Parallel Link End Effector Switching for Accurate Multi-Task Work
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Solution Overview
Problem
Existing working devices using parallel link mechanisms are limited in their ability to perform multiple tasks with high accuracy and speed due to increased size, low rigidity, and limited weight capacity, as well as inefficiencies in workflow efficiency and temperature control during task switching.
Innovation Solution
A working device utilizing a parallel link mechanism with a distal-end-side link hub connected to a proximal-end-side link hub via three or more link mechanisms, allowing for posture control and mounting of multiple end effectors, including a main and sub end effector, to perform various tasks efficiently and accurately, with the ability to switch between tasks without significant temperature changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articulated robot is used to achieve a wide work range, then the operation range is improved, but the apparatus size and occupation space increase
Solution Approach 1:
The parallel link mechanism divides the robot body into multiple independent linkages (first parallel linkage and second parallel linkage) that can move relative to each other. This segmentation allows each linkage to be more compact while collectively achieving a wide work range through their coordinated motion, reducing the overall occupation space compared to a single large articulated robot.
Solution Approach 2:
The invention introduces a new degree of freedom by allowing relative movement between the first and second parallel linkages in addition to the end effector's movement. This dimensional expansion enables the system to achieve a wider work range within a more compact footprint by utilizing multiple movement dimensions simultaneously.
2Adaptability or versatility
If an articulated robot with multiple shafts is used, then the work range is improved, but the speed and accuracy of delicate operations deteriorate
Solution Approach 1:
By dividing the robot into multiple parallel linkages with fewer shafts each, the system reduces the total number of moving parts compared to a traditional articulated robot. This segmentation simplifies the control system and reduces mechanical complexity, enabling faster and more accurate delicate operations while maintaining a wide work range.
3Adaptability or versatility
If the operating angle of each link in a parallel link mechanism is increased to achieve a large traveling plate operating range, then the work range is improved, but the link length and overall mechanism dimension increase
Solution Approach 1:
Instead of increasing link length to expand the operating range, the invention utilizes the relative movement between the first and second parallel linkages as an additional degree of freedom. This allows the system to achieve a large traveling plate operating range through coordinated motion in multiple dimensions rather than simply extending link lengths.
4Adaptability or versatility
If the link length is increased to achieve a large traveling plate operating range, then the work range is improved, but the mechanism rigidity deteriorates
Solution Approach 1:
The parallel link mechanism divides the structure into multiple shorter linkages working in parallel rather than using fewer longer links. This segmentation maintains mechanism rigidity by keeping individual link lengths short while achieving a large operating range through the coordinated movement of multiple rigid segments.
5Adaptability or versatility
If the link length is increased to achieve a large traveling plate operating range, then the work range is improved, but the weight capacity of the traveling plate is limited
Solution Approach 1:
By using multiple shorter parallel linkages instead of fewer longer ones, the system distributes the load across multiple support points. This segmentation improves the weight capacity of the traveling plate while maintaining the operating range, as each shorter link can support a portion of the total load more effectively.
6Device complexity
If only one end effector is mounted to a parallel link mechanism, then the configuration is simple, but the workflow efficiency deteriorates due to transport between working devices
Solution Approach 1:
The parallel link mechanism is designed to accommodate multiple end effectors (welding torch, heating device, cooling device) simultaneously. This multi-functionality allows the system to perform different operations on the workpiece without requiring transport between separate working devices, thereby improving workflow efficiency while maintaining a relatively simple configuration.
7Productivity
If multiple end effectors are mounted to a parallel link mechanism, then the workflow efficiency is improved, but the control complexity increases
Solution Approach 1:
The control systems for multiple end effectors are integrated into a unified control architecture that manages all effectors through the common parallel link mechanism. This merging of control functions allows multiple end effectors to be coordinated efficiently, improving workflow efficiency while preventing control complexity from becoming unmanageable.
Data Source
AI summary
A working device (1) using a parallel link mechanism includes: a parallel link mechanism (10) by which end effectors (4, 5) are supported so as to be changeable in posture; and posture-controlling actuators (11) which actuate the parallel link mechanism (10). In the parallel link mechanism (10), a distal-end-side link hub (13) is connected to a proximal-end-side link hub (12) via three or more link mechanisms (14) so as to be changeable in posture of the distal-end-side link hub (13) relative to the proximal-end-side link hub (12). The end effectors (4, 5) are mounted to the distal-end-side link hub (12), and includes one main end effector (4) which performs a main work on a workpiece (3) and one or multiple sub end effectors (5) which perform an auxiliary work on the workpiece (3).