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：US20190099878A1

公开(公告)日：2019-04-04

申请号：US16208061

申请日：2018-12-03

Applicant: NTN CORPORATION

Inventor： Naoki MARUI ,  Hiroshi ISOBE ,  Seigo SAKATA

IPC: B25J9/00 ,  B25J9/16 ,  B25J17/02 ,  B25J9/10

Abstract: In a link actuation device, a distal end side link hub is coupled 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 of the distal end side link hub relative to the proximal end side link hub is arbitrarily changed by actuators provided to two or more link mechanisms. The manipulating device includes a posture acquirer for acquiring a distal end posture represented by a bending angle and a turning angle, from a coordinate position at which a distal end side spherical link center is projected onto a two-dimensional rectangular coordinate system that has an origin located on an extension of an axis of the proximal end side link hub and is orthogonal to the extension of the axis.

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.