Title:
ROBOT ARM MECHANISM
Document Type and Number:
WIPO Patent Application WO/2016/084942
Kind Code:
A1
Abstract:
The purpose of the present invention is to reduce the risk of an arm part falling from an ejection part in a robot arm mechanism provided with a direct-acting joint. This robot arm mechanism provided with a direct-acting extensible/retractable joint is provided with: a direct-acting joint part (J3) provided with an arm part (2) and a mechanism for extending/retracting the arm part (2) in a direct-acting manner; a stepping motor (301) which generates motive power for causing the arm part (2) to extend/retract in a direct-acting manner; a driver unit (401) for driving the stepping motor (301); an encoder (303) which outputs an encoder pulse every time a drive shaft of the stepping motor (301) rotates by a prescribed angle; and a control unit (41) which, when the arm part (2) length corresponding to the count of the encoder pulse reaches a threshold value set in order to inhibit falling of the arm part (2), controls the driver unit (401) in order to generate stationary torque.
Inventors:
YOON WOO-KEUN (JP)
KAWAGUCHI MASATERU (JP)
KURIHARA SHINJI (JP)
SANO HIKARU (JP)
TAKASE SOSUKE (JP)
MAEDA AMY (JP)
KAWAGUCHI MASATERU (JP)
KURIHARA SHINJI (JP)
SANO HIKARU (JP)
TAKASE SOSUKE (JP)
MAEDA AMY (JP)
Application Number:
PCT/JP2015/083429
Publication Date:
June 02, 2016
Filing Date:
November 27, 2015
Export Citation:
Assignee:
LIFE ROBOTICS INC (JP)
International Classes:
B25J19/06; B25J13/00; B25J18/02
Domestic Patent References:
WO2011152265A1 | 2011-12-08 |
Foreign References:
JPH1110578A | 1999-01-19 | |||
JPH0389098U | 1991-09-11 |
Other References:
See also references of EP 3225368A4
Attorney, Agent or Firm:
SEVEN COLOR PATENT FIRM (JP)
It is a じいろ patent firm to a patent business corporation. (JP)
It is a じいろ patent firm to a patent business corporation. (JP)
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