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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
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.
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公开(公告)号：US20210086350A1
公开(公告)日：2021-03-25
申请号：US17113668
申请日：2020-12-07
Applicant: NTN CORPORATION
Inventor： Kenzou NOSE , Hiroshi ISOBE
Abstract: In a link actuating device, a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms. A posture control drive source configured to arbitrarily change the posture of the distal end side link hub is provided to each of two or more link mechanisms. The link actuating device includes a storage unit configured to store therein an operating position of the posture control drive source when the distal end side link hub is in a defined posture. In each of the two or more link mechanisms, a positioning portion is provided to at least one of the proximal side end link member, the distal side end link member, and the intermediate link member. A positioning member configured to position the distal end side link hub in the defined posture is dismountably mounted between a plurality of the positioning portions.
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公开(公告)号：US20180236619A1
公开(公告)日：2018-08-23
申请号：US15751391
申请日：2016-08-09
Applicant: NTN CORPORATION
Inventor： Kenzou NOSE , Hiroshi ISOBE , Seigo SAKATA , Hiroyuki YAMADA
CPC classification number: B23Q1/44 , B23Q1/25 , B23Q1/5456 , B25J9/0048 , B25J9/0072 , B25J9/0096 , B25J11/00 , F16H21/48 , F16H21/54 , F16H25/2204
Abstract: A work apparatus includes a parallel link mechanism, a position control actuator, a linear motion mechanism, and a rotating mechanism. The parallel link mechanism includes three or more link mechanisms that couple a distal end side link hub to a proximal end side link hub such that a position of the distal end side link hub can be changed relative to the proximal end side link hub. The position control actuator operates the parallel link mechanism. The linear motion mechanism moves a working body in an axial direction orthogonal to a central axis of the proximal end side link hub. The rotating mechanism is mounted on the distal end side link hub and rotates a work object about a rotation center axis parallel to a movement direction of the linear motion mechanism when the central axis and a central axis are on the same line.
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公开(公告)号：US20220234199A1
公开(公告)日：2022-07-28
申请号：US17616607
申请日：2020-05-29
Applicant: KYUSHU INSTITUTE OF TECHNOLOGY , NTN CORPORATION
Inventor： Akihiro HAYASHI , Hirofumi FUKUMARU , Toshiki TAKAGI , Kenzou NOSE , Hideki MATSUZAWA
Abstract: A link actuation apparatus that actuates a parallel link mechanism where a spherical drive mechanism is constructed includes a controller configured to calculate, based on spherical trigonometry, an attitude of a second link hub from angles βA1 and βA2 that represent the attitude of a first end link member with respect to a first link hub in two of at least three link mechanisms. The link actuation apparatus capable of performing forward transformation in real time is thus provided.
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Patent Agency Ranking
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
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.
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公开(公告)号：US20180290294A1
公开(公告)日：2018-10-11
申请号：US16008581
申请日：2018-06-14
Applicant: NTN CORPORATION
Inventor： Kenzou NOSE , Hiroshi !SOBE , Seigo SAKATA
CPC classification number: B25J9/0048 , B25J9/0009 , B25J9/08 , B25J9/102 , B25J9/108 , B25J11/00 , F16H21/48 , F16H21/50
Abstract: A distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms. Each link mechanism has a proximal side end link member, a distal side end link member, and an intermediate link member. The proximal side end link member has a bent portion and rotation shaft mounting portions. A rotation shaft is mounted to the rotation shaft mounting portion. A bevel gear, forming a part of a gear mechanism for transmitting rotary motion of a posture control actuator to the proximal side end link member, is mounted on the rotation shaft mounting portion and disposed in a space between two virtual planes obtained by extending a radially inner edge and a radially outer edge of one end of the bent portion in a longitudinal direction of the rotation shaft mounting portion.
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公开(公告)号：US20220166288A1
公开(公告)日：2022-05-26
申请号：US17441669
申请日：2020-03-18
Applicant: NTN CORPORATION
Inventor： Kenzou NOSE , Hideki MATSUZAWA
Abstract: A parallel link mechanism includes a proximal end-side link hub, three link mechanisms, a rotating body, and a distal end-side link hub. The rotating body is connected to one link mechanism among the three link mechanisms. The rotating body is rotatably coupled to the proximal end-side link hub. In the link mechanism, a first center axis of a first revolute pair portion intersects with a second center axis of a second revolute pair portion at a spherical link center point. The rotation center axis of the rotating body intersects with the spherical link center point.
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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
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.
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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
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.
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