Parallel Link End Effector Layout for Fast Multi-Task Welding
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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 restricted movement ranges and low rigidity, leading to increased size and reduced efficiency, especially when only one end effector is mounted, which hampers efficient workflow and temperature control during tasks like welding and heating.
Innovation Solution
A working device employing a parallel link mechanism with a proximal-end-side link hub, a distal-end-side link hub, and three or more link mechanisms that allow the distal-end-side link hub to change posture, equipped with main and sub end effectors for performing different tasks simultaneously, utilizing posture-controlling actuators to manage the movement and orientation of the end effectors, enabling efficient switching between tasks without compromising temperature stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only one end effector is mounted to a single parallel link mechanism, then the device complexity is reduced, but the productivity decreases due to inability to perform multiple tasks simultaneously
Solution Approach 1:
The patent applies multi-functionality by mounting multiple end effectors (welding torch and heating device) to a single parallel link mechanism. This allows the same mechanism to perform multiple different tasks (welding and heating) without requiring separate working devices, thereby improving productivity while maintaining reasonable device complexity through shared mechanical structure
2Productivity
If multiple working devices are used for different tasks, then the productivity is improved, but the device complexity increases and occupation space expands
Solution Approach 1:
The patent merges multiple working devices into a single integrated system by mounting multiple end effectors on one parallel link mechanism. This consolidation allows multiple tasks to be performed by a unified structure, reducing overall device complexity and occupation space while maintaining high productivity through coordinated operation of the combined system
3Adaptability or versatility
If workpiece is transported between different working devices, then the versatility is improved, but the loss of time increases and temperature stability deteriorates
Solution Approach 1:
By combining multiple end effectors on a single parallel link mechanism, the system eliminates the need to transport workpieces between separate working devices. The unified structure enables immediate task switching through actuator control alone, reducing time loss and maintaining temperature stability since the workpiece remains in position while only the active end effector changes
4Ease of manufacture
If parallel link mechanism has simple configuration, then the ease of manufacture is improved, but the rigidity decreases and weight capacity is limited
Solution Approach 1:
The patent applies local quality by strategically distributing multiple end effectors at the distal end of the parallel link mechanism where they are needed for task execution. This localized arrangement allows the mechanism to maintain simple overall configuration while achieving high rigidity and weight capacity at the critical working position through proper structural design and material selection in that specific region
Data Source
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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).