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公开(公告)号：US20160059426A1
公开(公告)日：2016-03-03
申请号：US14937117
申请日：2015-11-10
申请人： Keisuke SONE , Hiroshi Isobe , Yukihiro Nishio
发明人： Keisuke SONE , Hiroshi Isobe , Yukihiro Nishio
IPC分类号： B25J17/00
CPC分类号： B25J17/00 , B25J9/0048 , B25J19/0025
摘要： A distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that alteration in posture of the distal end side link hub is allowed.Each of the link mechanisms includes a proximal side end link member, a distal side end link member, and an intermediate link member. A line member is disposed between the link hubs, two ends of the line member being held at line member holding points which are on link hub central axes, respectively. In a state where the link hubs are parallel to each other, when the distance from a midpoint to each spherical link center is defined as (D) and the distance from each spherical link center to its corresponding line member holding point is defined as (H), the relationship H=0.5×D is established.
摘要翻译： 远端侧连接轮毂经由三根以上的连杆机构与近端侧连接轮毂连接，能够使前端侧连杆毂的姿态发生变化。 每个连杆机构包括近端侧连杆部件，远端侧连杆部件和中间连杆部件。 线构件设置在连接轮毂之间，线构件的两端分别保持在线构件保持点上，分别位于连杆毂中心轴上。 在连接轮毂彼此平行的状态下，当从中点到每个球形连杆中心的距离被定义为（D），并且从每个球形连杆中心到其对应的线构件保持点的距离被定义为（H ），建立了H = 0.5×D的关系。
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公开(公告)号：US09533420B2
公开(公告)日：2017-01-03
申请号：US14937117
申请日：2015-11-10
申请人： Keisuke Sone , Hiroshi Isobe , Yukihiro Nishio
发明人： Keisuke Sone , Hiroshi Isobe , Yukihiro Nishio
CPC分类号： B25J17/00 , B25J9/0048 , B25J19/0025
摘要： A distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that alteration in posture of the distal end side link hub is allowed. Each of the link mechanisms includes a proximal side end link member, a distal side end link member, and an intermediate link member. A line member is disposed between the link hubs, two ends of the line member being held at line member holding points which are on link hub central axes, respectively. In a state where the link hubs are parallel to each other, when the distance from a midpoint to each spherical link center is defined as (D) and the distance from each spherical link center to its corresponding line member holding point is defined as (H), the relationship H=0.5×D is established.
摘要翻译： 远端侧连接轮毂经由三根以上的连杆机构与近端侧连接轮毂连接，能够使前端侧连杆毂的姿态发生变化。 每个连杆机构包括近端侧连杆部件，远端侧连杆部件和中间连杆部件。 线构件设置在连接轮毂之间，线构件的两端分别保持在线构件保持点上，分别位于连杆毂中心轴上。 在连接轮毂彼此平行的状态下，当从中点到每个球形连杆中心的距离被定义为（D），并且从每个球形连杆中心到其对应的线构件保持点的距离被定义为（H ），建立了H = 0.5×D的关系。
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公开(公告)号：US20050159075A1
公开(公告)日：2005-07-21
申请号：US10986455
申请日：2004-11-12
申请人： Hiroshi Isobe , Keisuke Sone , Tomomi Ishikawa
发明人： Hiroshi Isobe , Keisuke Sone , Tomomi Ishikawa
CPC分类号： B25J17/0266 , B25J9/0048 , Y10T74/20329 , Y10T74/20335
摘要： A linkage system which offers high rigidity and good assemblability and producibility, and enables parts such as rotary transmission components and actuators to be readily installed. A linkage system includes an input member disposed on an input side, an output member disposed on an output side, and three or more link mechanisms, each link mechanism consisting of end links rotatably coupled to the input member and the output member, respectively, a center link rotatably coupled to the end links on the input side and the output side, and four revolute joints by which the end links are rotatably coupled to the input and output members, and to the center link. The link mechanism being geometrically identical with respect to a center cross-sectional plane relative on the input and output sides. Each of the revolute joints of the link mechanism includes bearings that support at both ends of the revolute joint.
摘要翻译： 提供高刚性，良好的组装性和可生产性的联动系统，并且能够容易地安装诸如旋转传动部件和致动器的部件。 联动系统包括设置在输入侧的输入构件，设置在输出侧的输出构件和三个或更多个连杆机构，每个连杆机构由分别可旋转地联接到输入构件和输出构件的端部连杆组成， 中心连杆可旋转地联接到输入侧和输出侧的端部连杆，以及四个旋转接头，端部连杆可旋转地连接到输入和输出构件以及中心连杆。 连杆机构在输入侧和输出侧相对于中心横截面平面几何相同。 连杆机构的旋转接头中的每一个包括支撑在旋转接头两端的轴承。
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公开(公告)号：US09243696B2
公开(公告)日：2016-01-26
申请号：US14346606
申请日：2012-09-11
申请人： Hiroshi Isobe , Hiroyuki Yamada , Yukihiro Nishio
发明人： Hiroshi Isobe , Hiroyuki Yamada , Yukihiro Nishio
CPC分类号： F16H19/08 , B25J9/0048 , B25J9/102 , F16H21/46 , F16H37/14 , Y10T74/18792 , Y10T74/188
摘要： A distal side link hub is connected with a proximal end side link hub through three sets of link mechanisms for alteration in posture. At least two sets of the link mechanisms include an actuator for arbitrarily changing the posture of the distal end side link hub relative to the proximal end side link hub by rotating a proximal side end link member and a reduction gear unit for reducing the speed of and transmitting the operation amount of the actuator to the proximal side end link member. The reduction gear unit includes a geared speed reducing section having a small gear rotated by the actuator and a large gear provided in the proximal side end link member. The radius of pitch circle of the large gear is chosen to be equal to or greater than the arm length of the proximal side end link member.
摘要翻译： 远端侧连接轮毂通过三组用于姿势改变的连杆机构与近端侧连杆毂连接。 至少两组连杆机构包括用于通过旋转近端侧连杆构件和减速装置来相对于近端侧连杆毂任意改变前端侧连杆毂的姿态的致动器，用于降低速度和 将致动器的操作量传递到近端侧连杆构件。 减速装置包括齿轮减速部，该减速部具有由致动器旋转的小齿轮和设置在近端侧连杆部件上的大齿轮。 选择大齿轮的节圆半径等于或大于近端侧连杆构件的臂长。
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公开(公告)号：US20130192420A1
公开(公告)日：2013-08-01
申请号：US13878523
申请日：2011-10-03
申请人： Hiroshi Isobe , Yukihiro Nishio , Yoshitaka Nagano
发明人： Hiroshi Isobe , Yukihiro Nishio , Yoshitaka Nagano
CPC分类号： F16H21/54 , B25J9/0048 , B25J9/0078 , B25J11/00 , Y10T74/18888
摘要： A link actuating device connects an output member to an input member through three or more link mechanisms for alteration in posture. Each of the link mechanisms includes end portion link members on input and output sides, and an intermediate link member. The link mechanisms are of such shapes that geometric models representing the link members by straight lines are such that input and output side portions are symmetrical to each other relative to an intermediate portion of each of the intermediate link members. Immobilizing mechanisms are provided in all of the link mechanisms to immobilize the output member in an arbitrary attitude relative to the input member. A structure body is provided to connect the input and output member to each other while being in contact with contacted portions formed in the input and output member.
摘要翻译： 链接致动装置通过三个或更多个用于姿势改变的连杆机构将输出构件连接到输入构件。 每个连杆机构包括在输入和输出侧的端部连杆构件和中间连杆构件。 链接机构具有这样的形状，即通过直线表示连杆部件的几何模型使得输入和输出侧部分相对于每个中间连接部件的中间部分彼此对称。 在所有连杆机构中提供固定机构，以使输出构件以相对于输入构件的任意姿势固定。 提供一种结构体，用于将输入和输出构件彼此连接，同时与形成在输入和输出构件中的接触部分接触。
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公开(公告)号：US08221398B2
公开(公告)日：2012-07-17
申请号：US13116679
申请日：2011-05-26
IPC分类号： A61B17/16
CPC分类号： B23B39/14 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B17/1668 , B23B45/005
摘要： A remote-controlled actuator includes a spindle guide section of an elongated shape, a distal end member fitted to a distal end of the spindle guide section for alteration in attitude and rotatably supporting a tool, and a drive unit housing having a base end of the spindle guide section connected therewith. A rotary shaft for transmitting rotation of a tool rotation drive source within the drive unit housing to the tool and an attitude altering member for altering the attitude of the distal end member by the drive of an attitude altering drive source within the drive unit housing are accommodated within the spindle guide section. A cutting force estimator is provided for estimating the magnitude of at least one component force of a principle force, a radial force and a feed force in a cutting force which the tool applies to a work to be processed.
摘要翻译： 遥控执行器包括细长形状的主轴引导部分，安装在主轴引导部分的远端的远端部件，用于改变姿态并可旋转地支撑工具;以及驱动单元壳体，其具有基端 与其连接的主轴引导部。 用于将驱动单元壳体内的工具旋转驱动源的旋转传递到工具的旋转轴和用于通过驱动单元壳体内的改变驱动源的姿态来改变远端构件的姿态的姿态改变构件被容纳 在主轴引导部分内。 提供了一种切削力估算器，用于估计工具对待加工的工件施加的切削力中的主力，径向力和进给力的至少一个分力的大小。
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公开(公告)号：US20120067604A1
公开(公告)日：2012-03-22
申请号：US13322739
申请日：2010-05-26
IPC分类号： B23B39/14
CPC分类号： A61B17/1631 , A61B17/32002 , A61B2017/00323 , A61B2017/00327 , B23B39/14
摘要： A remote controlled actuator includes an elongated spindle guide section (3), a distal end member (2) fitted to the distal end thereof for alteration in attitude, and a drive unit housing (4a) connected with a base end of the spindle guide section (3). The distal end member (2) rotatably support a spindle (13) holding a tool (1). The spindle guide section (3) includes a rotary shaft (22) for transmitting a rotation of the spindle (13) and an attitude altering member (31) for altering the attitude of the distal end member (2) both within an outer shell pipe (25) forming an outer shell. The attitude altering member (31) is reciprocally movably inserted in a guide pipe (30) within the outer shell pipe (25). A guide pipe restraining unit (50) is provided for restraining the guide pipe (30) from moving within the outer shell pipe (25).
摘要翻译： 远程控制致动器包括细长主轴引导部分（3），安装在其远端的远端部件（2），用于改变姿态;以及驱动单元壳体（4a），其与主轴引导部分 （3）。 远端构件（2）可旋转地支撑保持工具（1）的心轴（13）。 主轴引导部分（3）包括用于传递心轴（13）的旋转的旋转轴（22）和用于改变远端构件（2）的姿态的姿态改变构件（31），其在外壳管 （25）形成外壳。 姿态改变构件（31）可往复移动地插入到外壳管（25）内的导管（30）中。 引导管限制单元（50）用于限制导管（30）在外壳管（25）内移动。
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公开(公告)号：US20110203825A1
公开(公告)日：2011-08-25
申请号：US13062711
申请日：2009-09-10
申请人： Yukihiro Nishio , Hiroshi Isobe , Yoshitaka Nagano
发明人： Yukihiro Nishio , Hiroshi Isobe , Yoshitaka Nagano
IPC分类号： B25F5/00
CPC分类号： B23B51/00 , A61B17/16 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B2017/00212 , B23B39/14 , B23B45/005 , Y10T74/20
摘要： A remote controlled actuator includes an elongated spindle guide section and a distal end member fitted to a distal end thereof for alteration in attitude. The distal end member rotatably supports a spindle for holding a tool. The spindle guide section includes a rotary shaft for transmitting rotation of a tool rotation drive source to the spindle. An attitude altering member inserted in a guide hole is selectively advanced or retracted by an attitude control drive source. An initial attitude hold control unit controls the attitude control drive source so that an initial attitude holding force necessary to maintain the distal end member in the initial attitude can be applied to the attitude altering member. An attitude alteration control unit controls the attitude control drive source so that the attitude of the distal end member can be altered by a force larger than the initial attitude holding force.
摘要翻译： 远程控制致动器包括细长主轴引导部分和安装到其远端的远端部件，用于改变姿态。 远端构件可旋转地支撑用于保持工具的心轴。 主轴引导部分包括用于将工具旋转驱动源的旋转传递到主轴的旋转轴。 插入引导孔中的姿态改变构件通过姿态控制驱动源选择性地前进或后退。 初始姿态保持控制单元控制姿态控制驱动源，使得能够将姿势改变构件应用于将前端构件保持在初始姿态所需的初始姿势保持力。 姿态改变控制单元控制姿态控制驱动源，使得可以通过大于初始姿态保持力的力来改变远端构件的姿态。
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公开(公告)号：US07971505B2
公开(公告)日：2011-07-05
申请号：US11072649
申请日：2005-03-07
申请人： Hiroshi Isobe , Keisuke Sone
发明人： Hiroshi Isobe , Keisuke Sone
IPC分类号： B25J17/00
CPC分类号： B25J9/0048 , Y10T74/20329
摘要： In a bearing detachment prevention structure provided in a rotation pair portion of a link mechanism, play filling-up and pre-load adjustment for the bearing are realized with ease. As a means for therefor, there is provided a link actuating device having three or more sets of link mechanisms in each of which end link members are rotatably connected to input and output members respectively arranged on the input and output sides, the respective end link members on the input and output sides being rotatably connected to intermediate link members to form four rotation pair portions, the input and output sides being geometrically the same with respect to a cross section in a central portion of each link mechanism, in which each rotation pair portion of the link mechanisms has a bearing structure consisting of two bearings, with a play filling-up means for regulating axial movement of the two bearings being provided in the rotation pair portions. Further, by appropriately determining the configuration of each component forming the link mechanisms, interference between the components during operation of the link mechanisms is prevented. As a means therefor, a beveled portion is formed on the link side peripheral end edge portion of each input member, whereby interference between the end link member and the outer peripheral surface of the rotation pair portion of each intermediate link member is prevented.
摘要翻译： 在设置在连杆机构的旋转对部分中的轴承脱离防止结构中，容易地实现了用于轴承的弹性填充和预载调整。 作为一种手段，提供了一种具有三组或更多组连杆机构的连杆致动装置，每组连杆机构中的每一个端部连杆构件可旋转地连接到分别布置在输入和输出侧上的输入和输出构件，相应的端部连杆构件 在输入和输出侧可旋转地连接到中间连杆构件以形成四个旋转对部分，输入和输出侧相对于每个连杆机构的中心部分中的横截面几何相同，其中每个旋转对部分 的连杆机构具有由两个轴承组成的轴承结构，其具有用于调节设置在旋转对部分中的两个轴承的轴向运动的游隙填充装置。 此外，通过适当地确定形成连杆机构的每个部件的构造，防止了在连杆机构的操作期间部件之间的干扰。 为此，在每个输入构件的连接侧外周缘部上形成有倾斜部，由此能够防止端部连杆构件与各中间连杆构件的旋转对部的外周面的干涉。
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公开(公告)号：US07472622B2
公开(公告)日：2009-01-06
申请号：US10986455
申请日：2004-11-12
申请人： Hiroshi Isobe , Keisuke Sone , Tomomi Ishikawa
发明人： Hiroshi Isobe , Keisuke Sone , Tomomi Ishikawa
IPC分类号： B25J17/00
CPC分类号： B25J17/0266 , B25J9/0048 , Y10T74/20329 , Y10T74/20335
摘要： A linkage system which offers high rigidity and good assemblability and producibility, and enables parts such as rotary transmission components and actuators to be readily installed. A linkage system includes an input member disposed on an input side, an output member disposed on an output side, and three or more link mechanisms, each link mechanism consisting of end links rotatably coupled to the input member and the output member, respectively, a center link rotatably coupled to the end links on the input side and the output side, and four revolute joints by which the end links are rotatably coupled to the input and output members, and to the center link. The link mechanism being geometrically identical with respect to a center cross-sectional plane relative on the input and output sides. Each of the revolute joints of the link mechanism includes bearings that support at both ends of the revolute joint.
摘要翻译： 提供高刚性，良好的组装性和可生产性的联动系统，并且能够容易地安装诸如旋转传动部件和致动器的部件。 联动系统包括设置在输入侧的输入构件，设置在输出侧的输出构件和三个或更多个连杆机构，每个连杆机构由分别可旋转地联接到输入构件和输出构件的端部连杆组成， 中心连杆可旋转地联接到输入侧和输出侧的端部连杆，以及四个旋转接头，端部连杆可旋转地连接到输入和输出构件以及中心连杆。 连杆机构在输入侧和输出侧相对于中心横截面平面几何相同。 连杆机构的旋转接头中的每一个包括支撑在旋转接头两端的轴承。
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