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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：US20110230868A1
公开(公告)日：2011-09-22
申请号：US13116679
申请日：2011-05-26
IPC分类号： A61B17/00
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：US08939345B2
公开(公告)日：2015-01-27
申请号：US13322739
申请日：2010-05-26
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：US08739643B2
公开(公告)日：2014-06-03
申请号：US13394003
申请日：2010-09-22
申请人： Hiroshi Isobe , Yoshitaka Nagano , Yukihiro Nishio
发明人： Hiroshi Isobe , Yoshitaka Nagano , Yukihiro Nishio
IPC分类号： A61B17/32
CPC分类号： A61B17/1628 , A61B17/1626 , A61B17/1631 , A61B17/1635 , A61B17/1675 , A61B2017/00318 , A61B2017/00327 , B23B39/14
摘要： A remote control actuator includes a spindle guide section (3), a distal end member (2) fitted to the tip of the spindle guide section for alteration in attitude, a tool (1) provided rotatably in the distal end member, a tool rotation drive source (41) for rotating the tool, and an attitude altering drive source (42) for altering the attitude of the distal end member. The spindle guide section has therein a rotary shaft (22) for transmitting a rotation of the tool rotation drive source to the tool, and an attitude altering member (31) capable of being selectively advanced or retracted by the attitude altering drive source for altering the attitude of the distal end member. A position detector (47) is provided for detecting the advanced or retracted position of the attitude altering member at a site distant from the attitude altering drive source.
摘要翻译： 遥控执行器包括主轴引导部分（3），安装在主轴引导部分的尖端以用于改变姿态的远端部件（2），可旋转地设置在远端部件中的工具（1），工具旋转 用于旋转工具的驱动源（41）和用于改变远端构件的姿态的姿势改变驱动源（42）。 主轴引导部分在其中具有用于将工具旋转驱动源的旋转传递到工具的旋转轴（22），以及能够通过姿态改变驱动源选择性地前进或后退的姿态改变构件（31），用于改变 远端构件的姿态。 位置检测器（47）用于检测姿态改变构件在远离姿态改变驱动源的位置处的前进或后退位置。
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公开(公告)号：US20120152045A1
公开(公告)日：2012-06-21
申请号：US13394003
申请日：2010-09-22
申请人： Hiroshi Isobe , Yoshitaka Nagano , Yukihiro Nishio
发明人： Hiroshi Isobe , Yoshitaka Nagano , Yukihiro Nishio
IPC分类号： B25J18/06
CPC分类号： A61B17/1628 , A61B17/1626 , A61B17/1631 , A61B17/1635 , A61B17/1675 , A61B2017/00318 , A61B2017/00327 , B23B39/14
摘要： A remote control actuator includes a spindle guide section (3), a distal end member (2) fitted to the tip of the spindle guide section for alteration in attitude, a tool (1) provided rotatably in the distal end member, a tool rotation drive source (41) for rotating the tool, and an attitude altering drive source (42) for altering the attitude of the distal end member. The spindle guide section has therein a rotary shaft (22) for transmitting a rotation of the tool rotation drive source to the tool, and an attitude altering member (31) capable of being selectively advanced or retracted by the attitude altering drive source for altering the attitude of the distal end member. A position detector (47) is provided for detecting the advanced or retracted position of the attitude altering member at a site distant from the attitude altering drive source.
摘要翻译： 遥控执行器包括主轴引导部分（3），安装在主轴引导部分的尖端以用于改变姿态的远端部件（2），可旋转地设置在远端部件中的工具（1），工具旋转 用于旋转工具的驱动源（41）和用于改变远端构件的姿态的姿势改变驱动源（42）。 主轴引导部分在其中具有用于将工具旋转驱动源的旋转传递到工具的旋转轴（22），以及能够通过姿态改变驱动源选择性地前进或后退的姿态改变构件（31），用于改变 远端构件的姿态。 位置检测器（47）用于检测姿态改变构件在远离姿态改变驱动源的位置处的前进或后退位置。
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公开(公告)号：US09249869B2
公开(公告)日：2016-02-02
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：US08511195B2
公开(公告)日：2013-08-20
申请号：US13080806
申请日：2011-04-06
CPC分类号： A61B17/1628 , A61B17/1617 , A61B17/1624 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B2017/00327 , A61B2017/1651 , A61B2017/1653 , B23B39/14 , B23B45/005 , Y10T74/18056 , Y10T74/20305
摘要： A remote controlled actuator includes a spindle guide section of an elongated configuration, a distal end member fitted to a tip end of the spindle guide section for alteration in attitude, and a drive unit housing to which a base end of the spindle guide section is connected. The distal end member rotatably supports a spindle then holding a tool. The spindle guide section includes a hollow outer shell pipe, a rotary shaft and a guide pipe, and an attitude altering member for altering an attitude of the distal end member is inserted within the guide pipe. A hollow of the outer shell pipe includes a round hole portion at a center and a grooved portion depressed radially outwardly from the round hole portion. The rotary shaft is arranged within the round hole portion whereas the guide pipe is arranged within the grooved portion.
摘要翻译： 遥控执行器包括细长构造的主轴引导部分，安装到主轴引导部分的顶端的用于改变姿态的远端部件以及主轴引导部分的基端连接到的驱动单元壳体 。 远端构件可旋转地支撑主轴然后保持工具。 主轴引导部分包括中空的外壳管，旋转轴和引导管，并且用于改变远端构件的姿态的姿势改变构件插入到引导管内。 外壳管的中空部包括中心部的圆孔部和从圆孔部向径向外侧凹陷的开槽部。 旋转轴设置在圆孔部分内，而导管布置在凹槽部分内。
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