Work machine provided with parallel link mechanism
A work apparatus includes a parallel link mechanism, a position control actuator, a linear motion mechanism, and a rotating mechanism. The parallel link mechanism includes three or more link mechanisms that couple a distal end side link hub to a proximal end side link hub such that a position of the distal end side link hub can be changed relative to the proximal end side link hub. The position control actuator operates the parallel link mechanism. The linear motion mechanism moves a working body in an axial direction orthogonal to a central axis of the proximal end side link hub. The rotating mechanism is mounted on the distal end side link hub and rotates a work object about a rotation center axis parallel to a movement direction of the linear motion mechanism when the central axis and a central axis are on the same line.
1. A work apparatus for performing work on a work object with a working body in a contact manner or in a non-contact manner, the work apparatus comprising:
a parallel link mechanism supporting the work object in a position-changeable fashion;
a position control actuator configured to operate the parallel link mechanism;
a linear motion mechanism configured to move the working body in one axial direction relative to the parallel link mechanism; and
a rotating mechanism configured to rotate the work object, wherein
the parallel link mechanism includes three or more link mechanisms coupling a distal end side link hub to a proximal end side link hub such that a position of the distal end side link hub can be changed relative to the proximal end side link hub,
each of the link mechanisms includes
a proximal side end link member pivotably coupled at one end thereof to the proximal end side link hub via a first revolute pair,
a distal side end link member pivotably coupled at one end thereof to the distal end side link hub via a second revolute pair, and
an intermediate link member with its opposite ends pivotably coupled to the other end of the proximal side end link member via a third revolute pair and to the other end of the distal side end link member via a fourth revolute pair, respectively,
each of the link mechanisms is disposed such that a central axis of the first revolute pair and a central axis of the third revolute pair intersect each other at a proximal end side spherical link center, and a central axis of the second revolute pair and a central axis of the fourth revolute pair intersect each other at a distal end side spherical link center,
the position control actuator is provided in each of two or more link mechanisms of the three or more link mechanisms such that the position of the distal end side link hub relative to the proximal end side link hub is arbitrarily changed,
the linear motion mechanism is configured to move the working body in an axial direction orthogonal to a proximal end side link hub central axis that is defined as a straight line that passes through the proximal end side spherical link center and intersects the central axis of the first revolute pair at a right angle, and
the rotating mechanism is mounted on the distal end side link hub and is configured to rotate the work object about a rotation center axis which is parallel to a movement direction of the linear motion mechanism in a state where the proximal end side link hub central axis and a distal end side link hub central axis that is defined as a straight line that passes through the distal end side spherical link center and intersects the central axis of the second revolute pair at a right angle are on the same line.
2. The work apparatus as claimed in claim 1 , wherein the linear motion mechanism is mounted on a member that forms a part of the proximal end side link hub of the parallel link mechanism.
3. The work apparatus as claimed in claim 1 , wherein an additional linear motion mechanism configured to move the working body in a direction parallel to the proximal end side link hub central axis is provided.
4. The work apparatus as claimed in claim 1 , wherein the parallel link mechanism is mounted such that the distal end side link hub is oriented downward, and the working body is disposed in an internal space of the parallel link mechanism that is a space formed between the proximal end side link hub and the distal end side link hub.
5. The work apparatus as claimed in claim 1 , wherein a rotating mechanism mounting member fixed to the distal end side link hub is provided outside an internal space of the parallel link mechanism that is a space formed between the proximal end side link hub and the distal end side link hub, the rotating mechanism is mounted on the rotating mechanism mounting member, and a work object fixing member that is configured to be rotated by the rotating mechanism and has a tip portion extending into the internal space and configured to fix the work object is provided.
6. The work apparatus as claimed in claim 2 , wherein an additional linear motion mechanism configured to move the working body in a direction parallel to the proximal end side link hub central axis is provided.
7. The work apparatus as claimed in claim 2 , wherein the parallel link mechanism is mounted such that the distal end side link hub is oriented downward, and the working body is disposed in an internal space of the parallel link mechanism that is a space formed between the proximal end side link hub and the distal end side link hub.
8. The work apparatus as claimed in claim 3 , wherein the parallel link mechanism is mounted such that the distal end side link hub is oriented downward, and the working body is disposed in an internal space of the parallel link mechanism that is a space formed between the proximal end side link hub and the distal end side link hub.
9. The work apparatus as claimed in claim 2 , wherein a rotating mechanism mounting member fixed to the distal end side link hub is provided outside an internal space of the parallel link mechanism that is a space formed between the proximal end side link hub and the distal end side link hub, the rotating mechanism is mounted on the rotating mechanism mounting member, and a work object fixing member that is configured to be rotated by the rotating mechanism and has a tip portion extending into the internal space and configured to fix the work object is provided.
10. The work apparatus as claimed in claim 3 , wherein a rotating mechanism mounting member fixed to the distal end side link hub is provided outside an internal space of the parallel link mechanism that is a space formed between the proximal end side link hub and the distal end side link hub, the rotating mechanism is mounted on the rotating mechanism mounting member, and a work object fixing member that is configured to be rotated by the rotating mechanism and has a tip portion extending into the internal space and configured to fix the work object is provided.
11. The work apparatus as claimed in claim 4 , wherein a rotating mechanism mounting member fixed to the distal end side link hub is provided outside the internal space of the parallel link mechanism that is the space formed between the proximal end side link hub and the distal end side link hub, the rotating mechanism is mounted on the rotating mechanism mounting member, and a work object fixing member that is configured to be rotated by the rotating mechanism and has a tip portion extending into the internal space and configured to fix the work object is provided.