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公开(公告)号：US10513028B2
公开(公告)日：2019-12-24
申请号：US15914446
申请日：2018-03-07
Applicant: NTN CORPORATION
Inventor： Hiroshi Isobe , Seigo Sakata , Naoki Marui , Kenzou Nose
Abstract: The composite work apparatus includes: two link actuation devices that support two working bodies such that postures of the working bodies can be individually changed; and three or more linear motion actuators that move the two link actuation devices and two or more work objects relative to each other. In each link actuation device, a distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, and a posture control actuator that arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub is provided to each of two or more link mechanisms of the three or more link mechanisms.
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公开(公告)号：US12042935B2
公开(公告)日：2024-07-23
申请号：US17204241
申请日：2021-03-17
Applicant: NTN CORPORATION
Inventor： Kenzou Nose , Hiroshi Isobe
CPC classification number: B25J9/0048 , B25J17/0266 , F16H21/46
Abstract: A link actuation apparatus includes: a parallel link mechanism including a proximal-side link hub, a distal-side link hub, and three or more link mechanisms each coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub can be changed relative to the proximal-side link hub; posture control drive sources; and a control device. The control device includes an abnormality detector including: a measurement section configured to measure a predetermined state value which is affected by abnormality in revolute pair parts of a link actuation apparatus body constituted by the parallel link mechanism and the posture control drive sources; and a determination section configured to determine if any of the revolute pair parts has abnormality in on the basis of a measurement result obtained by the measurement section. For example, the measurement section measures rigidity, or driving torque or the like.
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公开(公告)号：US20190105769A1
公开(公告)日：2019-04-11
申请号：US16210632
申请日：2018-12-05
Applicant: NTN CORPORATION
Inventor： Kenzou Nose , Hiroshi Isobe , Seigo Sakata
Abstract: In the link operating device, a distal-end-side link hub is connected to a proximal-end-side link hub so as to be changeable in position relative thereto via at least three link mechanisms. Each link mechanism includes a proximal-side end link member, a distal-side end link member, and a center link member. Position-controlling actuators and speed reduction mechanisms are provided to two or more of the link mechanisms. The proximal-side end link member includes a bent portion and a pair of rotational connection bodies disposed at one end of the bent portion. The speed reduction mechanism is disposed between the pair of rotational connection bodies, and includes an output shaft fixed to one of the rotational connection bodies, and an input shaft rotatably supported by the other one of the rotational connection bodies.
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公开(公告)号：US10391641B2
公开(公告)日：2019-08-27
申请号：US15928970
申请日：2018-03-22
Applicant: NTN CORPORATION
Inventor： Naoya Konagai , Hiroshi Isobe , Seigo Sakata , Naoki Marui , Kenzou Nose
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：US20180194002A1
公开(公告)日：2018-07-12
申请号：US15914446
申请日：2018-03-07
Applicant: NTN CORPORATION
Inventor： Hiroshi Isobe , Seigo Sakata , Naoki Marui , Kenzou Nose
CPC classification number: B25J9/046 , B25J5/02 , B25J9/0018 , B25J9/0048 , B25J9/0087 , B25J9/06 , Y10S901/15 , Y10S901/28
Abstract: The composite work apparatus includes: two link actuation devices that support two working bodies such that postures of the working bodies can be individually changed; and three or more linear motion actuators that move the two link actuation devices and two or more work objects relative to each other. In each link actuation device, a distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, and a posture control actuator that arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub is provided to each of two or more link mechanisms of the three or more link mechanisms.
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Patent Agency Ranking
公开(公告)号：US11691276B2
公开(公告)日：2023-07-04
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
CPC classification number: B25J9/1623 , B25J9/0048 , B25J9/106 , F16H21/46
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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公开(公告)号：US11407101B2
公开(公告)日：2022-08-09
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：US11298814B2
公开(公告)日：2022-04-12
申请号：US16814144
申请日：2020-03-10
Applicant: NTN CORPORATION
Inventor： Hiroshi Isobe , Naoki Marui , Seigo Sakata , Kenzou Nose
Abstract: A link actuation device includes a proximal-end-side link hub, a distal-end-side link hub, three or more link mechanisms each coupling the link hubs such that a posture of the distal-end-side link hub can be changed relative to the proximal-end-side link hub. Each link mechanism includes a proximal-side end link member, a proximal-side intermediate link member, a distal-side intermediate link member, and a distal-side end link member. Actuators for arbitrarily changing the posture and a distance from the distal-end-side link hub to the proximal-end-side link hub are provided to three or more link mechanisms of the three or more link mechanisms. A control unit calculates a rotation angle of the proximal-side end link member according to a targeted posture of the distal-end-side link hub and a targeted distance between the centers of the spherical links, and controls the respective actuators so as to attain the calculated rotation angle.
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公开(公告)号：US11154994B2
公开(公告)日：2021-10-26
申请号：US16164486
申请日：2018-10-18
Applicant: NTN CORPORATION
Inventor： Hiroshi Isobe , Kenzou Nose , Naoki Marui , Hiroyuki Yamada
Abstract: A work device is configured to perform a work with use of an end effector and have six degrees of freedom. The work device including: a linear motion unit obtained by combining three linear motion actuators, to have three degrees of freedom; and a rotation unit obtained by combining a plurality of rotation mechanisms each having one or more degrees of rotational freedom, to have three degrees of freedom. A base portion of the linear motion unit is fixed to a mount. A base portion of the rotation unit is fixed to an output portion of the linear motion unit. The end effector is mounted to an output portion of the rotation unit.
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公开(公告)号：US11000946B2
公开(公告)日：2021-05-11
申请号：US16210632
申请日：2018-12-05
Applicant: NTN CORPORATION
Inventor： Kenzou Nose , Hiroshi Isobe , Seigo Sakata
Abstract: In the link operating device, a distal-end-side link hub is connected to a proximal-end-side link hub so as to be changeable in position relative thereto via at least three link mechanisms. Each link mechanism includes a proximal-side end link member, a distal-side end link member, and a center link member. Position-controlling actuators and speed reduction mechanisms are provided to two or more of the link mechanisms. The proximal-side end link member includes a bent portion and a pair of rotational connection bodies disposed at one end of the bent portion. The speed reduction mechanism is disposed between the pair of rotational connection bodies, and includes an output shaft fixed to one of the rotational connection bodies, and an input shaft rotatably supported by the other one of the rotational connection bodies.
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