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1. (WO2017183505) WORK DEVICE AND DUAL-ARM WORK DEVICE
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Pub. No.: WO/2017/183505 International Application No.: PCT/JP2017/014683
Publication Date: 26.10.2017 International Filing Date: 10.04.2017
IPC:
B25J 9/02 (2006.01) ,B25J 17/02 (2006.01) ,F16H 21/46 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
02
characterised by movement of the arms, e.g. cartesian co-ordinate type
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17
Joints
02
Wrist joints
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
H
GEARING
21
Gearings comprising primarily only links or levers, with or without slides
46
with movements in three dimensions
Applicants:
NTN株式会社 NTN CORPORATION [JP/JP]; 大阪府大阪市西区京町堀1丁目3番17号 3-17, Kyomachibori 1-chome, Nishi-ku, Osaka-shi, Osaka 5500003, JP
Inventors:
磯部 浩 ISOBE, Hiroshi; JP
野瀬 賢蔵 NOSE, Kenzou; JP
丸井 直樹 MARUI, Naoki; JP
山田 裕之 YAMADA, Hiroyuki; JP
Agent:
杉本 修司 SUGIMOTO, Shuji; JP
野田 雅士 NODA, Masashi; JP
堤 健郎 TSUTSUMI, Takeo; JP
Priority Data:
2016-08417120.04.2016JP
Title (EN) WORK DEVICE AND DUAL-ARM WORK DEVICE
(FR) DISPOSITIF DE TRAVAIL ET DISPOSITIF DE TRAVAIL À DOUBLE BRAS
(JA) 作業装置および双腕型作業装置
Abstract:
(EN) A work device (1) performs operation using an end effector (5) and has a configuration of six degrees of freedom, the work device (1) including: a linear motion unit (3) having three degrees of freedom and configured by combining three linear actuators (11, 12, 13); and a rotation unit (4) having three degrees of freedom and configured by combining a plurality of rotation mechanisms (21, 22, 23) each having at least one rotational degree of freedom. The base part of the linear motion unit (3) is fixed to a pedestal (2). The base part of the rotation unit (4) is fixed to an output part (13a) of the linear motion unit (3). The end effector (5) is mounted on an output part (23a) of the rotation unit (4).
(FR) L'invention concerne un dispositif de travail (1) réalisant une opération à l'aide d'un effecteur terminal (5) et ayant une configuration à six degrés de liberté, le dispositif de travail (1) comprenant : une unité de mouvement linéaire (3) ayant trois degrés de liberté et conçue en combinant trois actionneurs linéaires (11, 12, 13) ; et une unité de rotation (4) ayant trois degrés de liberté et conçue en combinant une pluralité de mécanismes de rotation (21, 22, 23) ayant chacun au moins un degré de liberté en rotation. La partie de base de l'unité de mouvement linéaire (3) est fixée à un socle (2). La partie de base de l'unité de rotation (4) est fixée à une partie de sortie (13a) de l'unité de mouvement linéaire (3). L'effecteur terminal (5) est monté sur une partie de sortie (23a) de l'unité de rotation (4).
(JA) 作業装置(1)は、エンドエフェクタ(5)を用いて作業を行う6自由度の構成であって、3つの直動アクチュエータ(11,12,13)を組み合わせた3自由度の直動ユニット(3)と、1自由度以上の回転自由度を持つ複数の回転機構(21,22,23)を組み合わせた3自由度の回転ユニット(4)とを備える。直動ユニット(3)の基部が、架台(2)に固定されている。回転ユニット(4)の基部が、直動ユニット(3)の出力部(13a)に固定されている。回転ユニット(4)の出力部(23a)にエンドエフェクタ(5)が搭載されている。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)