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Pub. No.: WO/2018/159400 International Application No.: PCT/JP2018/006154
Publication Date: 07.09.2018 International Filing Date: 21.02.2018
IPC:
B25J 19/00 (2006.01) ,B25J 17/00 (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
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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
Applicants: SHINSHU UNIVERSITY[JP/JP]; 1-1, Asahi 3-chome, Matsumoto-shi, Nagano 3908621, JP
Inventors: IDE Shoichiro; JP
NISHIKAWA Atsushi; JP
Agent: YOKOZAWA Shiro; JP
Priority Data:
2017-03607828.02.2017JP
Title (EN) ACTIVE MANIPULATOR DEVICE
(FR) DISPOSITIF MANIPULATEUR ACTIF
(JA) 能動マニピュレータ装置
Abstract:
(EN) The present invention is provided with: a first member (22) and a second member (24), each of which is provided with an arcuate contact part (22b, 24b); a carrier (26) disposed between the central axes of the arcs of each of the contact parts (22b, 24b), the carrier (26) supporting the first member (22) and the second member (24) so as to be capable of rotating relative to each other while causing the contact parts (22b, 24b) to face and come into contact with each other; a pulley (28) secured to the carrier (26) and provided coaxially with the shaft of the first member (22); and a fibrous actuator (30a, 30b) provided so as to be linked to the pulley (28), the fibrous actuator (30a, 30b) extending and retracting by control of energization. It is possible to realize an active manipulator device in which a large rotation angle is obtained using a fibrous actuator.
(FR) La présente invention comprend : un premier élément (22) et un deuxième élément (24), chacun d'eux étant pourvu d'une partie de contact arquée (22b, 24b) ; un support (26) disposé entre les axes centraux des arcs de chacune des parties de contact (22b, 24b), le support (26) supportant le premier élément (22) et le deuxième élément (24) de manière à ce qu'ils puisse tourner l'un par rapport à l'autre tout en amenant les parties de contact (22b, 24b) à se faire face et venir en contact l'une avec l'autre ; une poulie (28) fixée au support (26) et disposée de manière coaxiale par rapport à l'arbre du premier élément (22) ; et un actionneur fibreux (30a, 30b) disposé de manière à être relié à la poulie (28), l'actionneur fibreux (30a, 30b) s'étendant et se rétractant par commande d'excitation. L'invention permet de réaliser un dispositif manipulateur actif dans lequel un grand angle de rotation est obtenu en utilisant un actionneur fibreux.
(JA) 円弧状の接触部(22b、24b)をそれぞれ備える第1の部材(22)および第2の部材(24)と、それぞれの接触部(22b、24b)の円弧の中心軸間に配置され、接触部(22b、24b)を対向して当接させながら、第1の部材(22)と第2の部材(24)を相互に回動可能に支持するキャリア(26)と、キャリア(26)に固定され、第1の部材(22)の軸と同芯に設けられたプーリ(28)と、プーリ(28)と連繋して設けられ、通電を制御することにより伸縮する繊維状アクチュエータ(30a、30b)とを備える。繊維状アクチュエータを用いて大きな回動角度が得られる能動マニピュレータ装置を実現できる。
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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, JO, 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)