WO2019049994A1 - Machine de travail - Google Patents

Machine de travail Download PDF

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Publication number
WO2019049994A1
WO2019049994A1 PCT/JP2018/033237 JP2018033237W WO2019049994A1 WO 2019049994 A1 WO2019049994 A1 WO 2019049994A1 JP 2018033237 W JP2018033237 W JP 2018033237W WO 2019049994 A1 WO2019049994 A1 WO 2019049994A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
work
end side
axis
distal end
Prior art date
Application number
PCT/JP2018/033237
Other languages
English (en)
Japanese (ja)
Inventor
直哉 小長井
浩 磯部
Original Assignee
Ntn株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2019049994A1 publication Critical patent/WO2019049994A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
    • F16H21/54—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions for conveying or interconverting oscillating or reciprocating motions

Definitions

  • the two rotation degree of freedom mechanism 3 of this embodiment is configured by a pan and tilt mechanism.
  • the rotation two degrees of freedom mechanism 3 includes a proximal end member 3a fixed to the installation surface 7a, and a first rotary member 3c rotatable about the rotational axis C1 with respect to the proximal end member 3a.
  • a second rotary member 3d rotatable about a rotational axis C2 with respect to the first rotary member 3c and a distal end side member 3b fixed to the second rotary member 3d are provided.
  • Condition 1 The angle and the length of the central axis O1 of the rotational couple of the link hub 12 (13) and the end link member 15 (16) in each link mechanism 14 are equal to each other on the proximal end side and the distal end side.
  • Condition 2 at the proximal end and at the distal end, the central axis O1 of the rotational couple of the link hub 12 (13) and the end link member 15 (16), the end link member 15 (16) and the central link member 17
  • the central axis O2 of the rotational couple intersects at the spherical link center PA (PB).

Abstract

La présente invention porte sur une machine de travail destinée à effectuer un travail sur une pièce à travailler (2) au moyen d'un effecteur terminal (1) monté sur un mécanisme rotatif à deux degrés de liberté (3). La pièce à travailler (2) est positionnée dans une ou plusieurs directions axiales par rapport à l'effecteur terminal (1) au moyen d'un mécanisme de positionnement linéaire (5), et la position de rotation de la pièce à travailler par rapport à l'effecteur terminal (1) est déterminée par un mécanisme de positionnement rotatif (4). Lorsque l'angle formé par l'axe neutre (KA) du mécanisme rotatif à deux degrés de liberté (3) et l'axe central de rotation (C3) du mécanisme de positionnement rotatif (4) est un angle d'inclinaison (θ1), et la valeur maximale de l'angle de courbure du mécanisme rotatif à deux degrés de liberté (3) est un angle de courbure maximal (θmax), l'inégalité 0<θ1≤θmax est satisfaite.
PCT/JP2018/033237 2017-09-11 2018-09-07 Machine de travail WO2019049994A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-173666 2017-09-11
JP2017173666A JP6472854B1 (ja) 2017-09-11 2017-09-11 作業装置

Publications (1)

Publication Number Publication Date
WO2019049994A1 true WO2019049994A1 (fr) 2019-03-14

Family

ID=65443019

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/033237 WO2019049994A1 (fr) 2017-09-11 2018-09-07 Machine de travail

Country Status (2)

Country Link
JP (1) JP6472854B1 (fr)
WO (1) WO2019049994A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021153630A1 (fr) * 2020-01-31 2021-08-05 Ntn株式会社 Dispositif d'examen visuel
JP7461151B2 (ja) 2020-01-31 2024-04-03 Ntn株式会社 外観検査装置
JP7461150B2 (ja) 2020-01-31 2024-04-03 Ntn株式会社 外観検査装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022082090A (ja) * 2020-11-20 2022-06-01 Ntn株式会社 作業装置
WO2023157309A1 (fr) * 2022-02-21 2023-08-24 ファナック株式会社 Robot à liaisons parallèles

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015055895A (ja) * 2013-09-10 2015-03-23 Ntn株式会社 リンク作動装置の制御装置
JP2015155124A (ja) * 2014-02-20 2015-08-27 Ntn株式会社 リンク作動装置の制御装置および制御方法
JP2017110815A (ja) * 2011-11-07 2017-06-22 Ntn株式会社 パラレルリンク機構、等速自在継手、およびリンク作動装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017110815A (ja) * 2011-11-07 2017-06-22 Ntn株式会社 パラレルリンク機構、等速自在継手、およびリンク作動装置
JP2015055895A (ja) * 2013-09-10 2015-03-23 Ntn株式会社 リンク作動装置の制御装置
JP2015155124A (ja) * 2014-02-20 2015-08-27 Ntn株式会社 リンク作動装置の制御装置および制御方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021153630A1 (fr) * 2020-01-31 2021-08-05 Ntn株式会社 Dispositif d'examen visuel
JP7461151B2 (ja) 2020-01-31 2024-04-03 Ntn株式会社 外観検査装置
JP7461150B2 (ja) 2020-01-31 2024-04-03 Ntn株式会社 外観検査装置

Also Published As

Publication number Publication date
JP2019049311A (ja) 2019-03-28
JP6472854B1 (ja) 2019-02-20

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