公开(公告)号：US20240227163A1

公开(公告)日：2024-07-11

申请号：US18559442

申请日：2022-05-09

Applicant: Jeurgen Niels

Inventor： Jeurgen Niels

IPC: B25J9/00

CPC classification number: B25J9/0006 ,  B25J9/0048

Abstract: Disclosed is a support device (100) and method for supplying supportive forces to a set of links in a main assembly (1). These links (1.A.1, 1.A.2, 1.A.3, 1.A.4) are connected to an assistive assembly (3), which is designed to be a representation of the main assembly (1), and the connection is used to maintain the representation, so that displacements and forces in the main assembly (1) result in displacements and forces in the assistive assembly (3), and the other way around. There are further force regulator units (3.E.1, 3.E.2) included in the assistive assembly (3), that apply forces on the assistive assembly (3) and through the connection thus also on the main assembly (1), but whose weight is not felt by the main assembly (1). These forces can be used to provide supportive or compensation forces to the main assembly (1), so the main assembly (1) can be a wearable exoskeleton that provides forces to support human wearers, or it can be an industrial robotic manipulator that appears weightless and whose payload is compensated.

公开(公告)号：US11691272B2

公开(公告)日：2023-07-04

申请号：US17849769

申请日：2022-06-27

Applicant: SEIKO EPSON CORPORATION

Inventor： Junpei Nakayama

IPC: B60K11/02 ,  B25J9/12 ,  B25J9/04 ,  B25J9/00 ,  H02P27/06

CPC classification number: B25J9/126 ,  B25J9/0048 ,  B25J9/042 ,  H02P27/06

Abstract: A motor drive circuit for a robot includes a switching unit switching among a normal state in which regenerative power is supplied to a regenerative capacitor, a first state in which a voltage is applied to a first resistor, and a second state in which a voltage is applied to the first resistor and a second resistor based on a detection result of a detection unit, wherein the switching unit switches to the first state when the voltage applied to the regenerative capacitor detected in the detection unit is equal to or larger than a first threshold in the normal state, and switches to the second state when the voltage applied to the first resistor is equal to or larger than a second threshold larger than the first threshold in the first state.

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

IPC: B25J9/04 ,  B25J9/00 ,  B25J9/06

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.

公开(公告)号：US09776321B2

公开(公告)日：2017-10-03

申请号：US15212838

申请日：2016-07-18

Applicant: TOKYO ELECTRON LIMITED

Inventor： Toshiaki Kodama

IPC: B25J9/18 ,  B25J9/00 ,  B25J9/10 ,  H01L21/677

CPC classification number: B25J9/0048 ,  B25J9/102 ,  B25J9/107 ,  H01L21/67742 ,  H02K49/102

Abstract: A posture holding device is for use in a transfer device which has a holding part configured to hold an object and a first link and a second link connected to the holding part. The transfer device moves the first link and the second link relative to the holding part so as to move the holding part between a transfer position and a standby position. The posture holding device holds a posture of the holding part and includes a magnetic gear rotatably connecting the first link and the second link to the holding part. The magnetic gear is disposed such that the one end of the first link connected to the holding part is rotated about a first axis and the one end of the second link connected to the holding part is rotated about the first axis or a second axis different from the first axis.

公开(公告)号：US20170268640A1

公开(公告)日：2017-09-21

申请号：US15614038

申请日：2017-06-05

Applicant: NTN CORPORATION

Inventor： Seigo SAKATA ,  Yukihiro NISHIO ,  Hiroshi ISOBE ,  Naoya KONAGAI ,  Hiroyuki YAMADA

IPC: F16H21/48 ,  G06F3/03 ,  B25J13/06 ,  B25J9/10 ,  B25J9/16

CPC classification number: F16H21/48 ,  B25J9/0048 ,  B25J9/106 ,  B25J9/108 ,  B25J9/1623 ,  B25J13/06 ,  B25J13/065 ,  F16C19/22 ,  F16H21/46 ,  G06F3/0321

Abstract: An operation device for a link actuating device (51) is provided with a target value input unit (57) having a height direction target value input portion (57z) 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 (51) to be changed only in the height direction along a central axis of a proximal end side link hub (12). Input converter (58) is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device (51). The Input converter (58) further calculates a command operation amount of each actuator (53) from the result of the calculation, and inputs the command operation amount to the control device (54).

公开(公告)号：US09746037B2

公开(公告)日：2017-08-29

申请号：US14346536

申请日：2012-09-24

Applicant: NTN CORPORATION

Inventor： Keisuke Sone ,  Hirokazu Ooba ,  Arito Matsui ,  Hiroki Mukai

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  F16D3/30 ,  F16H21/54 ,  F16M11/12 ,  F16M11/18 ,  F16M13/00 ,  A61F5/01

CPC classification number: F16D3/30 ,  A61F5/01 ,  B25J9/0048 ,  F16H21/54 ,  F16M11/121 ,  F16M11/18 ,  F16M13/00 ,  Y10T403/36

Abstract: A link actuating device includes input side and output side link hubs, and two sets of link mechanisms. Each of the link mechanisms is a three-link-chain link mechanism including four revolute pairs, and includes input side and output side end links rotatably connected to the input side and output side link hubs and an intermediate links rotatably connected to input side and output side end links. The link mechanism have a positional relationship in which the revolute pair axes between the link hubs and the end links are located on the same plane and cross each other. At least one of the two sets of link mechanisms is provided with interlocking unit that interlocks the input side end link and the output side end link to each other so as to be rotationally displaced.

公开(公告)号：US20170108098A1

公开(公告)日：2017-04-20

申请号：US15284043

申请日：2016-10-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  Université Laval

Inventor： Muhammad E. Abdallah ,  Clément Gosselin ,  Thierry Laliberte ,  Simon Foucault ,  Pascal Labrecque ,  James W. Wells

IPC: F16H21/54 ,  B25J17/00 ,  F16H21/06

CPC classification number: F16H21/54 ,  B25J9/0048 ,  B25J9/1065 ,  B25J17/00 ,  B25J17/0208 ,  F16H21/06

Abstract: An articulated compliance mechanism for use with a support structure includes a carriage and a pair of parallel four-bar linkage arrangements. The arrangements collectively have a first set of links configured to rigidly connect to the support structure, a second set of links rotatably coupled to the carriage a distance from the first set of links, and a third set of links rotatably coupled to and spanning the distance. The compliance mechanism supports and provides the carriage, e.g., a rectangular shaped frame, with a stable equilibrium point using a gravitational restoring force, and provides the carriage with a passive translational degree of freedom along a horizontal axis in response to an input force from an operator. An additional compliance mechanism may be serially connected to provide a passive translational degree of freedom along a vertical axis. A system includes the compliance mechanism and support structure.

公开(公告)号：US09579786B2

公开(公告)日：2017-02-28

申请号：US14493414

申请日：2014-09-23

Applicant: Wen-Der Trui

Inventor： Wen-Der Trui ,  Shu-Ching Lin

IPC: B25J18/04 ,  B25J9/00 ,  F16M11/12 ,  F16M11/18

CPC classification number: B25J9/0048 ,  F16M11/123 ,  F16M11/18 ,  Y10S901/15 ,  Y10S901/18 ,  Y10T74/20305

Abstract: A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.

Abstract translation: 一种用于提高美国专利的实用性的球面坐标操作机构。 提供了8,579,714 B2。 四个内外圆弧链分别枢转地连接到内框架和外框架上，以便执行三自由度的转向运动。 至少一个效应器电弧连杆组选择性地连接到内框架或外框架，使得球面坐标操纵机构可以直接输出力或扭矩。

公开(公告)号：US20140248965A1

公开(公告)日：2014-09-04

申请号：US14352005

申请日：2012-10-10

Applicant: NTN CORPORATION

Inventor： Hiroshi Isobe ,  Hiroyuki Yamada ,  Keisuke Sone

IPC: F16D3/30

CPC classification number: F16D3/30 ,  B25J9/0048 ,  B25J9/108 ,  B25J19/0062 ,  F16C19/06 ,  F16C19/163 ,  F16C19/26 ,  F16C19/46 ,  F16C19/543 ,  F16C33/6674 ,  F16H21/46 ,  Y10S464/905 ,  Y10T74/20335

Abstract: A parallel link mechanism includes proximal end side and distal end side link hubs, and three or more link mechanisms. Each link mechanism is a trinodal link mechanism including four revolute pairs, and includes proximal side and distal side end link members and an intermediate link member. In each revolute pair of the link mechanism, a pair of pair constituent members is connected to each other via a bearing. A shaft portion provided in one pair constituent member is fitted on an inner periphery of an inner ring of the bearing, and an annular inner face forming portion provided in the other pair constituent member is fitted on an outer periphery of the outer ring of the bearing. The shaft portion and the annular inner face forming portion define a sealing structure which regulates flow of a lubricant between inside and outside of the bearing.

Abstract translation: 平行连杆机构包括近端侧和远端侧连接毂以及三个或更多个连杆机构。 每个连杆机构是包括四个旋转对的三联连杆机构，并且包括近端侧和远端侧连杆构件以及中间连杆构件。 在连杆机构的每个转动对中，一对成对构件通过轴承彼此连接。 设置在一对构成构件中的轴部装配在轴承的内圈的内周上，并且设置在另一对构成构件中的环形内表面形成部分装配在轴承的外圈的外周上 。 轴部分和环形内表面形成部分限定了一种密封结构，其调节润滑剂在轴承内部和外部之间的流动。

公开(公告)号：US20140224046A1

公开(公告)日：2014-08-14

申请号：US14346606

申请日：2012-09-11

Applicant: Hiroshi Isobe ,  Hiroyuki Yamada ,  Yukihiro Nishio

Inventor： Hiroshi Isobe ,  Hiroyuki Yamada ,  Yukihiro Nishio

IPC: F16H19/08

CPC classification number: F16H19/08 ,  B25J9/0048 ,  B25J9/102 ,  F16H21/46 ,  F16H37/14 ,  Y10T74/18792 ,  Y10T74/188

Abstract: A distal side link hub is connected with a proximal end side link hub through three sets of link mechanisms for alteration in posture. At least two sets of the link mechanisms include an actuator for arbitrarily changing the posture of the distal end side link hub relative to the proximal end side link hub by rotating a proximal side end link member and a reduction gear unit for reducing the speed of and transmitting the operation amount of the actuator to the proximal side end link member. The reduction gear unit includes a geared speed reducing section having a small gear rotated by the actuator and a large gear provided in the proximal side end link member. The radius of pitch circle of the large gear is chosen to be equal to or greater than the arm length of the proximal side end link member.

Abstract translation: 远端侧连接轮毂通过三组用于姿势改变的连杆机构与近端侧连杆毂连接。 至少两组连杆机构包括用于通过旋转近端侧连杆构件和减速装置来相对于近端侧连杆毂任意改变前端侧连杆毂的姿态的致动器，用于降低速度和 将致动器的操作量传递到近端侧连杆构件。 减速装置包括齿轮减速部，该减速部具有由致动器旋转的小齿轮和设置在近端侧连杆部件上的大齿轮。 选择大齿轮的节圆半径等于或大于近端侧连杆构件的臂长。