公开(公告)号：US20240269825A1

公开(公告)日：2024-08-15

申请号：US18609183

申请日：2024-03-19

Applicant: NTN CORPORATION

Inventor： Hiroshi ISOBE

IPC: B25J9/00 ,  B25J9/10

CPC classification number: B25J9/0045 ,  B25J9/101

Abstract: In a parallel link mechanism, a distal end side link hub is coupled to a proximal end side link hub via three link mechanisms such that a posture of the distal end side link hub can be changed. Each link mechanism includes a proximal side end link member, a distal side end link member, and a center link member, and forms a quadric chain link mechanism composed of four revolute pairs. A singular point occurs when a central axis of the proximal or distal end side link hub and a central axis which is a rotation axis of a revolute pair section of the proximal or distal side end link member and the center link member coincide with each other. An axis angle of the center link member is specified such that a posture in which the singular point occurs is avoided.

公开(公告)号：US20180207810A1

公开(公告)日：2018-07-26

申请号：US15928970

申请日：2018-03-22

Applicant: NTN CORPORATION

Inventor： Naoya KONAGAI ,  Hiroshi ISOBE ,  Seigo SAKATA ,  Naoki MARUI ,  Kenzou NOSE

IPC: B25J17/00 ,  F16H21/44

CPC classification number: B25J17/00 ,  B25J5/04 ,  B25J9/0018 ,  B25J9/0048 ,  B25J9/0087 ,  F16H21/44 ,  F16H21/46 ,  Y10S901/28

Abstract: A combination link actuation device has two link actuation devices combined with each other. Each link actuation device is provided so as to connect a distal end side link hub to a proximal end side link hub such that an orientation of the distal end side link hub is changed relative to the proximal end side link hub through three link mechanisms aligned in a circumferential direction. An orientation controlling actuator is provided in two or more link mechanisms among the three link mechanisms to optionally change an orientation of the distal end side link hub relative to the proximal end side link hub. At least one circumferential separation angle among separation angles of the three link mechanisms is greater than 120°. The two link actuation devices are disposed such that portions, of the link mechanisms, where the separation angle is greater than 120° oppose each other.

公开(公告)号：US20140223722A1

公开(公告)日：2014-08-14

申请号：US14255214

申请日：2014-04-17

Applicant: NTN Corporation

Inventor： Hiroshi ISOBE ,  Hiroyuki Yamada ,  Keisuke Sone

IPC: B23P19/04

CPC classification number: B23P19/04 ,  B25J9/0048 ,  B25J9/1623 ,  Y10T29/49826 ,  Y10T29/53

Abstract: The method for initially setting a position of an origin of an actuator includes: a first step of setting a distal end posture being a posture of a distal end side link hub (3) relative to a proximal end side link hub (2) of a link actuator (51) to a specified posture; a second step of applying a preload, which is a force that causes the distal end posture to be changed, to the link actuator (51) having the distal end posture being the specified posture; and a third step of storing an amount of operation of each actuator (53) in a state where the preload is applied to the link actuator (51), wherein the stored amount of operation is set as the position of the origin of the actuator (53).

Abstract translation: 用于初始设定致动器的原点的位置的方法包括：第一步骤，设置作为远端侧连接轮毂（3）的姿势的远端姿势，所述远端姿势相对于所述远端侧连接轮毂 连杆致动器（51）到指定的姿势; 将作为使前端姿势变化的力的预加载作为具有指定姿势的前端姿势的连杆致动器（51）的第二步骤; 以及第三步骤，将每个致动器（53）的操作量存储在所述预载荷施加到所述连杆致动器（51）的状态下，其中所述存储的操作量被设置为所述致动器的原点的位置（ 53）。

公开(公告)号：US20210388887A1

公开(公告)日：2021-12-16

申请号：US17283218

申请日：2019-10-09

Applicant: KYUSHU INSTITUTE OF TECHNOLOGY ,  NTN CORPORATION

Inventor： Akihiro HAYASHI ,  Hirofumi FUKUMARU ,  Taiga OKAMOTO ,  Kenzou NOSE ,  Hideki MATSUZAWA ,  Hiroshi ISOBE ,  Seigo SAKATA

IPC: F16H21/46 ,  B25J9/00 ,  B25J9/16

Abstract: A parallel link mechanism includes a proximal end member and three or more link mechanisms. Three or more link mechanisms connect the proximal end member to a distal end member. In three or more link mechanisms, a first center axis of a first revolute pair unit and a second center axis of a second revolute pair unit intersect at a spherical link center point. Fifth center axes of respective fifth revolute pair units of three or more link mechanisms overlap each other and intersect with the spherical link center point.

公开(公告)号：US20180200826A1

公开(公告)日：2018-07-19

申请号：US15754743

申请日：2016-08-22

Applicant: NTN CORPORATION

Inventor： Naoya KONAGAI ,  Hiroshi ISOBE ,  Seigo SAKATA ,  Hiroyuki YAMADA

IPC: B23K9/127 ,  B23K9/28 ,  B23K9/173

CPC classification number: B23K9/127 ,  B23K9/12 ,  B23K9/173 ,  B23K9/28 ,  B23K9/287

Abstract: An automatic welding machine includes a link actuator in which a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms and the position of the distal end side link hub relative to the proximal end side link hub can be arbitrarily changed. The automatic welding machine is provided with one or more linear motion actuators configured to cause the proximal end side link hub of the link actuator to advance/retract relative to a mount along respective axes, and a welding torch is mounted on the distal end side link hub. The automatic welding machine further includes a movement mechanism on which peripheral devices connected to the welding torch via cables are mounted so as to be movable in one or more axial directions.

公开(公告)号：US20160361816A1

公开(公告)日：2016-12-15

申请号：US15233409

申请日：2016-08-10

Applicant: NTN CORPORATION

Inventor： Seigo SAKATA ,  Yukihiro NISHIO ,  Hiroshi ISOBE ,  Hiroyuki YAMADA

IPC: B25J9/16 ,  F16H21/46

CPC classification number: B25J9/1623 ,  B25J9/1651 ,  F16H21/46

Abstract: In this link actuation device, arms of a plurality of link mechanisms are driven to be rotated by actuators, whereby the posture of a distal end side link hub is changed. A divided section setter divides a trajectory on a work surface on which an end effector works, into a plurality of sections at pass points and sets the sections. An arm rotation speed calculator calculates a rotation speed at which each arm performs constant speed rotation in each section on the basis of: a time period of movement in the section which is determined from a target moving speed and the distance of the section; and a rotation-angular movement amount of the arm in the section. A posture change controller performs positioning control on each actuator so as to cause its corresponding arm to continuously rotate at the corresponding rotation speed without acceleration/deceleration.

Abstract translation: 在该连杆致动装置中，多个连杆机构的臂由致动器驱动而旋转，由此改变前端侧连杆毂的姿势。 分割部分设定器将端部执行器工作的工作表面上的轨迹划分成通过点的多个部分并且设置该部分。 臂部旋转速度运算部，基于从目标移动速度和截面的距离确定的截面的移动时间，计算出各个臂在各部分中进行恒定速度旋转的旋转速度; 以及该部分中的臂的旋转角度运动量。 姿势改变控制器对每个致动器执行定位控制，以使其相应的臂在相应的转速下不加速/减速连续地旋转。

公开(公告)号：US20190255700A1

公开(公告)日：2019-08-22

申请号：US16402919

申请日：2019-05-03

Applicant: NTN CORPORATION

Inventor： Kenzou NOSE ,  Hiroshi ISOBE ,  Naoki MARUI

IPC: B25J9/00 ,  B25J21/00 ,  B25J9/16 ,  B25J17/02 ,  B25J9/02

Abstract: A working device has a configuration with seven degrees of freedom, and is configured to perform work using an end effector. The working device includes: a linear motion unit having three degrees of freedom; a rotary unit having three degrees of freedom; and a rotary drive mechanism having one degree of freedom. The rotary drive mechanism is configured to rotate the rotary unit relative to the linear motion unit. The linear motion unit is mounted on a mount such that a base portion thereof is fixed to the mount. The rotary drive mechanism is mounted on an output portion of the linear motion unit. The rotary unit is mounted on an output portion of the rotary drive mechanism. The end effector is mounted on an output portion of the rotary unit.

公开(公告)号：US20190255699A1

公开(公告)日：2019-08-22

申请号：US16402909

申请日：2019-05-03

Applicant: NTN CORPORATION

Inventor： Hiroshi ISOBE ,  Kenzou NOSE ,  Naoki MARUI ,  Hiroyuki YAMADA

IPC: B25J9/00 ,  B25J9/16 ,  B25J17/02 ,  B25J9/02 ,  B25J21/00

Abstract: A working device 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. The linear motion unit is mounted on a mount such that a base portion of the linear motion unit is fixed to the mount. A base portion of the rotary unit is fixedly mounted on an output portion of the linear motion unit. End effectors are mounted on both the output portion of the linear motion unit and an output portion of the rotary unit.

公开(公告)号：US20170268640A1

公开(公告)日：2017-09-21

申请号：US15614038

申请日：2017-06-05

Applicant: NTN CORPORATION

Inventor： Seigo SAKATA ,  Yukihiro NISHIO ,  Hiroshi ISOBE ,  Naoya KONAGAI ,  Hiroyuki YAMADA

IPC: F16H21/48 ,  G06F3/03 ,  B25J13/06 ,  B25J9/10 ,  B25J9/16

CPC classification number: F16H21/48 ,  B25J9/0048 ,  B25J9/106 ,  B25J9/108 ,  B25J9/1623 ,  B25J13/06 ,  B25J13/065 ,  F16C19/22 ,  F16H21/46 ,  G06F3/0321

Abstract: An operation device for a link actuating device (51) is provided with a target value input unit (57) having a height direction target value input portion (57z) that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device (51) to be changed only in the height direction along a central axis of a proximal end side link hub (12). Input converter (58) is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device (51). The Input converter (58) further calculates a command operation amount of each actuator (53) from the result of the calculation, and inputs the command operation amount to the control device (54).

公开(公告)号：US20140026704A1

公开(公告)日：2014-01-30

申请号：US14045387

申请日：2013-10-03

Applicant: NTN Corporation

Inventor： Hiroshi ISOBE ,  Takayoshi OZAKI

IPC: B25J13/00

CPC classification number: B25J13/00 ,  A61B17/1631 ,  A61B17/1633 ,  A61B2017/1651 ,  A61B2017/1653 ,  B23B39/14

Abstract: A remote controlled actuator includes a spindle for holding a tool, a spindle guide section of an elongated configuration, a distal end member rotatably supporting the spindle, and a drive unit housing connected to a base end of the spindle guide section. The distal end member is fitted to the spindle guide section for alteration in attitude. The spindle guide section includes an outer shell pipe, a rotary shaft, and guide pipe. Within the guide pipe, an attitude altering member is inserted to alter the attitude of the distal end member. A connection device detachably connects the spindle guide section with the drive unit housing.

Abstract translation: 远程控制致动器包括用于保持工具的主轴，细长构造的主轴引导部分，可旋转地支撑主轴的远端部件，以及连接到主轴引导部的基端的驱动单元壳体。 远端构件安装到主轴引导部分以改变姿态。 主轴引导部分包括外壳管，旋转轴和引导管。 在导管内插入姿态改变构件以改变远端构件的姿态。 连接装置将主轴引导部与驱动单元壳体可拆卸地连接。