| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 101 | Foreign material exploration and recovery unit of Kantabanai | JP4129992 | 1992-02-27 | JP3261153B2 | 2002-02-25 | アサネイシュ クリストス; シー ジェンス スティーヴン; エフ ヴィオーラ ポール; ダブリュー オズボーン マイケル; エイ エス リー ロバート |
| 102 | Liquid level detector | JP17448392 | 1992-07-01 | JP3173139B2 | 2001-06-04 | 裕 石川 |
| 103 | Precisely controllable flexible actuator | JP50535196 | 1995-07-13 | JPH10504765A | 1998-05-12 | ファイテン ヴェンデリン |
| (57)【要約】 本発明によればコイルばね形のアクチュエータが提供される。 その際、このコイルばねはＳ字型の横断面プロフィルを有しており、下方のエッジと、隣り合うばね巻回体の上方のエッジとが重なり合うように構成されている。 このばねに設けられている複数のアイに沿って案内される引張ケーブルによってばねを湾曲させたり縮めたりすることができ、有利には、重なり合ったエッジの周囲にループ状に案内されるさらに別の引張ケーブルにより、ばねを再び伸張させることができる。 これに加えて、重なり合った領域に調整部材の形でブロック手段が設けられており、これによって隣り合うばね巻回体を所期のようにブロックすることができる。 本発明によるアクチュエータによれば、ブロック手段と共働させて引張および押圧力を巧みに用いることで、任意の形状を与えることができる。 適用分野として、オフィス環境や家庭環境で使用するためのサービスロボットあるいは低コストの製造ロボットが挙げられる。 | ||||||
| 104 | Fluid pressure actuator | JP53363796 | 1996-05-07 | JPH10502990A | 1998-03-17 | プレヴイシツク，ブラニスラフ |
| (57)【要約】 本発明によるアクチュエータは、板（２）と軸（３）を順番に備えた複数の支持部（４）から成る。 前記複数の支持部（４）はフレーム（１）に固定され、スタックを形成するように配置される。 前記スタックの軸方向には、例えば三つのポンプユニット（５）が延び、この三つのポンプユニット（５）は一方をフレーム（１）に固定され、他方を最上部の板（２）に固定され、被覆されている。 さらに、最上部の板（２）の上には、例えば工具、測定装置などの構成部（９）が設けられている。 直下の支持部の軸上に板（２）が配置された位置には、二つの隣接する支持部（４）間で相対的な角度で動かすエラストマパッド（１２）が設けられている。 三本の流体ライン（７）がフレーム（１）内に開口している。 ポンプユニット（５）が関連するライン（７）を介して圧力が加わると、前記ユニットが板（２）間で膨張および縮小する。 その結果アクチュエータが加圧されたポンプユニット（５）の方向に曲がる。 各独立ポンプユニットに供給された圧力は各々独立して制御され、構成部（９）は楕円回転面上の各点を動くことが可能である。 | ||||||
| 105 | Articulated unit | JP12783596 | 1996-04-24 | JPH09290389A | 1997-11-11 | NAKAJIMA TORU |
| PROBLEM TO BE SOLVED: To make fine adjusting capable till obtaining a prescribed attitude also make an articulation instantaneously fixable, by charging a clearance of a fitting surface of a ball and a socket with an electroviscous fluid changing viscosity by applied voltage, and applying voltage to this viscous fluid to limit movement of the articulation. SOLUTION: In an articulated unit 1, a fitting surface of a ball 2 and a socket 3 is formed by a conductor, a clearance of the fitting surface is charged with an electroviscous fluid 4, voltage is applied to this viscous fluid 4. This viscous fluid 4 is constituted by electric insulating oil, polarizable organic fine particle, etc. A cylinder 8 is inserted to shaft core of the ball 2, in its tip end, a storage chamber 9 of the viscous fluid 4 is provided, a clearance of the ball 2 and the socket 3 is connected by a charge hole 10. Pressing of a piston 11 corrects capacity change of the viscous fluid 4. The ball 2 is rotated 90 to 120 degree, when a direction and angle of the articulated unit 1 are obtained in a desired attitude, high voltage is applied, the viscous fluid is instantaneously solidified, its attitude is fixed. COPYRIGHT: (C)1997,JPO | ||||||
| 106 | JPH06511436A - | JP50652793 | 1992-09-18 | JPH06511436A | 1994-12-22 | |
| 107 | Robotic device | JP11092583 | 1983-06-22 | JPH065482B2 | 1994-01-19 | MORI KINJI; MYAMOTO SHOJI; IHARA KOICHI |
| 108 | Flexible lance equipment | JP20513392 | 1992-07-31 | JPH05196791A | 1993-08-06 | SUTEIIBUN SHII JIENSU; BAANAADO SAWAFU; POORU EFU BUIORA; POORU AARU BERUKUSU; ROBAATO EI ESU RII |
| PURPOSE: To attain wide application to various assemblies being hard to access, by providing a flexible means which can access geometrically-shaped assemblies hard to access and a rigid guide moving the means. CONSTITUTION: A rail 18 extends from a tilt module 16 to a support stand 20 in a blowdown lane of a steam generator and it is fitted to the stand by a pivot 22 and can rotate freely with the module 16. A flexible lance 26 extends into the rail 18 and is fitted slidably and it extends through a lance guide shoe fitted to a lance guide belt and is led out thereby from the rail 18 and deflected into a pipe gap. While the lance guide belt has a flexibility, it has also a sufficient rigidity and, when it is caught in a groove of the rail 18, it transmits a longitudinal force transmitted thereto to the lance guide shoe and makes this move back and forth on the rail 18. According to this constitution, wide application can be attained. | ||||||
| 109 | Bending mechanism for flexible tube | JP17446592 | 1992-07-01 | JPH05184526A | 1993-07-27 | UEDA YASUHIRO |
| PURPOSE: To provide a drawing actuator which can bend a bend part in the tip of a flexible tube, and also, to attain a conversion to a thin diameter of the flexible tube. CONSTITUTION: The bending mechanism is provided with a first to a third angle wires 14, 16 and 18 arranged in positions obtained by dividing equally the inside peripheral surface of the bend part 2 of an endoscope into three, respectively, a first to a third fixing parts 28, 30 and 32 for fixing the tips of these angle wires to an extreme tip bending piece 12a provided adjacently in the tip part 4, a first to a third rubber artificial muscles 34, 36 and 38 to which the rear ends of each angle wire are connected, and which can draw these angle wires, and a driving circuit which can control traction amounts of each angle wire and its ratio. COPYRIGHT: (C)1993,JPO&Japio | ||||||
| 110 | Actuator by heat operation | JP25639990 | 1990-09-26 | JPH04134184A | 1992-05-08 | NAKAJIMA NAOMASA; ANDO MITSUHIRO; NARUSE YOSHIHIRO; MIKAMI SADAO; SANO KATSUHIRO |
| PURPOSE: To perform three-dimensional drive with the compact structure by separately controlling heating means and cooling means of multiple containers, which are connected solidly, and extending/contracting an aggregate of the containers, namely, an actuator main frame in the Z axial direction, and while oscillating and waving the actuator main frame in the X, Y axial directions. CONSTITUTION: Heating means 2 1, 2 2,... of multiple containers 30 1, 30 2,..., which are connected solidly, are controlled for heating separately by a heat operation control means not shown in a figure through a transmitting medium 1, and each fluid of each container 30 1, 30 2,... is thereby expanded in response to heating quantity, and while an aggregate of the containers 30 1, 30 2,..., namely, an actuator main frame is deformed into a shape corresponding to the heating quantity distribution. On the other hand, the fluid in each container is cooled by each cooling means 20 1, 20 2,..., and the heating quantity distribution is changed on the basis of the control signal to be given to each heating energizing means 4 1, 4 2,... in time series to extend and contract the actuator mainframe in the Z axial direction and while oscillate or wave the actuator main frame in the X, Y axial directions. COPYRIGHT: (C)1992,JPO&Japio | ||||||
| 111 | Body manipulator | JP14165487 | 1987-06-08 | JPS62292385A | 1987-12-19 | JIYATSUKU REBUMAN |
| An elongate main body section (12) of the manipulator (10) has its opposite ends respectively connected to a base section (14) and an object support section (16). The main body section consists of elongate flexible rod members (20) extending in generally parallel spaced relationship to each other and to the central axis of such section. The lower end portions of the rods are driven by drive means (26) within the base section to selectively cause the main body section to undergo extension/retraction, bending and/or twisting movement in desired directions. The rod members (20) may be resiliently flexible throughout their entire extent, or may be comprised of rigid sections (22) interconnected by elastomeric joints (24). In one embodiment the drive means (26) imparts rotation to the lower end portion of each rod member (20) to produce twisting of the main body section, while in another embodiment axial movement imparted to the rods is reacted by an object support section (16) having relatively moveable components to produce the twisting movement. | ||||||
| 112 | Flexible supporter | JP11741284 | 1984-06-06 | JPS608586A | 1985-01-17 | EDOWAADO ERU HADON SHINIA |
| 113 | CONTINUUM ROBOT CONTROL SYSTEM AND CONTINUUM ROBOT CONTROL METHOD | US15953034 | 2018-04-13 | US20180304458A1 | 2018-10-25 | Kiyoshi Takagi |
| A kinematic model arithmetic portion calculates a coordinate value (ze1 (θe)) as distance information indicating the distance between a member that serves as a reference surface for the curve shape of a curvable portion and a member in the curvable portion that is closest to the reference surface. A switch determination unit determines based on the coordinate value whether to drive a wire for driving the curvable portion by a drive displacement calculated for the wire along with the coordinate value by the kinematic model arithmetic portion. | ||||||
| 114 | ROBOT ARM AND ROBOT | US15904800 | 2018-02-26 | US20180290293A1 | 2018-10-11 | Kazutaka NAKAYAMA; Kenichirou ABE; Masahiro MORIOKA |
| Provided is a robot arm that is provided with mounting interface portions at both ends of a long resin arm body. Each of the mounting interface portions is provided with: a connecting section that is formed of resin and that is connected to the arm body; and a metal member that is embedded in the resin, which forms the connecting section, and that forms a mounting surface. The metal member is provided with a through-hole that penetrates therethrough in the plate-thickness direction and through which a mounting screw passes, and is embedded in the resin while exposing the mounting surface and a seating surface, for the mounting screw, around the through-hole, the seating surface being located at the opposite side from the mounting surface. | ||||||
| 115 | DISTRIBUTED PRESSURIZATION AND EXHAUST SYSTEMS FOR SOFT ROBOTS | US15744536 | 2016-07-12 | US20180207814A1 | 2018-07-26 | Joshua Aaron LESSING; George M. WHITESIDES |
| A soft robot is described, including: a flexible and/or stretchable body; a common fluid pressurization unit; and a plurality of fluid chambers each embedded in the flexible and/or stretchable body and capable of fluidic connection with the common fluid pressurization unit through a pressurizing valve; wherein the pressurizing valve is capable of being activated to allow the pressurized fluid to flow from the common fluid pressurization unit into the fluid chamber to result in actuation. Methods of using the soft robot are also described. | ||||||
| 116 | Extensible and retractable arm mechanism, and robot arm | US15262015 | 2016-09-12 | US10005189B2 | 2018-06-26 | Woo-Keun Yoon |
| An extendable and retractable arm mechanism includes a first structure group formed by coupling a plurality of first structures and a second structure group formed by coupling a plurality of second structures. Each of the first structures includes lock part for fixing the second structures. When the first structure group and the second structure group extend, the lock part fixes the second structures to the first structures. | ||||||
| 117 | Robot arm mechanism and stepping motor control device | US15498972 | 2017-04-27 | US09999972B2 | 2018-06-19 | Woo-Keun Yoon |
| An object of the present invention is to prevent unnecessary driving stop of a stepping motor. A robot arm section includes a robot arm, a stepping motor 31a, a motor driver 31b, an encoder 31c and a step-out detection section 31e. The robot arm has a joint J1. The stepping motor generates power for operating the joint. The motor driver drives the stepping motor according to a target angle. The encoder outputs an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle. The step-out detection section detects a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse. When the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at the time point at which the grace time elapses. | ||||||
| 118 | Flexible and stretchable electronic strain-limited layer for soft actuators | US14832071 | 2015-08-21 | US09993921B2 | 2018-06-12 | Joshua Aaron Lessing; Ramses V. Martinez; Alok Suryavamsee Tayi; Jason Ming Ting; George M. Whitesides |
| A soft robot having an integrated electrical component includes an expandable or collapsible body, the body comprising an inlet that is configured to communicate with a fluid source and a flexible strain limited layer secured to a portion of the expandable or collapsible body, wherein the strain limited layer includes at least one electrical component. | ||||||
| 119 | HYPER REDUNDANT ROBOTS | US15803028 | 2017-11-03 | US20180154515A1 | 2018-06-07 | Andrew D. NORTON; Stewart LOWTH; Xin DONG |
| A hyper redundant robot comprising: a first disk; a second disk positioned adjacent to the first disk, the first disk and the second disk having a longitudinal axis; a first joint arrangement positioned between the first disk and the second disk, the first disk and/or the second disk being in sliding contact with the first joint arrangement to enable the first disk and the second disk to rotate relative to one another; and a second joint arrangement positioned between the first disk and the second disk, the second joint arrangement being less stiff than the first joint arrangement. | ||||||
| 120 | Arm unit and robot having the same | US13898888 | 2013-05-21 | US09981392B2 | 2018-05-29 | Yong Jae Kim; Sang bae Kim; Shan bao Cheng; Karl Iagnemma |
| An arm unit having an improved configuration to simply change stiffness according to varying situations and a robot having the same are provided. The robot includes an arm unit, and a drive unit to drive the arm unit. The arm unit includes a plurality of links to come into rolling contact with one another via at least two regions thereof, and a plurality of wires penetrating the plurality of links to connect the links to one another. | ||||||
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