end side, one end of which is rotatably connected to the linkage hub on the base end side and the linkage hub on the front end side; and a central linkage component, both ends of which are rotatably connected to the other ends of these end linkage components on the base end side and the front end side.

[0030] In two or more of the three or more linkage mechanisms, a rotary actuator is provided. This rotary actuator is an attitude control actuator used to arbitrarily control the attitude of the linkage hub on the front end side.

[0031] In structures where the angle control mechanism is similar to that of a typical gimbal mechanism, there is a problem that even a slight change in the attitude of the front end can cause the entire rotation mechanism to move significantly, resulting in a slower movement speed.

[0032] If the angle control mechanism is a linkage mechanism, it can move along a straight line to the desired angle, thus enabling high-speed angle control and reducing cycle time compared to structures like gimbal mechanisms. Furthermore, the cable can pass through the internal space of the linkage mechanism without twisting, even with repeated rotation, simplifying wiring.

[0033] It may also include other direct-acting actuators, the movement directions of which are orthogonal to the movement directions of the two-axis direct-acting actuators of the direct-acting mechanism; the other direct-acting actuators have a stroke capable of fine-tuning the coordinate transformation, which is a transformation from the coordinates of the workpiece to the mechanical coordinates.

[0034] According to this structure, the aforementioned teaching operation becomes easier to implement while making the working device a compact structure in the width or depth direction.

[0035] The working body can be a non-contact type that does not come into contact with the object being worked on.

[0036] The workpiece may include a camera, which can be a visual inspection device for inspecting the workpiece.

[0037] This structure enables the automation of processes that inspect workpieces in a compact manner.

[0038] This application includes any combination of at least two structures disclosed in the claims and / or description and / or drawings. In particular, any combination of two or more claims in each claim is included in this invention. Attached Figure Description

[0039] The 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 limit the scope of the invention. The scope of the invention is defined by the appended claims. In the accompanying drawings, the same reference numerals in the plurality of drawings denote the same or corresponding parts.

[0040] Figure 1 This is a perspective view of the working device according to the first embodiment of the present invention.

[0041] Figure 2 This is a block diagram of the control unit of the working device.

[0042] Figure 3 This is a perspective view of the linkage mechanism of the working device.

[0043] Figure 4 for Figure 5 A partial sectional view along line IV-IV.

[0044] Figure 5 The front view of a simplified model obtained by omitting the two linkage mechanisms of the linkage action device.

[0045] Figure 6 This is a diagram showing a linkage mechanism in the linkage action device, represented by straight lines.

[0046] Figure 7 This is a schematic diagram conceptually representing the workpiece coordinate system of the working device.

[0047] Figure 8 This is a schematic diagram conceptually representing the coordinate transformation of the working device.

[0048] Figure 9 This is a perspective view of the working device according to the second embodiment of the present invention.

[0049] Figure 10 This is a perspective view of the working device according to the third embodiment of the present invention.

[0050] Figure 11A This is a perspective view of the working device according to the fourth embodiment of the present invention.

[0051] Figure 11B A perspective view of a modified working device obtained by making partial changes to the working device.

[0052] Figure 12A This is a perspective view of the working device according to the fifth embodiment of the present invention.

[0053] Figure 12B A perspective view of a modified working device obtained by making partial changes to the working device.

[0054] Figure 13 for Figure 12A or Figure 12B A 3D diagram of the gimbal mechanism.

[0055] Figure 14 This is a perspective view of the working device according to the sixth embodiment of the present invention.

[0056] Figure 15 This is a perspective view of the working device according to the seventh embodiment of the present invention.

[0057] Figure 16A This is a perspective view of the working device according to the eighth embodiment of the present invention.

[0058] Figure 16B This is a top view of the working device.

[0059] Figure 17A This is a perspective view of the working device according to the ninth embodiment of the present invention.

[0060] Figure 17B This is a top view of the working device.

[0061] Figure 18 This is a perspective view of the working device according to the tenth embodiment of the present invention. Detailed Implementation

[0062] [First Implementation Method]

[0063] Combination Figures 1 to 8 The working apparatus involved in the embodiments of the present invention will be described.

[0064] like Figure 1 As shown, the working device 1 includes a direct-acting mechanism 60, a rotating mechanism 80, a linkage mechanism 7 serving as an angle control mechanism, and a control unit 70. Figure 2 This working device 1 is used, for example, in medical equipment or industrial equipment.

[0065] <The general structure of the working device: two degrees of freedom in linear motion and three degrees of freedom in rotation>

[0066] A direct-acting mechanism 60 is provided on a platform (not shown), which has two direct-acting actuators 61 and 62 with orthogonal directions of movement. In this example, a rotary mechanism 80 is mounted on one of the direct-acting actuators 61 and 62, which moves forward and backward along the X-axis. The rotary mechanism 80 has a rotary actuator Ra, which rotates the workpiece or the like about a rotation axis C1 extending along the Z-axis. A linkage mechanism 7 is mounted on the other direct-acting actuator 62, which moves forward and backward along the Z-axis. The linkage mechanism 7 has a rotary actuator 10, which positions the workpiece E (described later) at an angle with two degrees of rotational freedom.

[0067] The working device 1 positions the working body E, mounted on the front end component 40 of the linkage actuation device 7, onto the workpiece W, supported by the rotating mechanism 80, and performs work on the workpiece W. The linkage actuation device 7, the direct-acting mechanism 60, and the rotating mechanism 80 are connected to the control unit 70, which performs synchronous control. Figure 8 As shown, Figure 1 The working device 1 performs work according to the movement command from the control unit 70, with the distance Lw between the installation position EP of the working body E and the working position of the work object W to be worked by the working body E being a specified value. Performing work with the distance Lw as a specified value means performing work while keeping the arbitrarily set distance Lw constant. By configuring it in this way, work can be performed without changing the distance between the working positions of the working body E and the work object W during the work process.

[0068] <Linkage Action Device>

[0069] like Figure 3 As shown, the linkage action device 7 includes a parallel linkage mechanism 9 and an attitude control actuator 10, which serves as a rotary actuator to actuate the parallel linkage mechanism 9.

[0070] Parallel linkage mechanism

[0071] In the parallel linkage mechanism 9, the front-end linkage hub 13 is connected to the base-end linkage hub 12 via three sets of linkage mechanisms 14 in a manner that allows for a change in orientation. The number of linkage mechanisms 14 can be four or more. Figure 5 Only one linkage mechanism 14 is shown in the diagram, while the other two linkage mechanisms are omitted.

[0072] Each linkage mechanism 14 has an end linkage component 15 on the base side, an end linkage component 16 on the front side, and a central linkage component 17, forming a four-section chain linkage mechanism composed of four rotating pairs.

[0073] like Figure 3 As shown, the end link components 15 and 16 on the base end side and the front end side are generally L-shaped, with one end rotatably connected to the link hub 12 on the base end side and the link hub 13 on the front end side, respectively. Figure 5 As shown, the other ends of the end connecting rod components 15 and 16 on the base end side and the front end side are rotatably connected to the two ends of the central connecting rod component 17, respectively.

[0074] The parallel linkage mechanism 9 is a structure obtained by combining two spherical linkage mechanisms. The central axes of the linkage hub 12 on the base end side and each revolute joint of the end linkage component 15 on the base end side, as well as the central axes of each revolute joint of the end linkage component 15 on the base end side and the central linkage component 17, intersect at the center PA of the spherical linkage on the base end side. Similarly, the central axes of the linkage hub 13 on the front end side and each revolute joint of the end linkage component 16 on the front end side, as well as the central axes of each revolute joint of the end linkage component 16 on the front end side and the central linkage component 17, intersect at the center PB of the spherical linkage on the front end side.

[0075] The distances from the center of each revolute joint between the base-end hinge 12 and each end link 15 on the base-end side to the center PA of the spherical link on the base-end side are all the same. Similarly, the distances from the center of each revolute joint between each end link 15 and each central link 17 on the base-end side to the center PA of the spherical link on the base-end side are all the same. Likewise, the distances from the center of each revolute joint between the front-end hinge 13 and each end link 16 on the front-end side to the center PB of the spherical link on the front-end side are all the same. The distances from the center of each revolute joint between each end link 16 and each central link 17 on the front-end side to the center PB of the spherical link on the front-end side are all the same.

[0076] The central axes of each rotary joint between the end link components 15 and 16 on the base side and the front side and the central link component 17 can have a certain angle γ, or they can be parallel.

[0077] The angles formed by the central axes of the rotating joints between the base-end side connecting rod hub 12 and the base-end side end connecting rod member 15, and the central axes of the rotating joints between the base-end side end connecting rod member 15 and the central connecting rod member 17, i.e. the arm angles, are defined as predetermined angles.

[0078] The three linkage mechanisms 14 have the same geometry. "Same geometry" means: such as Figure 6 As shown, the geometric model obtained by representing each link component 15, 16, and 17 with straight lines, that is, the model represented by each revolute joint and the straight lines connecting these revolute joints, has a base end portion and a front end portion that are symmetrical with respect to the central part of the central link component 17, regardless of the orientation. Figure 6 The diagram shows a set of linkage mechanism 14 represented by straight lines. The parallel linkage mechanism 9 of this embodiment is rotationally symmetric. The positional relationship between the base-side linkage hub 12 and the base-side end linkage member 15, and the front-side linkage hub 13 and the front-side end linkage member 16, is rotationally symmetric with respect to the centerline C of the central linkage member 17. The central portion of each central linkage member 17 is located on a common track circle.

[0079] The base-side connecting hub 12, the front-side connecting hub 13, and three sets of linkages 14 constitute a two-degree-of-freedom mechanism, wherein the front-side connecting hub 13 rotates freely relative to the base-side connecting hub 12 about two orthogonal axes. In other words, the front-side connecting hub 13 relative to the base-side connecting hub 12 is configured as a mechanism whose attitude can be freely changed in two rotational degrees of freedom. Although this two-degree-of-freedom mechanism is compact, it can expand the range of motion of the front-side connecting hub 13 relative to the base-side connecting hub 12.

[0080] For example, at the centers PA and PB of the spherical connecting rods that pass through the base end side and the front end side, and at the central axis O1 of each rotary joint of the connecting rod hubs 12 and 13 on the base end side and the end connecting rod components 15 and 16 on the base end side and the front end side ( Figure 3 When perpendicularly intersecting straight lines are taken as the central axes QA and QB of the connecting rod hubs 12 and 13 on the base end side and front end side, respectively, the maximum value of the angle θ between the central axis QA of the connecting rod hub 12 (base end side central axis) and the central axis QB of the connecting rod hub 13 on the front end side is the maximum angle θ. max It can be set to approximately 90°. Furthermore, the rotation angle φ of the front-side connecting rod hub 13 relative to the base-side connecting rod hub 12 can be set within the range of 0° to 360°. The bend angle θ refers to the vertical angle at which the central axis QB of the front-side connecting rod hub 13 is tilted relative to the central axis QA of the base-side connecting rod hub 12. On the other hand, the rotation angle φ refers to the horizontal angle at which the central axis QB of the front-side connecting rod hub 13 is tilted relative to the central axis QA of the base-side connecting rod hub 12. Additionally, the maximum bend angle θ... max It can be above 90°.

[0081] The attitude change of the front-end connecting rod hub 13 relative to the base-end connecting rod hub 12 is carried out with the intersection point O of the central axis QA of the base-end connecting rod hub 12 and the central axis QB of the front-end connecting rod hub 13 as the rotation center. Figure 3 The central shaft QB of the front-side connecting rod hub 13 is shown. Figure 5 ) relative to the central axis QA of the base end side connecting rod hub 12 ( Figure 5 (This refers to) the state of a certain action angle (folding angle). For example... Figure 6 As shown, even if the attitude of the front-side connecting rod hub 13 relative to the base-side connecting rod hub 12 changes, the distance L between the centers PA and PB of the spherical connecting rods on the base side and the front side remains unchanged.

[0082] In this parallel linkage mechanism 9, when all of the following conditions 1 to 5 are met, based on geometric symmetry, the connecting hub 12 and the end connecting rod member 15 on the base side, and the connecting hub 13 and the end connecting rod member 16 on the front side will perform the same movements. Therefore, when the parallel linkage mechanism 9 transmits rotation from the base side to the front side, it functions as a constant velocity universal joint, which enables the base side and the front side to have the same rotation angle and rotate at the same speed.

[0083] Condition 1: such as Figure 4 and Figure 6As shown, in each linkage mechanism 14, the angles α of the central axes O1 and O2 of the rotating pairs of the linkage hubs 12 and 13 on the base end side and the front end side and the end linkage components 15 and 16 on the base end side and the front end side, as well as the lengths from the centers PA and PB of the spherical linkages on the base end side and the front end side, are equal to each other.

[0084] Condition 2: The central axis of the rotating joint of the base end side and front end side of the connecting hub 12, 13 and the end connecting rod parts 15, 16 on the base end side and front end side, and the central axis of the rotating joint of the end connecting rod parts 15, 16 and the central connecting rod part 17 on the base end side and front end side intersect with the center PA, PB of the spherical connecting rod on the base end side and front end side.

[0085] Condition 3: The geometry of the end link component 15 on the base side is the same as that of the end link component 16 on the front side.

[0086] Condition 4: The geometry of the base end portion and the front end portion of the central connecting rod component 17 are equal.

[0087] Condition 5: With respect to the plane of symmetry of the central link component 17, the angular positional relationship between the central link component 17 and the end link components 15 and 16 on the base side and the front side is the same on the base side and the front side.

[0088] like Figure 3 As shown, the connecting rod hub 12 on the base end side has a flat base end component 6 and three rotating shaft connecting components 21 integrally formed with the base end component 6. The base end component 6 has a circular through hole 6a in its central portion, and the three rotating shaft connecting components 21 are equally spaced around this through hole 6a in the circumferential direction. The center of the through hole 6a is located at the base end side of the connecting rod hub 12. Figure 5 On the central axis QA shown. Rotatably connected to each rotating axis connecting component 21 are... Figure 4 The rotating shaft 22 shown intersects the central axis QA of the base-end side connecting rod hub 12. One end of the base-end side end connecting rod member 15 is connected to the rotating shaft 22.

[0089] like Figure 3 As shown, the front-end connecting rod hub 13 has a flat front end member 40 and three rotating shaft connecting members 41 evenly spaced along the circumferential direction on the bottom surface of the front end member 40. The circumferential center of each rotating shaft connecting member 41 is located at the central axis QB of the front-end connecting rod hub 13. Figure 5 On each rotating shaft connecting component 41, a rotating shaft 43 is rotatably connected, the axis of which is parallel to the central axis QB of the front end side connecting rod hub 13. Figure 5The two ends of the front end link member 16 are connected to the rotating shaft 43. At the other end of the front end link member 16, a rotating shaft 45 is connected, which is rotatably connected to the other end of the central link member 17.

[0090] <Actuators for Attitude Control>

[0091] The attitude control actuator 10 is a rotary actuator equipped with a reduction mechanism 52, which is connected to the rotation shaft 22 ( Figure 4 The actuator 10 for attitude control is coaxially mounted on a plane of the base end member 6 of the base end pivot hub 12. The attitude control actuator 10 is integrally mounted with the reduction mechanism 52, which is fixed to the base end member 6 by a motor fixing member 53. Alternatively, the attitude control actuator 10 can also be an actuator with a brake.

[0092] In this example, all three sets of linkage mechanisms 14 are equipped with attitude control actuators 10, but only at least two of the three sets of linkage mechanisms 14 need to be equipped with attitude control actuators 10 to determine the attitude of the front-side linkage hub 13 relative to the base-side linkage hub 12.

[0093] Three attitude control actuators 10 are configured for their rotation axes 22 ( Figure 4 ) and the central axis QA of the base end connecting rod hub 12 ( Figure 5 Orthogonal, these attitude controls are achieved using the rotation axis 22 of actuator 10 ( Figure 4 The intersection point, i.e., the central position, is located at the central axis QA of the connecting rod hub 12 on the base end side. Figure 5 )superior.

[0094] The linkage actuation device 7 drives the attitude control actuators 10 by rotation, thereby actuating the parallel linkage mechanism 9. Specifically, when the attitude control actuators 10 are driven by rotation, their rotation is reduced by the reduction mechanism 52 and then transmitted to the rotating shaft 22. Figure 4 As a result, the angle of the end link component 15 on the base side relative to the base link hub 12 changes, and the posture of the front link hub 13 relative to the base link hub 12 is arbitrarily changed.

[0095] <Work Format>

[0096] The working body E is mounted on the front end component 40 of the front end side connecting rod hub 13. The front end portion of the working body E serves as the point of action. Examples of the working body E include: a gripper, a cleaning nozzle, a dispensing device, a welding torch, and an image processing device Eg including a camera (described later). Figure 18(e.g., ...). That is, the working body E can be categorized into contact type, which is in contact with the work object W, and non-contact type, which is not in contact with the work object W. When the working body E is in contact type, the work is performed by bringing the point of action of the working body E into contact with the work object W; when the working body E is in non-contact type, the work is performed without bringing the point of action of the working body E into contact with the work object W.

[0097] <Direct Drive Mechanism Department>

[0098] like Figure 1 As shown, an XZ stage that moves forward and backward along two orthogonal axes is used in the linear motion mechanism section 60. The linear motion mechanism section 60 has first and second linear actuators 61 and 62 for motion drive. The first linear actuator 61 moves forward and backward along the width direction, i.e., the X-axis direction. The second linear actuator 62 moves forward and backward along the vertical direction, i.e., the Z-axis direction, which is orthogonal to the X-axis direction. Furthermore, the Y-axis direction is orthogonal to both the X-axis and Z-axis directions.

[0099] The first and second direct-acting actuators 61 and 62 are driven by motors 61a and 62a, respectively, which serve as drive sources. They have conversion mechanisms (not shown), such as ball screws, that convert the rotation of each motor 61a and 62a into linear reciprocating motion. Each direct-acting actuator 61 and 62 includes: guide rails 61b and 62b extending along their respective axial directions; sliding worktables 61c and 62c that move along each guide rail 61b and 62b; and motors 61a and 62a. In this example, a rotating mechanism 80 is mounted on the sliding worktable 61c, which serves as the output of the first direct-acting actuator 61. A base-end side connecting rod hub 12 of the connecting rod actuation device 7 is mounted on the sliding worktable 62c, which serves as the output of the second direct-acting actuator 62. The base-end side connecting rod hub 12 is positioned around the central axis QA of the connecting rod actuation device 7. Figure 3 The base end side center axis extends along the X-axis direction and is disposed on the second direct-acting actuator 62.

[0100] <Rotating mechanism, etc.>

[0101] The rotating mechanism 80 includes: an actuator body for a rotary actuator Ra fixed to a sliding worktable 61c, and a rotary worktable 80a that rotates on the upper part of the actuator body about a rotation axis C1 in the Z-axis direction. The workpiece W is supported on the upper surface of the rotary worktable 80a.

[0102] Specifically, the rotation axis C1 of the rotating mechanism section 80 and the central axis QA on the base end side of the linkage action device 7 are... Figure 3 In order to change the relative position of the rotating mechanism 80 and the angle control mechanism 7 while the fixed angle remains unchanged, the working device 1 of this embodiment mounts both the rotating mechanism 80 and the angle control mechanism 7 on the linear motion mechanism 60.

[0103] Furthermore, the plane in which the rotating shaft C1 moves in the rotating mechanism 80 is parallel to or on the same plane as the plane in which the central axis QA on the base side of the linkage action device 7 moves.

[0104] <Control Department>

[0105] The control unit 70 determines the position and angle of the linear motion mechanism 60, the rotary mechanism 80, and the linkage actuation device 7, which serves as the angle control mechanism, and issues movement commands to each actuator 61, 62, Ra, 10. Figure 2 As shown, the control unit 70 includes a rotation calculation unit 70a and a coordinate transformation unit 70b. (As...) Figure 1 and Figure 2 As shown, the rotation calculation unit 70a determines the command rotation angle to be issued to the rotation mechanism unit 80 based on the working position information and working direction of the workpiece W. The coordinate transformation unit 70b determines the command position to be issued to the direct actuators 61 and 62 and the command angle to be issued to the linkage action device 7, which is an angle control mechanism, based on the command rotation angle determined by the rotation calculation unit 70a.

[0106] As a function of the control unit 70, based on the teaching data generated in the workpiece coordinate system, namely the five degrees of freedom (Wx, Wy, Wz, θ', φ') of the working position information (Wx, Wy, Wz) and working direction (θ', φ') of the working body W, the rotation calculation unit 70a, in conjunction with the device structure, calculates and sets the rotation amount of the rotation mechanism unit 80 so that it can be expressed in the five degrees of freedom posture (two degrees of freedom of direct motion, θ, φ, R) of the mechanical unit.

[0107] The coordinate transformation unit 70b transforms the value containing the rotation amount into machine coordinates. Furthermore, the rotation calculation unit 70a and the coordinate transformation unit 70b can be combined into one. Using this control unit 70, the transformation from workpiece coordinates to machine coordinates is performed according to the above process, and movement commands are issued to each actuator 61, 62, Ra, and 10.

[0108] <Workpiece Coordinate System Concept>

[0109] like Figure 7 As shown, the control unit 70 determines a reference point (0, 0, 0) for the workpiece W to be worked on. This reference point (0, 0, 0) can be any position. Figure 7 The center point of the bottom surface of the cylindrical workpiece is set as the center point. Control unit 70 ( Figure 1 The working direction (θ', φ') is taught by the working position (Wx, Wy, Wz) of the work body W with the reference point as the reference, the angle between the work body W and the Wx-Wy plane, and the angle between the work body W and Wx when viewed from the Wz direction.

[0110] <Concept of Coordinate Transformation>

[0111] like Figure 8 As shown, control unit 70 ( Figure 1 The control unit 70 transforms the working position (Wx, Wy, Wz) and working direction (θ', φ') of the workpiece W, indicated by the teaching data of the workpiece coordinates, into the machine coordinate system. Figure 1 The control unit 70 transforms the coordinate system into a machine coordinate system by setting the distance Lw between the installation position EP of the workpiece E and the working position Lw of the workpiece W to a specified value. Figure 1 The structure allows for easy implementation of coordinate transformations. In other embodiments described later, the control unit 70 is omitted. Figure 1 ).

[0112] <Effects>

[0113] Based on the above explanation Figure 1 In order to maintain a fixed angle between the rotation axis C1 of the rotation mechanism 80 and the central axis QA of the base end side of the linkage action device 7 while changing the relative position of the rotation mechanism 80 and the angle control mechanism 7, both the rotation mechanism 80 and the angle control mechanism 7 are mounted on the linear motion mechanism 60. Therefore, one degree of freedom of the linear motion mechanism 60 can compensate for the relative positional relationship between the rotation mechanism 80 and the angle control mechanism 7. Thus, even if the linear motion mechanism 60 has two degrees of freedom, it can perform operations from multiple directions of the workpiece W through the workpiece E, significantly reducing the size of the working device 1 in the width or depth direction compared to existing structures. Since one degree of freedom of the linear motion mechanism 60 can be reduced, the number of parts is reduced and the structure is simplified compared to existing structures, thereby reducing manufacturing costs.

[0114] However, since one degree of freedom of the direct-drive mechanism 60 is reduced, the number of restrictions increases in teaching operations for working at the desired position, potentially making teaching operations difficult without a certain level of professional knowledge. However, since the working device 1 has a control unit 70, complex coordinate transformations can be automatically performed by the control unit 70, allowing operators to easily perform teaching operations even without professional knowledge.

[0115] In the rotating mechanism section 80, a virtual plane (referred to as the "rotating axis movement plane") formed on the extension line of the rotating axis C1 when the rotating axis C1 moves, and a virtual plane (referred to as the "base end side center axis movement plane") formed on the extension line of the base end side center axis when the base end side center axis QA of the linkage action device 7 moves, are parallel to each other or lie on the same plane. When the rotating axis movement plane and the base end side center axis movement plane are configured to be parallel or lie on the same plane, the movement direction of the direct-acting mechanism section 60, i.e., the rotating axis movement plane and the base end side center axis movement plane, become parallel to the base end side center axis QA of the angle control mechanism section 7, or at least one of the rotating axis movement plane and the base end side center axis movement plane becomes to include the base end side center axis QA of the angle control mechanism section 7, making teaching operations easier. Furthermore, if the rotating mechanism section 80 and the angle control mechanism section 7 are configured to move on the same plane, the extra space is reduced, and the dimensions of the working device 1 in the width or depth direction become most compact.

[0116] If the angle control mechanism is a linkage mechanism 7, it can move along a straight line to the desired angle, thus enabling high-speed angle control and shortening cycle time compared to structures such as gimbal mechanisms. Furthermore, the cable can pass through the internal space of the linkage mechanism 7, preventing it from twisting even during repeated rotations, thus simplifying wiring.

[0117] <Regarding other implementation methods>

[0118] In the following description, the same reference numerals are used to denote the parts in each embodiment that correspond to the previously described items, and repeated descriptions are omitted. Where only a part of the structure is described, the other parts of the structure are the same as in the previously described embodiments unless specifically stated otherwise. The same structure serves the same function. Not only can the parts specifically described in each embodiment be combined, but embodiments can also be partially combined with each other, provided that such combination does not create an obstacle.

[0119] [Second Embodiment: Rotation Mechanism Fixed]

[0120] like Figure 9As shown, the rotating mechanism 80 can also be fixed to a frame (not shown) or similar fixture, and the linkage mechanism 7, which serves as the angle control mechanism, can be moved by two direct-acting actuators 61 and 62. In this example, a guide rail 61b for the direct-acting actuator 61, which moves along the X-axis, is mounted on the sliding worktable 62c of the direct-acting actuator 62, which moves along the Z-axis. The base-end side linkage hub 12 of the linkage mechanism 7 is mounted on the sliding worktable 61c, which serves as the output of the direct-acting actuator 61, which moves along the X-axis. Thus, either the rotating mechanism 80 or the angle control mechanism 7 (in this example, the angle control mechanism 7) is mounted on the direct-acting mechanism 60.

[0121] Furthermore, in the linkage action device 7, the plane PQ where the base end side central axis QA moves is located, and the rotating axis C1 when it does not move are on the same plane (plane PQ includes the rotating axis C1) or are parallel to each other. Figure 9 In the middle, the plane PQ of the base end side center axis movement is on the same plane as the rotation axis C1.

[0122] Even with this structure, compared to existing structures, the dimensions of the working device 1A can be significantly reduced in both the width and depth directions. Figure 9 This allows for a more compact size of the working device 1A in the Y-axis direction. Furthermore, it enables a reduction in manufacturing costs compared to existing structures.

[0123] [Third Embodiment: Angle Control Mechanism Fixed]

[0124] like Figure 10 As shown, the linkage mechanism 7, which serves as the angle control mechanism, can also be fixed, and the rotary mechanism 80 can be moved by two direct-acting actuators 61 and 62. In this example, a guide rail 61b for the direct-acting actuator 61, which moves along the X-axis, is mounted on the sliding worktable 62c of the direct-acting actuator 62, which moves along the Z-axis. The actuator body of the rotary mechanism 80 is fixed on the sliding worktable 61c, which serves as the output of the direct-acting actuator 61, which moves along the X-axis. Thus, either the rotary mechanism 80 or the angle control mechanism 7 (in this example, the rotary mechanism 80) is mounted on the direct-acting mechanism 60.

[0125] Furthermore, the plane PR in which the rotating shaft C1 in the rotating mechanism 80 moves, and the base end side center axis QA when it does not move, are on the same plane (plane PR includes the base end side center axis QA) or are parallel to each other. Figure 10 In the middle, the plane PR of the rotation axis is on the same plane as the central axis QA on the base side.

[0126] Even with this structure, compared to existing structures, the dimensions of the working device 1B can be significantly reduced in the width or depth direction. Figure 10 This allows for a more compact size of the working device 1B in the Y-axis direction. Furthermore, it enables a reduction in manufacturing costs compared to existing structures.

[0127] [Fourth Implementation: Actuator Shaft Offset]

[0128] like Figure 11A As shown, the axes of the two direct-acting actuators 61 and 62 are offset in the Y-axis direction and are not on the same plane, but the rotation axis movement plane PR and the base end side center axis movement plane PQ are on the same plane (consistent). The axes of the two direct-acting actuators 61 and 62 are offset by a predetermined length OF in the Y-axis direction, for example, depending on the layout of the workspace, peripheral equipment, etc.

[0129] The base-end side connecting rod hub 12 is mounted on the second direct-acting actuator 62 with its central axis QA (base-end side central axis) tilted downwards in the Z-axis direction at an angle θa relative to the X-axis direction. Specifically, the connecting rod actuating device 7 is mounted on the sliding worktable 62c of the direct-acting actuator 62, which moves forward and backward in the Z-axis direction, with the connecting rod actuating device 7 tilted at an angle θa relative to the X-axis direction via a ramp-shaped mounting member 63. The front end of the mounting member 63 has an inclined surface that is tilted at a predetermined angle relative to the XY plane. The base end member 6 of the base-end side connecting rod hub 12 is fixed to this inclined surface by bolts or the like.

[0130] In this case, although the axial offset of the two direct-acting actuators 61 and 62 may become a factor that hinders compactness, it is still possible to achieve compactness of the working device 1C compared with the existing structure, and to reduce manufacturing costs.

[0131] <Variation Example: Biaxial Tilt>

[0132] like Figure 11B As shown, the working device 1D can also be configured to tilt the central axis QA of the linkage action device 7 and tilt the rotation axis C1 of the rotating mechanism 80. The rotating mechanism 80 is mounted on the sliding worktable 61c of the linear actuator 61, which moves forward and backward along the X-axis, at an angle θb relative to the Z-axis direction via the mounting member 64. The front end of the mounting member 64 has an inclined surface that is tilted at a predetermined angle relative to the XY plane. The actuator body is fixed to this inclined surface by bolts or the like.

[0133] [Fifth Implementation Method: Gimbal Mechanism]

[0134] like Figure 12A and Figure 12BAs shown, the angle control mechanism with two degrees of freedom of rotation can also be the working device 1E or 1F that uses the gimbal mechanism 7A. Figure 12A It is Figure 1 The linkage action device 7 in the middle is replaced with, for example, Figure 13 The structure obtained from the ordinary gimbal mechanism 7A shown is as follows: Figure 12B It is Figure 11A The linkage action device 7 in the middle is replaced with, for example, Figure 13 The structure obtained by the gimbal mechanism 7A shown is shown.

[0135] [Sixth Implementation: Six Degrees of Freedom, with the addition of a third direct-actuator]

[0136] like Figure 14 As shown, a third direct-acting actuator 65 may be further included, whose direction of movement (in this example, the Y-axis direction) is orthogonal to the direction of movement of each direct-acting actuator 61, 62 of the direct-acting mechanism 60, thereby constituting a working device 1G with a total of six degrees of freedom. This direct-acting actuator 65 has a stroke capable of fine-tuning the deviation of the coordinate transformation from the workpiece W ( Figure 7 The coordinates of the machine are transformed into mechanical coordinates. In this embodiment, the third direct-acting actuator 65 is not considered when performing coordinate transformation, but is used for fine-tuning under JOG operation.

[0137] This structure allows for intuitive operation via JOG motion during teaching. Furthermore, minor deviations in coordinate transformation (workpiece coordinates → machine coordinates) caused by assembly errors in the 1G working device can be fine-tuned using three direct-acting actuators 61, 62, and 65. The third direct-acting actuator 65 only needs the stroke required for fine-tuning. Therefore, the stroke of the third direct-acting actuator 65 can be set sufficiently short compared to the strokes of the other direct-acting actuators 61 and 62. Specifically, the stroke of the third direct-acting actuator 65 is less than half the stroke of the other direct-acting actuators 61 and 62.

[0138] According to this structure, while setting the working device 1G into a compact structure in the width or depth direction, the aforementioned teaching operation becomes easier to implement.

[0139] [Seventh Implementation: Six Degrees of Freedom, with Added Roll Axis]

[0140] like Figure 15As shown, a rolling shaft Cr can also be added to the front end of the linkage action device 7, which serves as the angle control mechanism, to form a working device 1H with two degrees of linear freedom and four degrees of rotational freedom, totaling six degrees of freedom. In this example, the working body E is mounted on the front end member 40 of the front end side linkage hub 13 via a rotary actuator 66. The rotary actuator 66 has an actuator body and a rotating component. The actuator body is mounted on the front end face of the front end member 40. The rotating component is mounted on the front end of the actuator body in a manner that allows it to rotate about a rotation axis perpendicular to the front end face.

[0141] According to this structure, it is also possible to control rotation about the working direction axis that cannot be controlled by five degrees of freedom, thereby enabling the same operation as the existing six-degree-of-freedom structure with a compact device structure.

[0142] [Eighth Embodiment: Parallel Configuration of Angle Control Mechanism]

[0143] like Figure 16A and Figure 16B As shown, the working device 1J can also be configured such that the central axis QA (base-end side central axis) of the linkage actuation device 7, which serves as the angle control mechanism, is offset parallel to the rotation axis movement plane PR. In this case, some teaching limitations are added. For example, there are coordinates where it is impossible to perform work near or directly below the angle control mechanism. However, by offsetting as described above, the desired work can be performed with a compact device structure, depending on the layout of the work space, surrounding equipment, etc.

[0144] [Ninth Embodiment: Freely Configured Angle Control Mechanism]

[0145] like Figure 17A and Figure 17B As shown, the working device 1K can also be configured such that the central axis QA (base end side central axis) of the linkage actuation device 7, which serves as the angle control mechanism, is not placed on the same plane as the rotation axis movement plane PR, but is freely arranged. In this case, some teaching limitations are increased. For example, the range of motion of the angle control mechanism is easily limited. However, by setting the angle control mechanism to a free arrangement as described above, the desired operation can be performed with a compact device structure, depending on the layout of the work space, surrounding equipment, etc.

[0146] [Tenth Embodiment: Visual Inspection Device]

[0147] like Figure 18As shown, the workpiece can also be an image processing device Eg (a non-contact type that does not contact the workpiece W) including a camera Cm, and the work apparatus can be a visual inspection device 1L for inspecting the workpiece W. The image processing device Eg includes, for example, a camera Cm for photographing the workpiece and a lighting fixture Le for illuminating the workpiece. In the visual inspection device 1L, the camera Cm is electrically connected to a camera control system (not shown) via wiring, and the camera control system performs various controls during photographing. If it is a non-contact type workpiece (image processing device Eg) as described above, the work is performed with a specified distance Lw2 between the mounting position EP of the workpiece E and the working position of the workpiece W to which the workpiece is worked. Performing the work with a specified distance Lw2 means performing the work while keeping an arbitrarily set distance Lw2 constant. By adopting such a structure, the work can be performed without changing the distance between the image processing device Eg and the working position of the workpiece W during the work process. According to this structure, the process of inspecting the workpiece W in a compact structure can be automated. Furthermore, even without a degree of freedom to rotate around the working direction, a determination can be made as long as the object being inspected enters the camera's field of view (Cm). Therefore, this structure is suitable for applications where space is often limited.

[0148] like Figure 9 As shown, when the stationary rotation axis C1 is contained within the other virtual plane PQ formed on the extension line of the base-end side center axis QA as the base-end side center axis moves, this also falls under the case where one rotation axis C1 is parallel to the other virtual plane PQ. In this case, compared with the existing structure, the dimensions of the working device 1A in the width or depth direction can be significantly reduced.

[0149] The preferred embodiments have been described above with reference to the accompanying drawings. However, various additions, modifications, and deletions can be made without departing from the spirit of the invention. Therefore, such embodiments are also included within the scope of the invention.

[0150] Symbol Explanation

[0151] 1~1K…Working device

[0152] 1L…Appearance inspection device

[0153] 7… Linkage action device (angle control mechanism)

[0154] 7A… Gimbal Mechanism (Angle Control Mechanism Department)

[0155] 10…Actuators for attitude control (rotary actuators)

[0156] 12…base end side connecting rod hub

[0157] 13…Front-end side connecting rod hub

[0158] 14…linkage mechanism

[0159] 15… Base end side connecting rod assembly

[0160] 16…Front-end connecting rod assembly

[0161] 17…Central Linkage Component

[0162] 60…Direct-acting mechanism department

[0163] 61, 62… Direct-acting actuators

[0164] 65…Direct-actuated actuator

[0165] 70…Control Department

[0166] 70a…Rotational Arithmetic Unit

[0167] 70b… Coordinate Transformation Section

[0168] 80… Rotating Mechanism Section

[0169] Cm… camera

[0170] E…work body

[0171] Ra…rotary actuator

[0172] W… is the subject of the task.

Claims

1. A working device, comprising: The direct-acting mechanism has two-axis direct-acting actuators whose directions of movement are orthogonal to each other; A rotating mechanism having a rotary actuator that rotates the workpiece about a rotating axis; An angle control mechanism has a rotary actuator that positions the workpiece at a rotational angle with two degrees of freedom. as well as The control unit determines the position and angle of the linear mechanism, the rotary mechanism, and the angle control mechanism, and issues movement commands to each actuator. The work body is configured to perform work according to a movement command from the control unit, such that the distance between the installation position of the work body and the work position where the work body performs the work is a specified value. While the angle between the rotation axis of the rotating mechanism and the base-side center axis of the angle control mechanism remains unchanged, in order to change the relative position of the rotating mechanism and the angle control mechanism, at least one of the rotating mechanism and the angle control mechanism is mounted on the linear motion mechanism.

2. The working device according to claim 1, wherein, In the rotating mechanism, a virtual plane is formed on the extension line of the rotating shaft when the rotating shaft moves, or the rotating shaft when it does not move, and In the angle control mechanism, a virtual plane is formed on the extension line of the base-end-side center axis when the base-end-side center axis moves, or the base-end-side center axis when the base-end-side center axis does not move. The two are parallel to each other or lie on the same plane.

3. The working device according to claim 1 or 2, wherein, The control unit includes: A rotation calculation unit determines the rotation angle of the command issued to the rotation mechanism unit based on the working position information and working direction of the workpiece; and The coordinate transformation unit determines the command position issued to the direct actuator and the command angle issued to the angle control mechanism unit based on the command rotation angle determined by the rotation calculation unit.

4. The working device according to claim 1 or 2, wherein, The angle control mechanism is a linkage action device. In this linkage action device, the linkage hub at the front end is connected to the linkage hub at the base end via three or more linkage mechanisms in a manner that can change the attitude. Each linkage mechanism has: an end linkage component on the base end side and a front end side, one end of which is rotatably connected to the linkage hub on the base end side and the linkage hub on the front end side; and a central linkage component, both ends of which are rotatably connected to the other ends of these end linkage components on the base end side and the front end side. In two or more of the three or more linkage mechanisms, a rotary actuator is provided. This rotary actuator is an attitude control actuator used to arbitrarily control the attitude of the linkage hub on the front end side.

5. The working device according to claim 1 or 2, wherein, It also includes other direct-acting actuators, the movement directions of which are orthogonal to the movement directions of the two-axis direct-acting actuators in the direct-acting mechanism section; The other direct-acting actuators have a stroke capable of fine-tuning the coordinate transformation from the coordinates of the workpiece to the machine coordinates.

6. The working device according to claim 1 or 2, wherein, The working body is a non-contact type that does not come into contact with the object being worked on.

7. The working device according to claim 6, wherein, The workpiece includes a camera, which is a visual inspection device for inspecting the workpiece.

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