Work device
An operation device including a combination of a rotation unit and a linear motion unit. The rotation unit includes a link actuation apparatus and a rotation actuator. The link actuation apparatus includes a proximal end side-link hub, and a distal end side-link hub coupled thereto through three or more link mechanisms so as to enable a varying attitude relative thereto. The link actuation apparatus is mounted to an output shaft of the rotation actuator such that a central axis of the proximal end side-link hub forms an angle relative to an axis of rotation of the rotation actuator. The linear motion unit includes a linear actuator serving as an output portion thereof, and the rotation unit is mounted to this linear actuator.
1 . An operation device comprising:
a combination of a rotation unit and a linear motion unit, the rotation unit including a link actuation apparatus and a rotation actuator,
the link actuation apparatus including a proximal end side-link hub, and a distal end side-link hub, three or more link mechanisms which couple the distal end side-link hub to the proximal end side-link hub so as to enable a varying attitude of the distal end side-link hub relative to the proximal end side-link hub,
each of the three or more link mechanisms including: a proximal end side-end link member having one end pivotably coupled to the proximal end side-link hub; a distal end side-end link member having one end pivotably coupled to the distal end side-link hub; and an intermediate link member having opposite ends pivotably coupled to the other ends of the the proximal end side-end link member and the distal end side-end link member,
at least two of the three or more link mechanisms being associated with attitude control actuators configured to vary the attitude of the distal end side-link hub such that the distal end side-link hub assumes a given attitude relative to the proximal end side-link hub,
the link actuation apparatus being mounted to an output shaft of the rotation actuator via a mounting member such that a central axis of the proximal end side-link hub forms an angle θt inclined relative to an axis of rotation of the rotation actuator, a central axis of the output shaft of the rotation actuator coinciding with the axis of rotation of the rotation actuator,
the linear motion unit including a linear actuator serving as an output portion thereof, and the rotation unit being mounted to this linear actuator,
wherein the mounting member has a tip end provided with a slope surface which is inclined by a predetermined angle relative to the axis of rotation of the rotation actuator, and the proximal end side-link hub is secured to the slope surface.
2 . The operation device as claimed in claim 1 , wherein:
two or more of the attitude control actuators in the link actuation apparatus are disposed such that rotary shafts for the attitude control actuators extend perpendicular to said central axis of the proximal end side-link hub;
the rotary shafts for the two or more of the attitude control actuators define an intersecting point on said central axis of the proximal end side-link hub forming said angle θt; for two of the two or more of the attitude control actuators, bisectors of the rotary shafts meet a plane defined by said axis of rotation of the rotation actuator and said central axis of the proximal end side-link hub; and
the bisectors are situated on a side of an acute angle formed between said axis of rotation of the rotation actuator and said central axis of the proximal end side-link hub.
3 . The operation device as claimed in claim 1 , wherein:
the rotation actuator includes a rotation control actuator main component and a speed reducer configured to reduce speed of rotation from this actuator main component; and
a cable carrier configured to guide at least cables extending from the attitude control actuators while protecting the same is disposed around the rotation actuator so as to slide in a direction of rotation.
4 . The operation device as claimed in claim 1 , wherein the linear motion unit includes a first linear actuator mounted to a frame, a second linear actuator, and a third linear actuator which is said linear actuator serving as said output portion of the linear motion unit, and the rotation unit is mounted to this third linear actuator.
5 . The operation device as claimed in claim 4 , wherein the linear motion unit includes:
the first linear actuator including a first slid-upon component mounted to the frame and a first slider component configured to be driven to advance and retract along this first slid-upon component;
the second linear actuator including a second slid-upon component coupled to the first slider component and a second slider component configured to be driven to advance and retract along this second slid-upon component; and
the third linear actuator including a third slid-upon component coupled to the second slider component and a third slider component configured to be driven to advance and retract along this third slid-upon component.
6 . The operation device as claimed in claim 5 , wherein:
the first linear actuator and the second linear actuator are arranged such that directions of advance and retraction of the first slider component and the second slider component are perpendicular to each other, and
the third linear actuator is arranged such that a direction of advance and retraction of the third slider component is perpendicular to the directions of advance and retraction of the first slider component and the second slider component.
7 . The operation device as claimed in claim 5 , wherein:
the third linear actuator is arranged such that a direction of advance and retraction of the third slider component is a vertical direction;
the third slider component is a guide of the linear actuator; and
the third slid-upon component is a slide table of the linear actuator.
8 . The operation device as claimed in claim 5 , wherein the rotation actuator is arranged such that said axis of rotation thereof is parallel to a direction of advance and retraction of the third slider component.
9 . The operation device as claimed in claim 1 , wherein the link actuation apparatus has a maximum bend angle of no less than 90° between said central axis of the proximal end side-link hub and a central axis of the distal end side-link hub.
10 . The operation device as claimed in claim 9 , wherein the link actuation apparatus is mounted such that said central axis of the proximal end side-link hub is perpendicular to said axis of rotation of the rotation actuator.
11 . The operation device as claimed in claim 1 , wherein this operation device is an appearance inspection device with an imaging instrument installed to the link actuation apparatus.