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ARTICULATED MANIPULATOR HAVING GRAVITY-COMPENSATION WIRE NEW

外国特許コード F170009263
整理番号 (S2016-0163-N0)
掲載日 2017年10月24日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2017JP005506
国際公開番号 WO 2017159188
国際出願日 平成29年2月15日(2017.2.15)
国際公開日 平成29年9月21日(2017.9.21)
優先権データ
  • 特願2016-049165 (2016.3.14) JP
発明の名称 (英語) ARTICULATED MANIPULATOR HAVING GRAVITY-COMPENSATION WIRE NEW
発明の概要(英語) An articulated manipulator according to the present invention is provided with: a base; n (≥ 2) pitch axis joints; a plurality of links that are serially linked by the pitch axis joints and that are connected to the base; (n - i + 1) pulleys that are axially supported by the i-th (i = 1, 2, ..., n) pitch axis joint from the base; n wires, the i-th wire being wound, by at least one turn, onto the pulley axially supported by the i-th pitch axis joint from the first pitch axis joint; a plurality of actuators that are each connected to both ends of each of the wires, that are provided in the base, and that adjust the tension of the respective wires; a plurality of pitch-axis gravity-compensation pulleys that are axially supported by the respective pitch axis joints; a gravity-compensation wire that is wound, by at least one turn, onto each of the pitch-axis gravity-compensation pulleys and that is guided to the inside of the base; and a gravity-compensation-rod-equipped actuator that is connected to the gravity-compensation wire, that is provided in the base, and that adjusts the tension of the gravity-compensation wire.
特許請求の範囲(英語) [claim1]
1. Basic stand and,
n (>=2) pitch axial joint and,
The plural links which are connected by the serial by the aforementioned pitch axial joint, are connected to the aforementioned basic stand and,
From the aforementioned basic stand ith (i=1, 2,...N) Axial arrival it was done in the pitch axial joint, (n-i+1) the pulley and,
n being the wire, those which from the aforementioned 1st pitch axial joint to the ith pitch axial joint 1 turning at least to the pulley which axial arrival is done, wind the ith wire and the rack are done and,
The plural actuators in order it is connected by the both ends of the aforementioned each wire, is provided inside the aforementioned basic stand, to adjust the tension of the aforementioned each wire and,
In the aforementioned each joint axial arrival the pulley for plural pitch axial prudence compensations which is done and,
1 turning at least to the pulley for the aforementioned each pitch axial prudence compensation, the wire for prudence compensation which was begun to wind, inside the aforementioned basic stand was led and,
The rod attaching actuator for prudence compensation in order it is connected by the wire for the aforementioned prudence compensation, is provided inside the aforementioned basic stand, to adjust the tension of the wire for the aforementioned prudence compensation
The multi joint manipulators which are possessed.
[claim2]
2. As for the rod attaching actuator for the aforementioned prudence compensation in the claim 1 which adjusts the tension of the wire for the aforementioned prudence compensation with bending moment of the rod the multi joint manipulators of statement.
[claim3]
3. In the claim 1 which the wire for the aforementioned prudence compensation 2 the said 2 that tries diverges in the rod vicinity of the rod attaching actuator for prudence compensation makes the part which diverges parallel offsets the bending moment of the aforementioned rod vis-a-vis the aforementioned rod, the multi joint manipulators of statement.
[claim4]
4. As for the wire for the aforementioned prudence compensation with the rod front of the rod attaching actuator for prudence compensation in the claim 1 which is made parallel vis-a-vis the aforementioned rod the multi joint manipulators of statement.
[claim5]
5. Furthermore,
Air compressor and,
The electropneumatic regulator in order is provided with the aforementioned air compressor and the rod attaching actuator, for the aforementioned prudence compensation to adjust the supply air pressure to the rod attaching actuator for the aforementioned prudence compensation from the aforementioned air compressor
In the claim 1 which is possessed the multi joint manipulators of statement.
[claim6]
6. As for the aforementioned pitch axial joint the claim 1 which becomes small according to the distance from the aforementioned basic stand the multi joint manipulators of statement.
[claim7]
7. Furthermore,
Adjusting to object ones, in order that it decides the attitude angle of the aforementioned each pitch axial joint, it calculates the pitch axial joint torque which in the basis in the aforementioned attitude angle the advanced load of the aforementioned multi joint manipulators and in order to support the prudence of the aforementioned each pitch axial joint it should form with the aforementioned each pitch axial joint, in order for maximum of tension of the aforementioned each wire which is formed with the aforementioned each actuator which corresponds to the aforementioned each pitch axial joint torque to become smallest, it calculates the tension of the aforementioned each wire, and the tension of the wire for the aforementioned prudence compensation it forms each tension of the aforementioned wire for the aforementioned each joint torque, the description aboveIn order that each actuator is driven and tension of the wire for the aforementioned prudence compensation is formed, in the claim 1 which possesses the control unit in order to drive the rod attaching actuator for the aforementioned prudence compensation the multi joint manipulators of statement.
[claim8]
8. Furthermore,
The description above n through link between two pitch axial joints which the pitch axial joint adjoins, at least one which is provided 1st yaw axial joint and,
The description above n through link outside the pitch axial joint of leading side of the pitch axial joint, the 2nd yaw axial joint which is provided and,
In the aforementioned 1st yaw axial joint 1 pair sliding unrestrictedly it is provided the pulley for 1st yaw axial prudence compensation and,
In the aforementioned 2nd yaw axial joint the pulley sliding unrestrictedly is provided for 2nd yaw axial prudence compensation which and,
It possesses,
The pulley for the aforementioned each pitch axial prudence compensation possesses the pulley for the pitch axial prudence compensation of 1 pair,
The wire for the aforementioned prudence compensation to diverge in 1st and 2nd system, the aforementioned 1st system to be begun to wind, the pulley for the pitch axial prudence compensation of the aforementioned 1 pair 1 turning on the one hand at least and the pulley for the yaw axial prudence compensation of the aforementioned 1 pair on the one hand be applied, the aforementioned 2nd system to be begun to wind, the pulley for the pitch axial prudence compensation of the aforementioned 1 pair on the other hand at least 1 turning and the pulley for the yaw axial prudence compensation of the aforementioned 1 pair on the other hand be applied, as for the aforementioned 1st and 2nd system on the pulley for the aforementioned 2nd yaw axial prudence compensation being dependedIn the claim 1 which it connects the multi joint manipulators of statement.
[claim9]
9. In the claim 8 which the aforementioned 1st and 2nd system where the wire for the aforementioned prudence compensation diverges at the rod vicinity of the rod attaching actuator for the aforementioned prudence compensation that tries makes parallel, offsets the bending moment of the aforementioned rod the multi joint manipulators of statement.
[claim10]
10. As for the aforementioned 1st and 2nd system where the wire for the aforementioned prudence compensation diverges at the rod front of the rod attaching actuator for the aforementioned prudence compensation in the claim 8 which makes parallel the multi joint manipulators of statement.
[claim11]
11. As for the aforementioned pitch axial joint and the aforementioned yaw axial joint the claim 8 which becomes small according to the distance from the aforementioned basic stand the multi joint manipulators of statement.
[claim12]
12. Basic stand and,
n (>=2) pitch axial joint and,
The description above n at least one where is provided between the pitch axial joints 1st yaw axial joint and,
The description above n the 2nd yaw axial joint where is provided outside the pitch axial joint of leading side of the pitch axial joint and,
The plural links which are connected by the serial by the aforementioned pitch axial joint, and the aforementioned 1st and 2nd yaw axial joint are connected to the aforementioned basic stand and,
From the aforementioned basic stand ith (i=1, 2,...N) Axial arrival it was done in the pitch axial joint, (n-i+1) the pulley and,
n being the wire, those which from the aforementioned 1st pitch axial joint to the ith pitch axial joint 1 turning at least to the pulley which axial arrival is done, wind the ith wire and the rack are done and,
The plural actuators in order it is connected by the both ends of the aforementioned each wire, is provided inside the aforementioned basic stand, to adjust the tension of the aforementioned each wire and,
In the aforementioned each pitch axial joint sliding unrestrictedly axial arrival the pulley for the pitch axial prudence compensation of 1 pair it is done and,
In the aforementioned 1st yaw axial joint sliding unrestrictedly axial arrival 1 pair it is done the pulley for 1st yaw axial prudence compensation and,
In the aforementioned 2nd yaw axial joint sliding unrestrictedly axial arrival the pulley is done for 2nd yaw axial prudence compensation which and,
The pulley for the pitch axial prudence compensation of the aforementioned each 1 pair 1 turning on the one hand, at least the wire for prudence compensation where it was begun to wind, and the description above 1 pair the pulley for 2nd yaw axial prudence compensation on the one hand was applied, on the pulley for the aforementioned 2nd yaw axial prudence compensation was depended, the pulley for the pitch axial prudence compensation of the aforementioned each 1 pair on the other hand at least 1 turned to wind was begun and the description above 1 pair on the pulley for 2nd yaw axial prudence compensation was depended, inside the aforementioned basic stand in 2 diverged was led and,
The rod attaching actuator for prudence compensation in order it is connected by the wire for the aforementioned prudence compensation, is provided inside the aforementioned basic stand, to adjust the tension of the wire for the aforementioned prudence compensation
The multi joint manipulators which are possessed.
[claim13]
13. In the claim 12 which 2 the wire for the aforementioned prudence compensation diverges in the rod vicinity of the rod attaching actuator for the aforementioned prudence compensation that try make parallel, offset the bending moment of the aforementioned rod the multi joint manipulators of statement.
[claim14]
14. As for 2 the wire for the aforementioned prudence compensation diverges in the claim 12 which with the rod front of the rod attaching actuator for the aforementioned prudence compensation makes parallel the multi joint manipulators of statement.
[claim15]
15. As for the aforementioned pitch axial joint and the aforementioned 1st and 2nd yaw axial joint the claim 12 which becomes small according to the distance from the aforementioned basic stand the multi joint manipulators of statement.
[claim16]
16. Furthermore,
Adjusting to object ones, in order that it decides the attitude angle of the aforementioned each pitch axial joint, it calculates the pitch axial joint torque which in the basis in the aforementioned attitude angle the advanced load of the aforementioned multi joint manipulators and in order to support the prudence of the aforementioned each pitch axial joint it should form with the aforementioned each pitch axial joint, in order for maximum of tension of the aforementioned each wire which is formed with the aforementioned each actuator which corresponds to the aforementioned each pitch axial joint torque to become smallest, it calculates the tension of the aforementioned each wire, and the tension of the wire for the aforementioned prudence compensation it forms each tension of the aforementioned wire for the aforementioned each joint torque, the description aboveIn order that each actuator is driven and tension of the wire for the aforementioned prudence compensation is formed, in the claim 12 which possesses the control unit in order to drive the rod attaching actuator for the aforementioned prudence compensation the multi joint manipulators of statement.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • TOKYO INSTITUTE OF TECHNOLOGY
  • 発明者(英語)
  • ENDO GEN
  • HORIGOME ATSUSHI
国際特許分類(IPC)
指定国 (WO2017159188)
National 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 JP 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
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
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
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG
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