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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：US11247329B2
公开(公告)日：2022-02-15
申请号：US16217474
申请日：2018-12-12
Applicant: NTN CORPORATION
Inventor： Hiroshi Isobe , Seigo Sakata , Yuuki Shimura
Abstract: A work device includes a work device body and a contact preventer. The work device body includes a linear motion unit having three degrees of freedom and a rotary unit having three degrees of freedom. An end effector is mounted on an output portion of the rotary unit. The contact preventer separates a working region in which the work device body is installed, from a non-working region outside the working region. The contact preventer includes: an entry allowing portion allowing an object to enter the working region therethrough; and an entry allowing portion entry detection sensor configured to detect entry of an object into the working region through the entry allowing portions.
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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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公开(公告)号：US10890236B2
公开(公告)日：2021-01-12
申请号：US16549935
申请日：2019-08-23
Applicant: NTN CORPORATION
Inventor： Seigo Sakata , Yukihiro Nishio , Hiroshi Isobe , Naoya Konagai , Hiroyuki Yamada
Abstract: An operation method for a link actuating device provided with a target value input unit having a height direction target value input portion 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 to be changed only in the height direction along a central axis of a proximal end side link hub. An input converter is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device. The input converter further calculates a command operation amount of each actuator from the result of the calculation, and inputs the command operation amount to the control device.
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Patent Agency Ranking
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：US20170014994A1
公开(公告)日：2017-01-19
申请号：US15280408
申请日：2016-09-29
Applicant: NTN CORPORATION
Inventor： Hiroshi Isobe , Seigo Sakata , Naoya Konagai , Hiroyuki Yamada
CPC classification number: B25J9/0048 , B25J9/0009 , B25J9/08 , F16H21/46
Abstract: In this parallel link mechanism, a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms such that the posture of the distal end side link hub can be altered relative to the proximal end side link hub. Each link mechanism includes proximal side and distal side end link members and an intermediate link member. Each end link member includes: a curved member curved by an arbitrary angle; and a rotation shaft support member fixed to one end of or each of opposite ends of the curved member, and configured to support a rotation shaft rotatably coupled directly or via a bearing to the intermediate link member or the link hub.
Abstract translation: 在这种平行连杆机构中，远端侧连接毂通过三个或更多个连杆机构联接到近端侧连接轮毂，使得可以相对于近端侧连杆毂改变远端侧连杆毂的姿态。 每个连杆机构包括近端侧和远端侧连杆构件以及中间连杆构件。 每个端部连杆构件包括：弯曲成任意角度的弯曲构件; 以及旋转轴支撑构件，其固定到所述弯曲构件的相对端的一端或每一个，并且构造成支撑直接或经由轴承可旋转地联接到所述中间连杆构件或所述连杆毂的旋转轴。
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公开(公告)号：US20160256952A1
公开(公告)日：2016-09-08
申请号：US15155577
申请日：2016-05-16
Applicant: NTN CORPORATION
Inventor： Hiroshi ISOBE , Seigo Sakata , Yukihiro Nishio , Hiroyuki Yamada
CPC classification number: B23K9/287 , B23K9/007 , B23K26/0884 , B23K37/0241
Abstract: Automatic welding machine includes: a welding torch mounted to a link actuation device set on a mount; and a one-or-more-axes linear motion actuator which causes the link actuation device to advance and retract relative to the mount. The link actuation device includes: a proximal end side link hub disposed on the mount; a distal end side link hub to which the welding torch is mounted; and three or more link mechanisms configured to 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. Two or more link mechanisms are each provided with a posture changing actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub.
Abstract translation: 自动焊接机包括：安装在设置在安装座上的连杆致动装置上的焊枪; 以及一个或多个轴线的直线运动致动器，其使链接致动装置相对于支架前进和缩回。 所述连杆致动装置包括：设置在所述支架上的近端侧连杆毂; 安装有焊炬的远端侧连接毂; 以及三个或更多个连杆机构，其构造成将远端侧连杆毂联接到近端侧连杆毂。 每个连杆机构包括近端侧和远端侧连杆构件以及中间连杆构件。 两个或更多个连杆机构分别设置有姿势改变致动器，该致动器随意地改变远侧侧连杆毂相对于近端侧连杆毂的姿态。
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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：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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