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1. WO2007037131 - MULTI-JOINT MANIPULATOR

Publication Number WO/2007/037131
Publication Date 05.04.2007
International Application No. PCT/JP2006/318284
International Filing Date 14.09.2006
IPC
B25J 9/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
06characterised by multi-articulated arms
B25J 17/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
B25J 19/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
CPC
B25J 17/025
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
02Wrist joints
0241One-dimensional joints
025mounted in series
B25J 19/0029
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
0025Means for supplying energy to the end effector
0029arranged within the different robot elements
B25J 9/0087
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
0084comprising a plurality of manipulators
0087Dual arms
B25J 9/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
06characterised by multi-articulated arms
B25J 9/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
08characterised by modular constructions
B25J 9/126
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
12electric
126Rotary actuators
Applicants
  • 株式会社安川電機 KABUSHIKI KAISHA YASKAWA DENKI [JP]/[JP] (AllExceptUS)
  • 埴谷 和宏 HANIYA, Kazuhiro [JP]/[JP] (UsOnly)
  • 岡久 学 OKAHISA, Manabu [JP]/[JP] (UsOnly)
  • 一番ヶ瀬 敦 ICHIBANGASE, Atsushi [JP]/[JP] (UsOnly)
Inventors
  • 埴谷 和宏 HANIYA, Kazuhiro
  • 岡久 学 OKAHISA, Manabu
  • 一番ヶ瀬 敦 ICHIBANGASE, Atsushi
Priority Data
2005-27913327.09.2005JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) MULTI-JOINT MANIPULATOR
(FR) MANIPULATEUR À ARTICULATIONS MULTIPLES
(JA) 多関節マニピュレータ
Abstract
(EN)
A multi-joint manipulator enabling an easy teaching method and an increase in the operating speed of arms, and capable of mounting a heavy object in a small space. The multi-joint manipulator comprises a plurality of arm bodies installed in series, joint parts rotatably connecting the adjacent two arm bodies to each other, joint parts with the rotating shafts of adjacent joints tilted by 90°, at least one line body disposed at the joint parts coaxially with the rotating shafts, and joint parts formed of servo-motors and reduction gear mechanisms. The servo-motors and the reduction gear mechanisms are positioned coaxially with the rotating shafts of the joints.
(FR)
Manipulateur à articulations multiples permettant de mettre en oeuvre un procédé d'apprentissage facile et d'augmenter la vitesse de fonctionnement des bras, et capable d'assurer le montage d'un objet lourd dans un espace restreint. Ce manipulateur comprend plusieurs corps de bras installés en série, des articulations reliant rotatifs les deux corps de bras adjacents entre eux, des articulations ayant les arbres rotatifs d'articulations adjacentes inclinés de 90°, au moins un corps de ligne se trouvant aux articulations en position coaxiale avec les arbres rotatifs, et des articulations constituées de servomoteurs et de mécanismes à engrenages de réduction, lesquels (servomoteurs et engrenages) sont en position coaxiale avec les arbres rotatifs des articulations.
(JA)
 教示方法を容易化するとともにアームの動作速度を向上させ、重量物を狭隘な空間で搭載可能なマニピュレータを提供する。  直列に設けられる複数のアーム体と、隣接する2つの前記アーム体を回転自在に連結する関節部と、隣り合う前記関節の回転軸の傾きが90度である前記関節部と、前記関節部に回転軸と同軸に配設された少なくとも1つの線状体と、サーボモータ、及び減速機構で構成された前記関節部とを有する多関節マニピュレータであって、前記サーボモータと前記減速機構と前記前記関節の各回転軸が同軸とする。
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