JP7150446B2 - Work device using parallel link mechanism - Google Patents

Description

The present invention relates to a work device using a parallel link mechanism, which is used for equipment such as industrial equipment that requires a precise and wide operating range.

As a link actuating device that has a compact configuration and is capable of precise and wide operation range, for example, a configuration as shown in Patent Literature 1 has been proposed.
The configuration shown in Patent Document 2 is proposed as a control method when an end effector is mounted at the tip of such a link actuating device and a plurality of work points on the work space where the end effector works are continuously moved. It is
Further, a configuration disclosed in Patent Document 3 is proposed in which a link actuating device as disclosed in Patent Document 2 and a direct acting mechanism are combined.

In addition, Patent Document 4 discloses a multi-joint robot control device that includes a parameter storage unit that stores monitoring point information, a trajectory generation unit that generates motions of columns and joint points based on movement commands, A control point speed control unit that obtains the speed of control points such as struts and each joint point, a monitoring point speed control unit that obtains the speed of monitoring points generated from the operating speed of control points, the speed of control points and the speed of monitoring points A configuration comprising an operation command unit that selects the maximum speed from and compares it with the command speed, and changes and controls the speed of the control point to the command speed when the maximum speed exceeds the command speed.

Japanese Patent No. 5785055 JP 2015-155124 A JP 2015-188945 A International publication WO02/066210

In a work device using a parallel link mechanism combining a link actuator and an actuator of one or more axes, as disclosed in Patent Document 3, only the posture of the end effector is changed without moving the working point of the end effector. Sometimes. However, in the control method disclosed in Patent Document 2, the working points of a plurality of end effectors are moved continuously at a constant speed, and the working point of the end effector 6 does not move, only the posture of the end effector is changed. not applicable if changes are made to
Also, when moving the working points of a plurality of end effectors continuously at a constant speed, there may be a section in the middle of the path where the amount of movement of the tip position is very small and only the posture is greatly changed. In such a case, if the speed of the tip position is commanded, the movement time will be shortened in that section, and the entire work device will suddenly start moving at high speed like a singular posture of an articulated robot, and the motor will be damaged. Not only that, but it can also pose a hazard to workers.

SUMMARY OF THE INVENTION An object of the present invention is to solve the following problems: when the working point of the end effector does not move and only the posture of the end effector changes, or when the movement of the working point of the end effector is very small and the posture of the end effector changes greatly. To provide a working device using a parallel link mechanism which enables an operator to know that, and prevents the whole working device from unexpectedly moving at a high speed.

In the working device 1 using the parallel link mechanism 10 of the present invention, the link hub 13 on the front end side is connected to the link hub 12 on the base end side through three or more sets of link mechanisms 14 so that the posture can be changed. Each link mechanism 14 includes end link members on the proximal side and the distal side, one ends of which are rotatably connected to the link hub 12 on the proximal side and the link hub 13 on the distal side, respectively; and a center link member whose both ends are rotatably connected to the other end of the end link member on the distal side, and two or more of the three or more link mechanisms 14 have the base end a link actuating device 7 provided with an actuator 11 (11 ₁ , 11 ₂ , 11 ₃ ) for attitude control for changing the attitude of the link hub 13 on the tip side with respect to the link hub 12 on the side;
an end effector 6 attached to the link hub 13 on the tip side;
Combined actuators 71 to 73, 85 to 87, 95 of one or more axes that are combined with the link actuating device 7 to relatively change the working point P of the end effector 6 and the reference position of the link actuating device 7 ~97 and
A working device using a parallel link mechanism 10, which includes the attitude control actuator 11 and a control device 2 for controlling the combined actuators 71 to 73, 85 to 87, 95 to 97,
The control device 2 is
A plurality of work coordinates (X _Pi , Y _Pi , Z _Pi ), which are the coordinates of each work point Pi ( _i =0, 1, 2, . . . ) on the work space where the end effector 6 works are stored. a storage unit 3;
From the work coordinates (X _Pi , Y _Pi , Z _Pi ) stored in the storage unit 3, the movement amounts and work coordinates ((X _Pi , Y _Pi , Z _Pi ) are calculated, and the moving speeds of the actuators 11, 71 to 73, 85 to 87, 95 to 97 are calculated using the predetermined target speed of the end effector 6, and and a control unit 4 for operating the actuators 11, 71 to 73, 85 to 87, 95 to 97 at the respective moving amounts and moving speeds of the respective actuators 11, 71 to 73, 85 to 87, 95 to 97. death,
The control unit 4 has a determination unit 4a that determines whether or not the actuators 11, 71 to 73, 85 to 87, 95 to 97 are operable using the moving speeds calculated from the target speeds,
The control device 2 has a display section 5 for displaying whether or not it is operable based on the determination result of the determination section 4a.

When the working points P of a plurality of end effectors 6 are continuously moved at a constant speed, if there is a section along the path in which the amount of movement of the tip position is minute and only the attitude is greatly changed, the tip position may change. Since the speed is commanded, the movement time is shortened in that section, so that the entire working device suddenly starts moving at high speed like a singular posture of an articulated robot, and actuators 11 (11 ₁ , 11 ₂ , 11 ) such as motors ₃ ) not only causes an overload, but is also unfavorable in terms of worker safety. However, the control unit 4 has a determination unit 4a that determines whether or not the actuators 11, 71 to 73, 85 to 87, and 95 to 97 are operable using the moving speeds of the actuators 11, 71 to 73, 85 to 87, and 95 to 97 calculated from the target speeds. Then, based on the determination result of the determination unit 4a, whether or not the operation is possible is displayed on the display unit 5, and if the operation is impossible, a warning is displayed to the operator. When the operator sees this warning display and performs appropriate operations such as changing the target speed to a lower value or adjusting the working point P, the working point P of the end effector 6 does not move and the end Only the attitude of the effector 6 is changed, and it is possible to prevent the entire working device 1 from suddenly moving at high speed.
The combined actuators 71-73, 85-87, 95-97 may be connected to the base of the link actuating device 7 to change the position of the link actuating device 7. It may be connected and the end effector 6 may be mounted thereon, or the origin of the working space may be moved. The "predetermined target speed of the end effector 6" is a target speed set to continuously move the coordinates on the work space where the end effector 6 works at a constant speed, and is set to an arbitrary value. be.

In the present invention, the determination unit 4a determines whether or not the moving speed of all the actuators calculated from the target speed is equal to or less than a predetermined speed, and determines that the operation is possible when the condition is satisfied, If the conditions are not satisfied, it may be determined that the operation is impossible. The "predetermined speed" is a threshold arbitrarily set in a test or the like.
By determining whether or not operation is possible from the moving speeds of all actuators 11, 71 to 73, 85 to 87, and 95 to 97, it is possible to reliably determine whether or not the entire working device 1 is operable.

In the present invention, a predetermined work point movement speed set as the target speed in the storage unit 3 for continuously moving between the work coordinates (X _Pi , Y _Pi , Z _Pi ) at a constant speed; A posture change speed set to change the posture of the end effector 6 at a predetermined angular speed is stored, and the control unit 4 switches the target speed between the working point movement speed and the posture change speed. You may make it have the function part 4b.

By providing the switching function of the target speed by the switching function unit 4b, when only the attitude of the end effector 6 is changed without moving the working point P of the end effector 6, each actuator 11, 71 to 73, 85 to 87, 95-97 can be safely controlled, and the operator can know that the target speed will be switched by the warning display.
The "working point moving speed" and the "attitude changing speed" are values determined arbitrarily.

When the switching function unit 4b is provided, the determination unit 4a determines whether switching of the moving speed is necessary depending on whether the moving distance of the end effector 6 exceeds a moving distance threshold. 4b may switch to the working point moving speed when the determining unit 4a determines that switching is not necessary, and may switch to the posture changing speed when it is determined that switching is necessary.
Whether it is higher or lower may be judged by "greater than or equal to or less than" or by "greater than or equal to or less than". Further, when the working point P of the end effector 6 does not move or moves slightly, the moving distance of the working point P of the end effector 6 is within the range of the previously defined "movement distance threshold". determine whether or not
When the movement of the working point P of the end effector 6 is very small and the posture of the end effector 6 is greatly changed, a predetermined target speed (the "working point movement speed”), the speed for changing the posture of the end effector 6 becomes excessively high, and there is a risk that the entire working device will suddenly move at high speed. However, by automatically switching from the working point moving speed to the attitude changing speed using this movement distance threshold, even an inexperienced worker can prevent the entire work apparatus 1 from suddenly moving at high speed.

When the switching function unit 4b is provided, the determination unit 4a selects at least one of the movement speeds of the actuators 11, 71 to 73, 85 to 87, and 95 to 97 calculated from the work point movement speed as the target speed. It is determined whether or not one of the actuators 11, 71 to 73, 85 to 87, 95 to 97 moves at a moving speed when it is determined that the condition is satisfied. may be switched to the attitude change speed.
For example, as a method of automatically switching from the work point movement speed to the attitude change speed, the movement speed of each actuator 11, 71 to 73, 85 to 87, 95 to 97 calculated from the work point movement speed is , 85 to 87, and 95 to 97, the switching may be performed automatically.
As a result, it is possible not only to prevent the entire working device 1 from suddenly moving at a high speed, but also to prevent the actuators 11, 71-73, 85-87, 95-97 from being damaged.

In the case of these configurations, when the parameter setting is completed, the judgment unit 4a judges whether or not switching is necessary, and if it is judged necessary, the switching function unit switches the target speed. may The parameters are various values that are set before actually operating the working device 1, and include, for example, the target speed, the work point moving speed, the attitude change speed, the predetermined speed, the movement distance threshold value, These are working coordinates and the like, which are stored in the storage unit 3 .
By limiting the timing of switching between the determination by the determination unit 4a and the target speed by the switching function unit 4b, not during the program operation but at the completion of parameter setting, the operator can be notified before the program operation. You get the advantage. As a result, it is possible to prevent the apparatus from stopping when the determination is made during the program operation and the operation becomes impossible.

In the present invention, when the switching function unit 4b is provided, a switching switch 8 may be provided which enables an operator to arbitrarily switch between the working point moving speed and the posture changing speed as the target speed. .
A changeover switch 8 for switching the target speed is provided in the control device 2, and an operator can operate the changeover switch 8 from the outside. Even if it is out of range, the operator can arbitrarily change the attitude change speed.

In the working device using the parallel link mechanism of the present invention, the link hub on the distal end side is connected to the link hub on the proximal end side through three or more sets of link mechanisms so that the posture can be changed, and each of the link mechanisms comprises: End link members on the proximal side and the distal side whose ends are rotatably connected to the link hub on the proximal side and the link hub on the distal side respectively, and end link members on the proximal side and the distal side and a central link member having both ends rotatably connected to the other end, and two or more sets of the link mechanisms out of the three or more sets of link mechanisms are connected to the link hub on the base end side with respect to the link hub on the base end side. A link actuating device provided with an attitude control actuator for changing the attitude of the hub, an end effector attached to the link hub on the tip side, a working point of the end effector combined with the link actuating device, and A link actuating device comprising a combination side actuator of one or more axes that relatively changes the reference position of the link actuating device and a control device that controls the attitude control actuator and the combination side actuator is used. A work device, wherein the control device includes a storage unit for storing a plurality of work coordinates, which are coordinates of each work point on a work space where the end effector works; Calculate the movement amount of each actuator and the distance between the work coordinates from the coordinates, calculate the movement speed of each actuator using the predetermined target speed of the end effector 6, and calculate the calculated movement of each actuator a control unit for operating each of the actuators by the amount and the moving speed, and the control unit includes a determining unit for determining whether or not the actuator is operable using the moving speed of each of the actuators calculated from the target speed. Since the control device has a display unit that displays whether or not it is operable based on the determination result of the determination unit, the working point of the end effector does not move, and only the posture of the end effector is changed. When the movement of the working point of the end effector is minute and the posture of the end effector is greatly changed, the operator can be notified, and the entire work apparatus can be prevented from unexpectedly moving at high speed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view combining a block diagram of a control device with a perspective view of a working device using a parallel link mechanism according to a first embodiment of the present invention; It is explanatory drawing of operation|movement of the same working apparatus. FIG. 11 is an explanatory diagram of another operation of the working device; (A) is a flow chart showing an example of control performed by a control device in the working device, and (B) is a flow chart showing the details of a determination step in (A) of the same figure. FIG. 11 is an explanatory view combining a block diagram of a control device with a perspective view of a working device using a parallel link mechanism according to a second embodiment; FIG. 11 is a flowchart showing an example of control performed by a control device in the working device according to the second embodiment; FIG. 11 is a flowchart showing another example of control performed by the control device in the working device according to the second embodiment; FIG. 11 is a flowchart showing still another example of control performed by the control device in the working device according to the second embodiment; FIG. 11 is an explanatory view combining a block diagram of a control device with a perspective view of a working device using a parallel link mechanism according to a third embodiment; FIG. 11 is a flow chart showing an example of control performed by a control device in the working device according to the third embodiment; FIG. 11 is a perspective view of a working device using a parallel link mechanism according to still another embodiment; FIG. 11 is a perspective view of a working device using a parallel link mechanism according to still another embodiment; FIG. 11 is a perspective view of a working device using a parallel link mechanism according to still another embodiment; FIG. 11 is a perspective view of a working device using a parallel link mechanism according to still another embodiment; FIG. 11 is a perspective view of a working device using a parallel link mechanism according to still another embodiment; FIG. 11 is a perspective view of a working device using a parallel link mechanism according to still another embodiment; It is a front view showing a part of the link actuating device in the working device according to the first embodiment. It is a perspective view which shows one operating state of the same link actuating device. It is a perspective view which shows the other operating state of the same link actuating device. FIG. 15 is a cross-sectional view taken along line XX-XX of FIG. 14; It is a model diagram which shows the same link actuation device in a straight line.

Embodiments of the present invention will be described with reference to the drawings.
<First embodiment>
1-4 and 17-21 show a first embodiment of the invention. The work device 1 using this parallel link mechanism includes a link actuation device 7 composed of a parallel link mechanism 10 and its attitude control actuators 11 (11 ₁ , 11 ₂ , 11 ₃ ), and the link actuation device 7. It comprises a one-axis combination actuator 71 , an end effector 6 , and a control device 2 , which constitute a combination mechanism 70 to be combined.

The actuator 71 on the combination side is a single-axis linear motion actuator that independently constitutes the combination mechanism 70, and a movable base 71c is installed so as to move forward and backward in the left-right direction (X-axis direction) along a rail 71b that is installed. Then, the moving table 71c is advanced and retracted by a motor 71a serving as a driving source. The rotation of the motor 71a is transmitted between the moving base 71c and the rail 71b via a rotation/linear motion conversion mechanism (not shown) such as a ball screw or rack and pinion mechanism. The motor 71 a may be mounted on the moving base 71 c or may be installed on the rail 71 . The base end side link hub 12 of the link actuating device 7 is fixed to the lower surface of the moving table 71c.

The link actuating device 7 will be described in detail. As shown in FIGS. 18 and 19, the parallel link mechanism 10 of the link actuating device 7 can change the posture of the link hub 13 on the distal side with respect to the link hub 12 on the proximal side via three sets of link mechanisms 14. It becomes connected. The number of link mechanisms 14 may be four or more.

Each link mechanism 14, one of which is shown in FIG. form a four-bar link mechanism. The end link members 15 and 16 on the proximal side and the distal side are L-shaped, and one end thereof is rotatably connected to the link hub 12 on the proximal side and the link hub 13 on the distal side, respectively. The central link member 17 is rotatably connected to the other ends of the proximal and distal end link members 15 and 16, respectively.

The parallel link mechanism 10 has a structure in which two spherical link mechanisms are combined. intersect at the respective spherical link centers PA and PB on the proximal side and the distal side. Further, on the base end side and the tip end side, the distances from the rotational pairs of the link hubs 12, 13 and the end link members 15, 16 and the respective spherical link centers PA, PB are the same. 16 and the center link member 17 are the same as each rotational pair and the distance from each spherical link center PA, PB. The central axes of each rotational pair of the end link members 15, 16 and the central link member 17 may have a crossing angle γ or may be parallel.

FIG. 20 is a cross-sectional view taken along the line XX-XX of FIG. and the center axis O2 of each rotational pair of the end link member 15 on the proximal side and the spherical link center PA on the proximal side. 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 13 on the tip side and the end link member 16 on the tip side are also the same as in FIG. 18 (not shown). In the illustrated example, the center axis O1 of each rotational pair between the link hub 12 (13) and the end link member 15 (16) and the rotational pair between the end link member 15 (16) and the central link member 17 Although the angle α formed with the central axis O2 is set to 90°, the angle α may be other than 90°.

The three sets of link mechanisms 14 are geometrically identical in any posture. The geometrically identical shape is represented by a geometric model in which the link members 15, 16, and 17 are represented by straight lines 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 17 are symmetrical. FIG. 21 is a diagram representing a set of link mechanisms 14 in straight lines. The parallel link mechanism 10 of this embodiment is of a rotationally symmetrical type, and consists of a proximal link hub 12 and a proximal end link member 15, and a distal link hub 13 and a distal end link member 16. The positional relationship is rotationally symmetrical with respect to the center line C of the central link member 17 . A central portion of each central link member 17 is positioned on a common orbital circle.

A link hub 12 on the proximal side, a link hub 13 on the distal side, and three sets of link mechanisms 14 provide 2 freedoms in which the link hub 13 on the distal side is rotatable about two orthogonal axes with respect to the link hub 12 on the proximal side. A degree mechanism is constructed. In other words, the link hub 13 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 12 on the proximal end side. This two-degrees-of-freedom mechanism is compact, but allows a wide movable range of the link hub 13 on the distal side with respect to the link hub 12 on the proximal side.

For example, the central axis of the link hubs 12 and 13 is a straight line that passes through the spherical link centers PA and PB and perpendicularly intersects the central axis O1 (FIG. 21) of each rotational pair of the link hubs 12 and 13 and the end link members 15 and 16. In the case of QA and QB, the maximum value of the bending angle .theta. Further, the turning angle φ of the link hub 13 on the distal side with respect to the link hub 12 on the proximal side can be set within a range of 0° to 360°. The bending angle θ is a vertical angle at which the central axis QB of the link hub 13 on the distal side is inclined with respect to the central axis QA of the link hub 12 on the proximal side. It is the horizontal angle at which the central axis QB of the link hub 13 on the tip side is inclined with respect to the central axis QA of the link hub 12 .

The posture of the link hub 13 on the front end side relative to the link hub 12 on the base end side is changed with the intersection point O of the center axis QA of the link hub 12 on the base end side and the center axis QB of the link hub 13 on the front end side as the center of rotation. will be In the origin position state (FIG. 18) where the center axis QA of the link hub 12 on the base end side and the center axis QB of the link hub 13 on the tip end side are on the same line, the link hub 13 on the tip end side faces straight down. 1 and 19 show a state in which the central axis QB of the link hub 13 on the distal end side is at a certain operating angle with respect to the central axis QA of the link hub 12 on the proximal side. Even if the attitude changes, the distance L (FIG. 21) between the spherical link centers PA and PB on the proximal side and the distal side does not change.

If each link mechanism 14 satisfies the following conditions, from geometric symmetry, the proximal side link hub 12 and the proximal side end link member 15, the distal side link hub 13 and the distal side end portion. The link member 16 moves in the same way. Therefore, when the rotation is transmitted from the proximal side to the distal side, the parallel link mechanism 10 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 12, 13 and the end link members 15, 16 in each link mechanism 14 are equal.
Condition 2: The central axis O1 of the rotational pair between the link hubs 12, 13 and the end link members 15, 16 and the central axis O2 of the rotational pair between the end link members 15, 16 and the central link member 17 are on the proximal side. and intersect at the spherical link centers PA, PB on the tip end side.
Condition 3: The geometric shapes of the proximal end link member 15 and the distal end link member 16 are the same.
Condition 4: The geometric shapes of the proximal side portion and the distal side portion of the central link member 17 are the same.
Condition 5: The angular positional relationship between the central link member 17 and the end link members 15 and 16 with respect to the plane of symmetry of the central link member 17 is the same on the proximal side and the distal side.

As shown in FIG. 18 , the link hub 12 on the base end side is composed of a base end member 20 and three rotating shaft connecting members 21 provided integrally with the base end member 20 . The base end member 20 has a circular through-hole 20a (see FIG. 20) in its central portion, and three rotating shaft connecting members 21 are arranged around the through-hole 20a at equal intervals in the circumferential direction. The center of the through-hole 20a is located on the central axis QA (FIG. 17) of the link hub 12 on the base end side. A rotating shaft 22 whose axis intersects the central axis QA of the link hub 12 on the base end side is rotatably connected to each of the rotating shaft connecting members 21 . One end of the end link member 15 on the base end side is connected to the rotating shaft 22 .

As shown in FIG. 18, the link hub 13 on the front end side is composed of a flat tip member 50 and three rotating shaft connecting members 51 provided on the inner surface of the tip member 50 at equal intervals in the circumferential direction. be done. The center of the circumference where the three rotating shaft connecting members 51 are arranged is located on the central axis QB of the link hub 13 on the tip side. Each rotating shaft connecting member 51 is rotatably connected to a rotating shaft 52 whose axis intersects the central axis QB of the link hub 13 on the tip end side. One end of the end link member 16 on the tip side is connected to the rotating shaft 52 of the link hub 13 on the tip side. A rotary shaft 55 rotatably connected to the other end of the central link member 17 is connected to the other end of the end link member 16 on the tip side. The rotating shaft 52 of the link hub 13 on the tip side and the rotating shaft 55 of the central link member 17 are also of the same shape as the rotating shaft 35, and are connected to the rotating shaft connecting member 51 and the rotating shaft connecting member 51 via two bearings (not shown). They are rotatably connected to the other ends of the central link members 17, respectively.

The attitude control actuator 11 of the link actuating device 7 is a rotary actuator provided with a deceleration mechanism 62, and is installed coaxially with the rotating shaft 22 on the lower surface of the base end member 20 of the link hub 12 on the base end side. ing. The attitude control actuator 11 and the speed reduction mechanism 62 are provided integrally, and the speed reduction mechanism 62 is fixed to the base end member 20 by a motor fixing member 63 . In this example, all the three link mechanisms 14 are provided with the attitude control actuators 11, but if at least two of the three link mechanisms 14 are provided with the attitude control actuators 11, the base end side The posture of the link hub 13 on the tip side with respect to the link hub 12 can be determined.

The link actuating device 7 actuates the parallel link mechanism 10 by rotationally driving the attitude control actuators 11 . Specifically, when the attitude control actuator 11 is rotationally driven, the rotation is decelerated through the deceleration mechanism 62 and transmitted to the rotating shaft 22 . As a result, the angle of the end link member 15 on the proximal side with respect to the link hub 12 on the proximal side is changed, and the attitude of the link hub 3 on the distal side with respect to the link hub 2 on the proximal side is changed.

In FIG. 1, an end effector 6 is a device for performing work on an object (not shown) by the working device 1, and may be, for example, a coating nozzle, an air nozzle, a welding torch, a camera, a gripping mechanism, or the like. be.
The end effector 6 is provided on the link hub 13 on the front end side so as to protrude along the central axis QB in the example shown in FIG. The end effector 6 may have the working point P separated from the tip of the end effector 6 in the extending direction of the central axis QB.

The control device 2 is a device for controlling the attitude control actuators 11 (11 ₁ to 11 ₃ ) and the combined actuator 71, and is composed of a computer, a program executed by the computer, an electronic circuit, etc. It has a storage unit 3, a control unit 4, a display unit 5, and input means (not shown). The control unit 4 has a determination unit 4a. The input means is means for inputting settings, updates, etc., of stored contents in the storage section 3. Even if input is performed by an operator's operation of the keyboard or a touch panel on the display section 5, the input means can also be stored. It may be a means for reading a medium or performing input by data communication.

The storage unit 3 _stores a plurality of working coordinates (X _Pi , Y _Pi , Z _Pi ), and in addition, the working point movement speed and the attitude change speed are stored.
The work point movement speed is a predetermined target speed set to continuously move the coordinates (X _Pi , Y _Pi , Z _Pi ) on the work space S where the end effector 6 works at a constant speed. is set to the value of
The posture change speed is a predetermined target angular speed set to change the posture of the end effector 6 at a predetermined speed, and is set to an arbitrary value.

From the work coordinates stored in the storage unit 3, the control unit 4 calculates the movement amount of each attitude control actuator 11 and the combined actuator 71 and the distance between the work coordinates, and calculates the distance between the work coordinates from the predetermined target speed. The moving speed of each actuator 11, 71 is calculated, and each actuator 11, 71 is operated by the calculated moving amount and moving speed of each actuator 11, 71.

The determination unit 4a determines whether the actuators 11, 71 to 73, 85 to 87, and 95 to 97 are operable using the moving speeds calculated from the target speeds. Specifically, the determination unit 4a determines whether or not the movement speeds of all the actuators 11, 71 to 73, 85 to 87, and 95 to 97 calculated from the target speeds are equal to or less than a predetermined speed, If the conditions are met, it is determined to be operable, and if the conditions are not met, it is determined to be non-operable. The "predetermined speed" is set to an appropriate value according to design.
The display unit 5 is means for displaying whether or not the device is operable based on the determination result of the determination unit 4a. The display unit 5 is composed of, for example, a liquid crystal display device for displaying display contents on a screen, and displays images such as characters and marks.
In addition to the display unit 5, the control device 2 may have notification means (not shown) for notifying by voice or the like whether or not it is operable based on the determination result of the determination unit 4a.

An operation example of the above configuration and a supplementary explanation of the configuration will be given.
FIG. 1 shows an example of a configuration in which the link actuating device 7 is combined with the other direct-acting single-axis actuator 71 . In this configuration, the positions of the three actuators 11 (11 ₁ , 11 ₂ , 11 ₃ ) for changing the attitude when the link actuating device 7 is in the attitude A (θa, φa) are (β1a, β2a, β3a). . Also, let Mc be the amount of movement of the combined actuator 71 at position C (see FIG. 2). At this time, the coordinates in the work space S of the work point P of the end effector 6 arranged at the tip of the link actuating device 7 are (Xp, Yp, Zp).
For the sake of simplicity of explanation, an arbitrary one of the working points _Pi is designated as "P", and the other one is designated as "Q". Moreover, when the working point P _i is not particularly specified, it may simply be referred to as "working point P".

2, the posture of the link actuating device 7 is changed from posture A (.theta.a, .phi.a) to posture B (.theta.b, .phi.b), and the position of the actuator 71 of the other linear motion axis is changed from position C (Mc) to position D (Md). ), the work point P of the end effector 6 moves from coordinates ( _Xp , Yp, _Zp ) to _{( Xq} , _Yq , _Zq ).
Assuming that the coordinate moving distance at this time is L and the predetermined working point moving speed is V1, the time T1 required for movement can be expressed by the following (Equation 1).

Therefore, when the movement amounts of the actuators 11 ₁ , 11 ₂ , 11 ₃ and 71 are Δβ1, Δβ2, Δβ3 and ΔM, the movement speeds of the actuators 11 ₁ , 11 ₂ , 11 ₃ and 71 are given by the following equation (2). ).

3, the posture of the link actuating device 7 is changed from posture A (.theta.a, .phi.a) to posture B (.theta.b, .phi.b), and the position of the actuator 71 of the other linear motion 1 axis is changed from position C (Mc) to position D This shows a case where the working point of the end effector 6 remains at P when changed to (Md) and does not move (P and Q match). Assuming that the angle formed by the attitudes A and B at this time is γ, and the predetermined attitude change speed is V2, the time T2 required for movement can be expressed by the following (Equation 3).

Therefore, when the movement amounts of the actuators 11 ₁ , 11 ₂ , 11 ₃ and 71 are Δβ1, Δβ2, Δβ3 and ΔM, the movement speeds of the actuators 11 ₁ , 11 ₂ , 11 ₃ and 71 are given by the following equation (4 ).

By switching between (Equation 1), (Equation 2) and (Equation 3), (Equation 4), the operation of moving the work point P of the end effector 6 at a predetermined work point movement speed and the posture of the end effector 6 at a predetermined posture change speed can be switched in a continuous motion.

Here, as shown in FIG. 1, when the operator sets the working point P of the end effector 6, the attitude of the link actuating device 7, and the working point movement speed during teaching, it is determined whether the operation can be performed at a predetermined target speed. and a display unit 4b for displaying a warning when the determination unit determines that the operation is impossible at the predetermined target speed. A function is provided to notify the operator. As a result, the operator can prevent the entire working device from suddenly moving at high speed by adjusting the working point, link posture, and target speed during teaching or parameter setting.

FIG. 4 shows the flow of judgment performed by the judgment section 4a of the control section 4 and the display of the display section 5. As shown in FIG.
The determination unit 4a determines whether or not the working device 1 can move the work point P at a predetermined speed, that is, whether or not the actuators 11, 71 to 73, 85 to 87, 95 to 97 are moved based on the target speed. The velocity is used to determine whether or not operation is possible (step M1).
If it is operable, no warning is displayed by the display unit 5 (step M2). If it is not operable, a warning is displayed by the display unit 5 (step M3).

Details of the determination step M1 are shown in FIG. First, before the operation is started, the operator inputs to the input means (not shown) to set the working point moving speed as a predetermined target speed in the storage unit 3 (step Q1). After starting the operation _, the control unit ₄ obtains the movement time until reaching the _next work point P from the set work point movement speed (step Q2). A moving speed is obtained (step Q3).
The determination unit 4a determines whether or not the moving speeds of all the actuators 11 ₁ , 11 ₂ , 11 ₃ , 71 are equal to or less than a predetermined speed (step Q4). It should be noted that it may be determined whether or not the movement speed of only the actuators 11 ₁ , 11 ₂ , 11 ₃ for attitude change is equal to or less than a predetermined speed. The "predetermined speed" is a threshold arbitrarily set for each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 . If the speed is equal to or less than the predetermined speed, it is determined that the work point can be moved at the predetermined speed (step Q5). If the speed is not equal to or less than the predetermined speed, it is determined that the operation is impossible, that is, the working point cannot be moved at the predetermined speed (step Q6).

In this way, it is determined whether or not the device is operable, and a warning is displayed on the display unit 5 according to the determination result. Therefore, if the operator performs appropriate operations such as changing the target speed to a lower value or adjusting the working point P according to the content of the display, the working point P of the end effector 6 does not move and the end Only the attitude of the effector 6 is changed, and it is possible to prevent the entire working device 1 from suddenly moving at high speed.

That is, when moving the working points of a plurality of end effectors continuously at a constant speed, if there is a section in the path where the amount of movement of the tip position is minute and only the posture changes greatly, the tip position Since the speed is commanded, the movement time is shortened in that section, and the entire work device suddenly starts moving at high speed like a unique posture of an articulated robot, not only overloading the motor but also Not good for safety. However, the control unit 4 has a determination unit 4a that determines whether or not the actuators 11, 71 to 73, 85 to 87, and 95 to 97 are operable using the moving speeds of the actuators 11, 71 to 73, 85 to 87, and 95 to 97 calculated from the target speeds. Then, based on the determination result of the determination unit 4a, whether or not the operation is possible is displayed on the display unit 5, and if the operation is impossible, a warning is displayed to the operator. Therefore, when the operator sees the warning display and performs an appropriate operation, it is possible to prevent the entire working device from suddenly moving at high speed.

<Second embodiment>
5 to 8 show a second embodiment. The second embodiment is obtained by adding a switching function unit 4a to the control unit 4 in the first embodiment, and is the same as the first embodiment except for matters to be particularly described.
The switching function unit 4b is means for switching the target speed between the working point moving speed and the posture changing speed. As described above, the work point movement speed is the speed set for continuously moving between the work coordinates (X _Pi , Y _Pi , Z _Pi ) at a constant speed, and the attitude change speed is the end effector 6 , which are values stored in the storage unit 3 .

For example, the switching function unit 4a sets the target speed to the working point moving speed when the moving distance of the end effector 6 exceeds a moving distance threshold defined as a judgment reference distance, and sets it to the working point moving speed when the moving distance falls below the moving distance threshold. The attitude change speed may be used.
Further, the switching function unit 4a sets the target speed to a speed at which at least one of the moving speeds of the actuators 11 and 71 calculated from the working point moving speed exceeds a speed threshold set as a judgment reference speed. The attitude change speed may be used when the conditions are satisfied, and the working point movement speed may be used when the speed conditions are not satisfied.

6 to 8 show examples of flows in which the control unit 4 in FIG. 1 switches the moving speeds of the actuators 11 ₁ , 11 ₂ , 11 ₃ and 71 using the switching function unit 4a.
<<Example of processing in FIG. 6>>
In FIG. 6, it is determined whether or not the work point is to be moved at a predetermined speed, which is a judgment criterion, that is, at a speed exceeding the speed threshold (step R1). R2).
Thereafter, the control unit 4 obtains the time required for movement at the working point moving speed from the working point moving distance (step R3), and calculates the moving speeds of the actuators 11 ₁ , 11 ₂ , 11 ₃ and 71 ( step R4).

At the time of determination in step R1, if the working point P is not moved at a speed exceeding the speed threshold, the attitude change speed is set as the target speed (step R5). From the attitude change angle, the time required for the attitude change at the attitude change speed is obtained (step R6), and the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is calculated (step R4).

<<Example of processing in FIG. 7>>
Strictly speaking, even if the working point P and the working point Q do not match, the coordinate moving distance L between the working point P and the working point Q shown in (Equation 1) is within the range of the predetermined moving distance threshold Th_pos. , i.e., when (Equation 5) is satisfied, it is assumed that the working point of the end effector 6 does not move from P, and the velocity of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is calculated at the attitude change velocity do.
L≦Th_pos (Formula 5)

When the movement of the working point P of the end effector 6 is very small and the attitude of the end effector 6 is greatly changed, the working point P of the end effector 6 should be operated at a predetermined working point movement speed when continuously moving the working point P. As a result, the speed for changing the posture of the end effector 6 becomes excessive, and there is a risk that the entire working device 1 will suddenly move at high speed. However, by providing this movement distance threshold, it is possible to automatically switch from the working point movement speed to the attitude change speed, and it is possible to prevent the entire work device 1 from suddenly moving at high speed.

FIG. 7 shows a flow for switching the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 using the movement distance threshold Th_pos.
Calculate the working point movement distance L (step U1), judge whether the working point movement distance L is equal to or less than the movement distance threshold Th_pos (step U2), and if the condition is satisfied, set the attitude change speed as the target speed (step 3). From the attitude change angle, the time required to operate at the attitude change speed is obtained (step U4), and the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is calculated (step U5).

If the condition is not satisfied in step U2, the process proceeds to step U6 to set the working point movement speed as the target speed. After that, from the working point moving distance, the time required to operate at the working point moving speed is obtained (step U7), and the moving speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is calculated (step U5). .

<<Example of processing in FIG. 8>>
Each actuator 11 ₁ , 11 ₂ calculated from the coordinate movement distance L between the work point P and the work point Q, the predetermined work point movement speed V1, and the movement amount of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 , 11 ₃ , 11 3 , 71 when the moving speed of any one of the actuators 11 ₁ , 11 ₂ , 11 ₃ , 71 exceeds a predetermined speed threshold Th_vel, each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 are calculated. As a result, even if the coordinate movement distance L between the work point P and the work point Q is outside the range of the predetermined movement distance threshold value Th_pos, the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is excessively high. can be prevented from becoming If the predetermined speed threshold is the rated speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71, it is possible not only to prevent the entire working device from suddenly moving at high speed, but also to prevent damage to the actuators.

FIG. 8 shows a flow for switching the moving speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 using the speed threshold Th_vel as described above.
The work point movement speed V1 is set as _a target speed (step W1), and the time required to operate at the work point movement speed V1 is obtained from the work point movement distance (coordinate movement distance L) (step W2). A moving speed Vact of 11 ₂ , 11 ₃ and 71 is calculated (step W3).

In all the actuators _{11 1} , _{11 2} , 11 _{3 ,} 71, it is judged whether or not the moving speed Vact≦Th_vel is satisfied (step W4). to operate.

If the condition is not satisfied in the determination step W4, the process proceeds to step W5, where the attitude change speed is set as the target speed. From the attitude change angle, the time required to operate at the attitude change speed is obtained (W6), and the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is calculated (step W7).

<Third Embodiment>
9 and 10 show a third embodiment. In the third embodiment, the changeover switch 8 is provided in the control device 2 in the second embodiment, and is the same as the first and second embodiments except for the items to be particularly described. .

The changeover switch 8 is input operation means for allowing an operator to arbitrarily switch between the working point moving speed and the posture changing speed as a target speed.
The switching function unit 4a converts the predetermined target speed used when calculating the movement speed of each of the attitude control actuators 11 and the movement speed of the combined actuator 71 into the working point movement speed and the attitude change speed. It is a means for automatically switching to and from according to specified conditions.
In this case, the changeover switch 8 may be used to enable switching for each work point _Pi , and the result of switching at each work point _Pi may be stored.
Thereby, even when it is desired to change the posture of the end effector 6 at a predetermined angular velocity in a section in which the work point _Pi is continuously moved, the change can be easily performed.

FIG. 10 shows a flow of switching the moving speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 using the changeover switch 8 .
In step N1, it is determined whether or not changing the attitude at a predetermined angular velocity is selected, that is, whether or not the changeover switch 8 is in a switching state in which the attitude changing speed is selected, and if the condition is satisfied, the attitude is changed. The speed is set as the target speed (step N2). From the attitude change angle, the time required for operation at the attitude change speed is obtained (step N3), and the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is calculated (step N4).
If it is determined in step N1 that the attitude change speed is not selected, the process proceeds to step N5 to set the working point movement speed as the target speed. The time required to operate at the target speed is obtained from the work point movement distance (step N6), and the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is calculated (step N4).

<Functions and Effects of Embodiments 2 and 3>
Although the effects of the working device 1 of Embodiment 1 have been described above, according to the working device 1 of Embodiments 2 and 3, the following actions and effects can be obtained.
The target speeds used when the controller 4 calculates the movement speeds of the actuators 11 ₁ , 11 ₂ and 11 ₃ for attitude control and the movement speed of the actuator 71 on the combination side are the working point movement speed and the attitude change speed. , even if only the attitude of the end effector 6 is changed without moving the working point P of the end effector 6, the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is can be controlled.
A movement distance threshold is defined in advance as in the example of the flow chart 7, and when the movement distance of the work point P is within the range of the movement distance threshold, _each actuator 11-1 is calculated based on the attitude change speed instead of the work point movement speed. , 11 ₂ , 11 ₃ , and 71, the posture of the end effector 6 is changed even if the movement of the working point P of the end effector 6 is minute and the posture of the end effector 6 is greatly changed. Therefore, the working device 1 as a whole can be prevented from suddenly moving at a high speed. Therefore, even an inexperienced worker can handle the work device 1 with confidence.
Furthermore, the moving speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 calculated from the working point moving speed as in the example of flow chart 8 is the rated speed of these actuators 11 ₁ , 11 ₂ , 11 ₃ , 71. If the movement speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 is calculated not from the work point movement speed but from the attitude change speed when exceeding Not only can it be prevented from moving at high speed, but also damage to each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71 can be prevented.
As a method of switching from the working point moving speed to the attitude changing speed as in the third embodiment, by providing a selector switch 8 that can be switched by the operator at will, the movement of the working point P of the end effector 6 reaches the movement distance threshold. By making it possible to change to the attitude change speed even when it is outside the range of , the operator can arbitrarily switch between the work point movement speed and the attitude change speed, and the work point P moves continuously. In this case, it is also possible to operate with a constant attitude change speed in a certain section.

Other embodiments will be described below with reference to FIGS. 11 to 16. FIG. These embodiments are the same as the first embodiment except for the particulars described.

<Embodiment 4>
FIG. 11 shows a fourth embodiment. In the first embodiment, an example in which the combined mechanism 70 is composed of a single-axis linear actuator has been described. However, as shown in FIG. The shaft combination mechanism 70A may be combined with the link actuating device 7 . In the work device 1 having this configuration, the control device 2 is configured in the same manner as in the first embodiment. However, the controller 2 is configured to handle the actuators 71 and 72 in the combined mechanism 70A.

When the movement of the working point P of the end effector 6 is very small and the attitude of the end effector 6 is greatly changed, the working point P of the end effector 6 should be operated at a predetermined working point movement speed when continuously moving the working point P. As a result, the speed for changing the posture of the end effector 6 becomes excessive, and there is a risk that the entire working device 1 will suddenly move at high speed. However, by switching the target speed from the working point moving speed to the attitude changing speed and calculating the moving speed of each actuator 11 ₁ , 11 ₂ , 11 ₃ , 71, 72, the working device 1 as a whole can be prevented from suddenly moving at high speed.

<Embodiment 5>
FIG. 12 shows yet another embodiment. This embodiment is an example in which the combination mechanism 80 combined with the link actuator 7 is a vertical articulated robot. In this combination mechanism 80 , a first arm 82 vertically extending upward on a base unit 81 is installed rotatably around a vertical axis and rotated by a first actuator 85 . A second arm 83 is installed at the tip of the first arm 82 so as to be rotatable about the horizontal axis, and is rotated by a second actuator 86 . A third arm 84 is installed at the tip of the second arm 83 so as to be rotatable around a horizontal axis parallel to the horizontal axis, and is rotated by a third actuator 87 . The link actuating device 7 is installed at the tip of the third arm 84 . The first to third actuators 85 to 87 are actuators on the combination side referred to in the scope of claims.
The control device 2 has the same configuration as the control device 2 of the working device 1 according to the first embodiment. However, the controller 2 is configured to handle each actuator 85 to 87 in the combination mechanism 80 .

In the case of this configuration as well, when the movement of the working point P of the end effector 6 is minute and the attitude of the end effector 6 is greatly changed, the predetermined working point when continuously moving the working point P of the end effector 6 If an attempt is made to operate at the movement speed, the speed for changing the attitude of the end effector 6 becomes excessive, and there is a risk that the entire working device 1 will suddenly move at high speed. However, by switching the target speed from the working point moving speed to the posture changing speed and calculating the moving speeds of the actuators 11 ₁ , 11 ₂ , 11 ₃ , 85 to 87, the entire working device 1 suddenly moves at a high speed. can be prevented.

<Embodiment 6>
FIG. 13 shows yet another embodiment. This embodiment is an example in which the combination mechanism 90 combined with the link actuator 7 is a horizontal articulated robot. In this combination mechanism 90, a first arm 92 vertically extending upward is installed on a base unit 91 so as to be horizontally rotatable. The first arm 92 has a horizontal arm portion 92a at its upper end, and a second arm 93 is rotatably installed at its tip around a vertical axis. The second arm 93 has a horizontal arm portion 93a at its upper end, and a third arm 94 at its tip is configured as a linear motion mechanism capable of vertical movement. Actuator 95 for rotating the first arm 92, actuator 95 for rotating the second arm 93, and direct acting actuator 97 for vertically moving the third arm 94 are actuators on the combination side with respect to the link actuating device 7. is.

The control device 2 has the same configuration as the control device 2 of the working device 1 according to the first embodiment. However, the controller 2 is configured to handle each actuator 95 to 97 in the combination mechanism 90 .

Even in the case of this configuration, if the movement of the working point P of the end effector 6 is very small and the posture of the end effector 6 is greatly changed, the predetermined work when continuously moving the working point P of the end effector 6 is performed. If an attempt is made to operate at the point moving speed, the speed for changing the posture of the end effector 6 becomes excessive, and there is a risk that the entire working device 1 will suddenly move at high speed. However, by switching the target speed from the working point movement speed to the attitude change speed and calculating the movement speeds of the actuators 11 ₁ , 11 ₂ , 11 ₃ , 94 to 96, the work equipment 1 as a whole suddenly becomes faster. You can prevent it from moving.

<Embodiment 7>
FIG. 14 shows yet another embodiment. This embodiment is an example applied to a visual inspection apparatus in which a camera 6A and a lens 6B as an end effector 6 are mounted on the tip of a link actuating device 7. FIG. The link actuating device 7 is mounted on a third linear actuator 73 in a three-dimensional combination mechanism 70B in which three linear actuators 71 to 73 are combined orthogonally.

In this embodiment, the working point of end effector 6 is the focal point _PF of lens 6B. In the middle of continuously photographing the appearance of the object, that is, the workpiece W, when the points to be inspected are fixed and photographed from a plurality of directions, the posture change speed is used instead of the work point movement speed to maintain a constant state. It is possible to shoot at a speed of

<Embodiment 8>
FIG. 15 shows yet another embodiment. This embodiment shows a case where the working device 1 is a cleaning device having an air nozzle 6C as an end effector mounted at the tip of a link actuating device. In this example, the combination mechanism 70B combined with the link actuating device 7 is composed of the first to third direct-acting actuators 71, 72, 73 that are orthogonal to each other and described above with reference to FIG.
When applied to a cleaning apparatus, the working point is the cleaning position _PW , which is a point separated by a specified distance on the axis of the nozzle port 6Ca of the air nozzle 6C. When the cleaning position _PW , which is the point to be cleaned, is fixed and the cleaning is performed from a plurality of directions, cleaning can be performed at a constant speed by using the attitude change speed instead of the working point movement speed. When the cleaning position _PW moves, efficient cleaning can be achieved by setting the working point moving speed.

<Embodiment 9>
FIG. 16 shows yet another embodiment. This embodiment is an example in which the working device 1 is a manipulator having a gripping mechanism 6M as an end effector mounted at the tip of the link actuating device 7. As shown in FIG. The gripping mechanism 6M has a structure in which a pair of chuck claws 6Mb, 6Mb protrude from a gripping mechanism main body 6Ma, and these chuck claws 6Mb, 6Mb are opened and closed by being driven by a drive source (not shown). In this example, the combination mechanism 70B combined with the link actuating device 7 is composed of the first to third direct-acting actuators 71, 72, 73 that are orthogonal to each other and described above with reference to FIG.
In the case of such a manipulator, the working point is the action point PM of the gripping mechanism _6M . When rotating the work _W around the action point PM while holding the work W, rotation at a constant speed is possible by using the attitude change speed instead of the working point movement speed. When moving the work W, it can be efficiently moved by setting the work point moving speed.

As mentioned above, although the form for implementing this invention was demonstrated based on embodiment, embodiment disclosed here is an illustration and is not restrictive at all points. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the meaning and range of equivalents of the scope of the claims.

DESCRIPTION OF SYMBOLS 1... Working device 2... Control device 3... Storage part 4... Control part 4a... Determination part 4b... Switching function part 5... Display part 6... End effector 6A... Camera (end effector)
6B...Lens end effector)
6C... Air nozzle (end effector)
6M... Grasping mechanism (end effector)
7 Link actuating device 8 Changeover switch 10 Parallel link mechanism 11, 11 ₁ , 11 ₂ , 11 ₃ Attitude control actuator 12 Base end link hub 13 Tip end link hub 14 Link mechanism 15 End link member 16 on the proximal end side End link member 17 on the distal end side Center link members 70, 70A, 70B Combined mechanism

Claims (6)

A tip-side link hub is connected to a base-side link hub via three or more sets of link mechanisms so as to be able to change their attitudes, and each of the link mechanisms is connected to the base-side link hub and the tip-side link hub, respectively. Proximal and distal end link members having one end rotatably connected to the link hub, and a center having both ends rotatably connected to the other ends of the proximal and distal end link members, respectively At least two of the at least three link mechanisms are provided with actuators for attitude control that change the attitude of the link hub on the tip end side with respect to the link hub on the base end side. a mounted link actuator;
an end effector attached to the link hub on the tip side;
a combination side actuator of one or more axes that is combined with the link actuating device to relatively change a working point of the end effector and a reference position of the link actuating device;
A working device using a link operating device including the actuator for attitude control and a control device for controlling the combined actuator,
The control device is
A storage unit that stores a plurality of work coordinates, which are coordinates of each work point on the work space where the end effector works , and the positions of the attitude control actuator and the combined actuator corresponding to the work coordinates. When,
Based on the work coordinates , the position of the attitude control actuator and the position of the combination actuator stored in the storage unit, the amount of movement of the attitude control actuator and the combination actuator and the distance between the work coordinates and calculating the movement speed of the attitude control actuator and the combination actuator using the predetermined target velocity of the end effector, and calculating the calculated attitude control actuator and the combination actuator a control unit that operates the attitude control actuator and the combined actuator at a movement amount and a movement speed of
In the storage unit, as the target speed, a predetermined work point movement speed set for continuously moving between the work coordinates at a constant speed and a predetermined angular speed for changing the posture of the end effector are set. and the control unit has a switching function unit for switching the target speed between the working point movement speed and the posture change speed,
The control unit has a determination unit that determines whether or not it is operable using the movement speed of the actuator for posture control and the combined actuator calculated from the work point movement speed as the target speed,
A working device using a parallel link mechanism, wherein the control device has a display section for displaying whether or not the control device is operable based on the determination result of the determination section. 2. The work apparatus using the parallel link mechanism according to claim 1, wherein the determination unit determines the movement speed of the actuator for posture control and the combined actuator calculated from the work point movement speed as the target speed. A parallel link mechanism is used to determine whether or not a first condition that the speed is equal to or lower than the speed is satisfied, and to determine that it is operable if the first condition is met, and that it is determined that it is not operable if the condition is not met. working equipment. 3. The work apparatus using the parallel link mechanism according to claim 1 , wherein the determination unit switches the target speed depending on whether or not the distance between the work coordinates of the end effector exceeds a movement distance threshold. If the determination unit determines that switching is unnecessary, the switching function unit sets the work point movement speed to the target speed , and determines that switching is necessary. A working device using a parallel link mechanism for switching the attitude change speed to the target speed when the case is the case. 3. The work apparatus using the parallel link mechanism according to claim 1 , wherein the determination unit sets the work point movement speed as the target speed , and determines the attitude control position calculated from the distance between the work coordinates . It is determined whether or not a second condition that at least one of the moving speeds of the actuator and the combined actuator exceeds a predetermined speed threshold satisfies a second condition, and if it is determined that the second condition is satisfied, the switching is performed. The functional unit uses a parallel link mechanism for switching a target speed for calculating the movement speed of the actuator for attitude control and the actuator on the combined side to the attitude change speed. 5. In the working device using the parallel link mechanism according to claim 3 or 4 , when the parameter setting is completed, the judgment unit judges whether or not the switching is necessary, and if it is judged that the switching is necessary, the A working device using a parallel link mechanism that switches the target speed by a switching function unit. 6. A working device using a parallel link mechanism according to any one of claims 1 to 5 , wherein the target speed can be arbitrarily switched between the working point movement speed and the attitude change speed by an operator's operation. A working device using a parallel link mechanism having a changeover switch.

Images