Work device and dual-arm work device
AssigneeNtn Corporation
InventorsHiroshi Isobe, Seigo Sakata, Yuuki Shimura
Life of this patent
Estimating the term…
Abstract
A work device includes a work device body and a contact preventer. The work device body includes a linear motion unit having three degrees of freedom and a rotary unit having three degrees of freedom. An end effector is mounted on an output portion of the rotary unit. The contact preventer separates a working region in which the work device body is installed, from a non-working region outside the working region. The contact preventer includes: an entry allowing portion allowing an object to enter the working region therethrough; and an entry allowing portion entry detection sensor configured to detect entry of an object into the working region through the entry allowing portions.
Claims14
A work device having six degrees of freedom and configured to perform work using an end effector, the work device comprising:
- a work device body;
- and
- a contact preventer configured to prevent an object from needlessly coming into contact with the work device body, wherein the work device body includes:
- a linear motion unit having three degrees of freedom and obtained by combining three linear motion actuators, and
- a rotary unit having three degrees of freedom and obtained by combining a plurality of rotating mechanisms each having one or more rotational degrees of freedom, wherein the plurality of rotating mechanisms include:
- a link actuating device having two degrees of freedom and including a proximal end side link hub and a distal end side link hub coupled to the proximal end side link hub via three or more link mechanisms such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, and
- a first rotating mechanism, disposed between a base portion of the rotary unit and the proximal end side link hub, having a rotation axis which passes through a center of the proximal end side link hub,
- the linear motion unit has a base portion fixed to a mount, the base portion of the rotary unit is fixed to an output portion of the linear motion unit, and the end effector is mounted on an output portion of the rotary unit,
- the contact preventer separates a working region, that is a space in which the work device body is installed, from a non-working region that is a space outside the working region, and
- the contact preventer has an entry allowing portion allowing the object to enter the working region therethrough from the non-working region, and an entry detection sensor configured to detect entry of the object into the working region through the entry allowing portion.
A dual-arm work device comprising:
- two work device bodies each having six degrees of freedom and configured to perform work by using an end effector, the two work device bodies being aligned so as to be geometrically symmetrical with each other;
- and
- a contact preventer configured to prevent an object from needlessly coming into contact with any of the two work device bodies, wherein each of the work device bodies includes:
- a linear motion unit having three degrees of freedom and obtained by combining three linear motion actuators, and
- a rotary unit having three degrees of freedom and obtained by combining a plurality of rotating mechanisms each having one or more rotational degrees of freedom, wherein the plurality of rotating mechanisms include:
- a link actuating device having two degrees of freedom and including a proximal end side link hub and a distal end side link hub coupled to the proximal end side link hub via three or more link mechanisms such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, and
- a first rotating mechanism, disposed between a base portion of the rotary unit and the proximal end side link hub, having a rotation axis which passes through a center of the proximal end side link hub,
- the linear motion unit has a base portion fixed to a mount, the base portion of the rotary unit is fixed to an output portion of the linear motion unit, and the end effector is mounted on an output portion of the rotary unit,
- the contact preventer separates a working region, that is a space in which the two work device bodies are installed, from a non-working region that is a space outside the working region, and
- the contact preventer has an entry allowing portion allowing the object to enter the working region therethrough from the non-working region, and an entry detection sensor configured to detect entry of the object into the working region through the entry allowing portion.
Dependencies are inferred from the claim text.