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    COMBINATION TYPE LINK ACTUATION DEVICE
    1.
    发明申请
    COMBINATION TYPE LINK ACTUATION DEVICE 审中-公开

    公开(公告)号：US20180207810A1

    公开(公告)日：2018-07-26

    申请号：US15928970

    申请日：2018-03-22

    申请人： NTN CORPORATION

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

    IPC分类号： B25J17/00 ,  F16H21/44

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

    摘要： 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.

    LINK ACTUATION DEVICE MANIPULATING DEVICE AND LINK ACTUATION SYSTEM
    2.
    发明申请
    LINK ACTUATION DEVICE MANIPULATING DEVICE AND LINK ACTUATION SYSTEM 审中-公开

    公开(公告)号：US20190099878A1

    公开(公告)日：2019-04-04

    申请号：US16208061

    申请日：2018-12-03

    申请人： NTN CORPORATION

    发明人： Naoki MARUI ,  Hiroshi ISOBE ,  Seigo SAKATA

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

    摘要： 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.

    LINK ACTUATION DEVICE
    5.
    发明申请
    LINK ACTUATION DEVICE 有权
    链接执行装置

    公开(公告)号：US20160256998A1

    公开(公告)日：2016-09-08

    申请号：US15157014

    申请日：2016-05-17

    申请人： NTN CORPORATION

    发明人： Hiroshi ISOBE ,  Seigo SAKATA ,  Hiroyuki YAMADA

    IPC分类号： B25J9/00 ,  B23K31/02 ,  B05B13/04

    CPC分类号： B25J9/0048 ,  B05B13/0431 ,  B23K9/12 ,  B23K9/127 ,  B23K31/02 ,  B23K37/0241 ,  B25J11/0075 ,  B25J15/0019 ,  F16H21/46 ,  G05G9/04737 ,  Y10S901/42

    摘要： This link actuation device includes: a proximal end side link hub; a distal end side link hub; and three or more link mechanisms which each couple the distal end side link hub to the proximal end side link hub. Each link mechanism includes: proximal side and distal side end link members, and an intermediate link member. The link mechanism is provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub. A workpiece is disposed on the proximal end side link hub, and an end effector is disposed in the distal end side link hub so as to face inside of arrangement of the link hubs and perform work onto the workpiece.

    摘要翻译： 该连杆致动装置包括：近端侧连接毂; 远端侧连接毂; 以及三个或更多个连杆机构，每个连杆机构将远端侧连接轮毂联接到近端侧连杆毂。 每个连杆机构包括：近端侧和远侧端连杆构件，以及中间连杆构件。 连杆机构设置有可以任意地改变前端侧连杆毂相对于基端侧连杆毂的姿态的致动器。 工件设置在基端侧连接轮毂上，端部执行器设置在远端侧连接轮毂中，以便面对连杆毂的布置的内侧并对工件进行加工。

    LINK ACTUATING DEVICE
    7.
    发明申请
    LINK ACTUATING DEVICE 审中-公开

    公开(公告)号：US20180290294A1

    公开(公告)日：2018-10-11

    申请号：US16008581

    申请日：2018-06-14

    申请人： NTN CORPORATION

    发明人： Kenzou NOSE ,  Hiroshi !SOBE ,  Seigo SAKATA

    IPC分类号： B25J9/00 ,  F16H21/50 ,  B25J9/10

    CPC分类号： B25J9/0048 ,  B25J9/0009 ,  B25J9/08 ,  B25J9/102 ,  B25J9/108 ,  B25J11/00 ,  F16H21/48 ,  F16H21/50

    摘要： 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.

    AUTOMATIC WELDING MACHINE
    8.
    发明申请
    AUTOMATIC WELDING MACHINE 审中-公开

    公开(公告)号：US20180200826A1

    公开(公告)日：2018-07-19

    申请号：US15754743

    申请日：2016-08-22

    申请人： NTN CORPORATION

    发明人： Naoya KONAGAI ,  Hiroshi ISOBE ,  Seigo SAKATA ,  Hiroyuki YAMADA

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

    CPC分类号： B23K9/127 ,  B23K9/12 ,  B23K9/173 ,  B23K9/28 ,  B23K9/287

    摘要： 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.

    DEVICE AND METHOD FOR CONTROLLING LINK ACTUATION DEVICE
    9.
    发明申请
    DEVICE AND METHOD FOR CONTROLLING LINK ACTUATION DEVICE 审中-公开
    用于控制链接致动装置的装置和方法

    公开(公告)号：US20160361816A1

    公开(公告)日：2016-12-15

    申请号：US15233409

    申请日：2016-08-10

    申请人： NTN CORPORATION

    发明人： Seigo SAKATA ,  Yukihiro NISHIO ,  Hiroshi ISOBE ,  Hiroyuki YAMADA

    IPC分类号： B25J9/16 ,  F16H21/46

    CPC分类号： B25J9/1623 ,  B25J9/1651 ,  F16H21/46

    摘要： 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.

    摘要翻译： 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。