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1. WO2017169605 - ROBOT

Publication Number WO/2017/169605
Publication Date 05.10.2017
International Application No. PCT/JP2017/009354
International Filing Date 09.03.2017
IPC
B25J 9/08 2006.1
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
08characterised by modular constructions
CPC
B25J 17/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
B25J 9/0009
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
0009Constructional details, e.g. manipulator supports, bases
B25J 9/046
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian coordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
046Revolute coordinate type
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 9/102
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
102Gears specially adapted therefor, e.g. reduction gears
B25J 9/108
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
108Bearings specially adapted therefor
Applicants
  • 日本電産サンキョー株式会社 NIDEC SANKYO CORPORATION [JP]/[JP]
Inventors
  • 鮎澤 優 AYUZAWA, Yuu
  • 常田 晴弘 TSUNETA, Haruhiro
  • 小田切 秀行 ODAGIRI, Hideyuki
  • 渡邊 洋和 WATANABE, Hirokazu
Priority Data
2016-06751930.03.2016JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) ROBOT
(FR) ROBOT
(JA) ロボット
Abstract
(EN) Provided is a robot equipped with two joint parts attached to an end of an arm in a coupled state. For example, in a joint part 2 of a robot 1, a motor and a reduction gear are housed in a case 11, and an output-side member 27 having a flange 27a is fixed to the output shaft of the reduction gear. An opening that opens in the direction orthogonal to the axial direction of the output shaft of the reduction gear is formed in the case 11. A planar attachment face orthogonal to the opening direction of the opening is formed in the opening. The robot 1 is provided with a plurality of biaxial joint units 6 comprising two joint parts 2. In the robot 1, the attachment face of the case 11 of one joint part 2A, 2D, 2F constituting a biaxial joint unit 6 is fixed to the flange 27a of the other joint part 2B, 2C, 2E either directly or via a coupling member 63.
(FR) La présente invention concerne un robot doté de deux parties d'articulation attachées à une extrémité d'un bras dans un état couplé. Par exemple, dans une partie d'articulation (2) d'un robot (1), un moteur et un engrenage de réduction sont logés dans un boîtier (11), et un élément côté sortie (27) comportant une bride (27a) est fixé à l'arbre de sortie de l'engrenage de réduction. Une ouverture qui s'ouvre dans la direction orthogonale à la direction axiale de l'arbre de sortie du réducteur est formée dans le boîtier (11). Une face d'attachement plane orthogonale à la direction d'ouverture de l'ouverture est formée dans l'ouverture. Le robot (1) est muni d'une pluralité d'unités d'articulation biaxiales (6) comprenant deux parties d'articulation (2). Dans le robot (1), la face d'attachement du boîtier (11) d'une partie d'articulation (2A, 2D, 2F) constituant une unité d'articulation biaxiale (6) est fixé à la bride (27a) de l'autre partie d'articulation (2B, 2C, 2E) soit directement soit par l'intermédiaire d'un élément de couplage (63).
(JA) 本件は、連結された状態でアームの端部に取り付けられる2個の関節部を備えるロボットであり、たとえば、ロボット1の関節部2では、モータおよび減速機がケース体11に収容され、減速機の出力軸にフランジ部27aを有する出力側部材27が固定されている。ケース体11には、減速機の出力軸の軸方向に直交する方向に開口する開口部が形成され、開口部には、開口部の開口方向に直交する平面状の取付面が形成されている。ロボット1は、2個の関節部2によって構成される2軸関節ユニット6を複数備えている。このロボット1では、2軸関節ユニット6を構成する一方の関節部2A、2D、2Eのケース体11の取付面と他方の関節部2B、2C、2Eのフランジ部27aとが連結部材63を介してまたは直接固定されている。
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