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1. 发明授权

US06343242B1 Protective device for clean robot 有权
标题翻译：清洁机器人保护装置
公开(公告)号：US06343242B1
公开(公告)日：2002-01-29
申请号：US09807418
申请日：2001-06-11
申请人： Akihiro Nomura , Shinji Yamashita , Masafumi Tamai , Satoshi Murakami , Shinobu Satou , Takeo Suzuki
发明人： Akihiro Nomura , Shinji Yamashita , Masafumi Tamai , Satoshi Murakami , Shinobu Satou , Takeo Suzuki
IPC分类号： G06F1900
CPC分类号： B25J13/088 , B25J9/1676 , H01L21/67742
摘要： The invention relates to a protective device for a clean robot that includes a base 7 in which actuators 4 and 5 for driving a robot arm 3 are accommodated; a translational guide 8 for causing the base 7 to travel in a rectilinear direction; and a robot controller 10 that drives and controls the drive motor 4A and 5A of the robot arm 3 and an actuator 9 of the translational guide 8; wherein the protective device further includes acceleration sensors 11, which are disposed in the base 7 and are provided in respective axes so that they can detect an impact, when the clean robot 1 interferes with a surrounding substance, as vibration acceleration in the three-dimensional directions; an interference detecting device 13 that outputs a pulse when the detection signals of the acceleration sensors 11 of the respective axes exceed the threshold values that will become standards; and the first AND circuit that converts signals outputted from the interference detection means of the respective axes to interference signals, and the drive motors 4A and 5A for the robot arm 3 and the actuator for driving the translation guide 8 are stopped; whereby it is possible to prevent an internally incorporated speed reducer in the robot from being damaged.
摘要翻译：本发明涉及一种用于清洁机器人的保护装置，其包括：基座7，其中容纳有用于驱动机器人臂3的致动器4和5; 用于使基部7沿直线方向行进的平移引导件8; 以及驱动和控制机器人手臂3的驱动马达4A和5A以及平移引导件8的致动器9的机器人控制器10; 其特征在于，所述保护装置还包括加速度传感器11，所述加速度传感器11设置在所述基座7中并设置在各自的轴上，使得当所述清洁机器人1与周围物质发生干扰时，能够检测冲击，作为三维的振动加速度方向; 当各轴的加速度传感器11的检测信号超过将成为标准的阈值时输出脉冲的干扰检测装置13; 以及将从各轴的干涉检测装置输出的信号转换为干扰信号的第一AND电路，并且停止用于机器人臂3的驱动马达4A和5A以及用于驱动平移引导件8的致动器。从而可以防止机器人内部并入的减速机被损坏。

2. 发明授权

US08601952B2 Linear actuator and rocking controller for railway vehicle 有权
标题翻译：轨道车辆线性执行器和摇摆控制器
公开(公告)号：US08601952B2
公开(公告)日：2013-12-10
申请号：US13809139
申请日：2011-06-27
申请人： Masafumi Tamai , Osamu Goto
发明人： Masafumi Tamai , Osamu Goto
IPC分类号： F16H3/06
CPC分类号： B61F5/245 , F16H25/24 , F16H57/029 , F16H2025/2078 , H02K7/06
摘要： The linear actuator has a hollow main body having open and closed ends, a cylinder fixed to a closed side in the body and having an open end at open side, a linear motion rod having one end extending from the open end of the body and a wear ring on an outer circumference of the other end and slidably housed in the cylinder, and a hollow shaft rotatably supported in the body, wherein the shaft has magnet on outer circumferential surface, a winding section included on an inner surface of the body and the magnet configure a hollow motor, a nut coaxially fixed to the shaft and a screw on an outer surface of the linear motion rod are engaged with each other to configure a rotation/linear motion converter, and oil seals seal a gap between the shaft and the body in both sides are included.
摘要翻译：线性致动器具有开口和封闭端的中空主体，固定在主体中的封闭侧并且在开口侧具有开口端的圆柱体，具有从主体的开口端延伸的一端的直线运动杆和在另一端的外周上具有可滑动地容纳在所述气缸中的耐磨环，以及可旋转地支撑在所述主体中的中空轴，其中所述轴在外周面上具有磁体，所述绕组部包括在所述主体的内表面上，磁体构成中空电动机，同轴地固定在轴上的螺母和直线运动杆的外表面上的螺钉彼此接合以构成旋转/线性运动转换器，并且油封密封轴和轴之间的间隙双方身体都包括在内。

3. 发明申请

US20130112104A1 LINEAR ACTUATOR AND ROCKING CONTROLLER FOR RAILWAY VEHICLE 有权
标题翻译：用于铁路车辆的线性执行器和摇摆控制器
公开(公告)号：US20130112104A1
公开(公告)日：2013-05-09
申请号：US13809139
申请日：2011-06-27
申请人： Masafumi Tamai , Osamu Goto
发明人： Masafumi Tamai , Osamu Goto
IPC分类号： B61F5/24
CPC分类号： B61F5/245 , F16H25/24 , F16H57/029 , F16H2025/2078 , H02K7/06
摘要： A compact linear actuator in which a back drive force is small and sticking due to abrasion powder and the like hardly occurs, and a rocking controller for a railway vehicle having the linear actuator are provided. The linear actuator has a main body of a hollow structure having an open end portion and a closed end portion, a cylinder that is fixed to a closed end portion side in the main body, and has an open end at an open end portion side, a linear motion rod that has one end portion extending from the open end portion of the main body, has a wear ring on an outer circumferential portion of the other end portion, and is housed in the cylinder slidably in an axial direction, and a hollow shaft rotatably supported in the main body, wherein the hollow shaft has a permanent magnet on a part of an outer circumferential surface, a winding section included on a part of an inner surface of the main body and the permanent magnet configure a hollow motor, a nut section coaxially fixed to the hollow shaft and a screw section on an outer circumferential surface of the linear motion rod are engaged with each other to configure a rotation/linear motion converting mechanism, and rotary oil seal sections that seal a gap between the hollow shaft and the main body in both sides in the axial direction relative to the nut section are included.
摘要翻译：一种紧凑的线性致动器，其中后驱动力小并且由于磨损粉末等而几乎不发生粘附，并且提供了具有线性致动器的轨道车辆的摇摆控制器。线性致动器具有中空结构的主体，该主体具有开口端部和闭合端部，该筒体固定在主体的封闭端部侧，并且在开口端部侧具有开口端，具有从主体的开口端部延伸的一端部的直线运动杆在另一端部的外周部具有耐磨环，并且沿轴向可滑动地容纳在所述圆筒中，轴可旋转地支撑在主体中，其中中空轴在外周面的一部分上具有永磁体，包括在主体的内表面的一部分上的绕组部分和永磁体构成中空电机，螺母部分同轴地固定在中空轴上，并且直线运动杆的外圆周表面上的螺纹部分彼此接合以构成旋转/线性运动转换机构，以及旋转油封部分包括在空心轴和主体之间沿相对于螺母部分的轴向两侧的间隙密封。

4. 发明授权

US06946755B2 Linear motor 失效
标题翻译：直线电机
公开(公告)号：US06946755B2
公开(公告)日：2005-09-20
申请号：US10432506
申请日：2001-11-19
申请人： Masafumi Tamai , Ryuichirou Tominaga , Fumihiro Tara , Yoshiaki Kubota , Takao Fujii
发明人： Masafumi Tamai , Ryuichirou Tominaga , Fumihiro Tara , Yoshiaki Kubota , Takao Fujii
IPC分类号： H02K9/22 , H02K41/03 , H02K41/02
CPC分类号： H02K41/03 , H02K9/22
摘要： A small and high rigid linear motor (1), wherein a tabular heat pipe (7) is disposed between a plurality of coil rows forming an armature coil (6) along the longitudinal direction of an armature (5) with a part of the heat absorbing part of the heat pipe (7) fixed to the armature coil (6) and the heat radiating part thereof inserted into a refrigerant passage (11), a block-shaped locking member (8) for fixing the heat pipe (7) to a frame (10) is installed between the portion of the heat pipe (7) for fixing the armature coil thereto and the portion thereof inserted into the refrigerant passage (11), and a hollow recessed part (10a) forming the refrigerant passage (11) and allowing die insertion of the heat radiating part of the heat pipe (7) therein and a locking step part (10c) allowing the locking of the frame (10) to the locking member (8) installed on the heat pipe are provided in the frame (10), whereby the heat of the armature coil can be efficiently transferred to the frame, and the thrust of a rotor can be prevented from lowering according to a rise of temperature of the armature coil.
摘要翻译：一种小而高刚性的线性电动机（1），其中平板状热管（7）设置在形成电枢线圈（6）的电枢线圈（6）的沿着电枢（5）的纵向方向的多个线圈列之间，其中一部分热量固定到电枢线圈（6）的热管（7）的吸收部分和插入制冷剂通道（11）中的散热部分，用于将热管（7）固定的块状锁定构件（8）在用于固定电枢线圈的热管（7）的部分和插入制冷剂通路（11）的部分之间安装框架（10），以及形成制冷剂通道的中空凹部（10a） 11），并且允许热管（7）的散热部分的插入，以及允许将框架（10）锁定到安装在热管上的锁定构件（8）的锁定步骤部分（10c）设置在框架（10）中，由此电枢线圈的热量可以有效能够根据电枢线圈的温度升高防止转子的推力降低。

5. 发明授权

US06750571B2 Magnetically shielded linear motors, and stage apparatus comprising same 失效
标题翻译：磁屏蔽线性电动机和包括该电动机的平台装置
公开(公告)号：US06750571B2
公开(公告)日：2004-06-15
申请号：US10367379
申请日：2003-02-14
申请人： Ryuichirou Tominaga , Masafumi Tamai , Keiichi Tanaka
发明人： Ryuichirou Tominaga , Masafumi Tamai , Keiichi Tanaka
IPC分类号： H02K4100
CPC分类号： G03F7/70758 , H02K11/01 , H02K41/03
摘要： Stage apparatus are disclosed that provide high-accuracy positioning and movements of a stage platform, while generating reduced stray magnetic-field fluctuations and perturbations. The stage apparatus include at least one linear motor having a stator and a moving coil. Each stator includes a yoke that includes linear arrays of permanent magnets relative to which the moving coil, attached to the stage platform, moves inside a linearly extended coil gap in the yoke. A magnetic-shield plate extends around all outer surfaces and edges of the yoke as well adjacent the coil gap. The magnetic-shield plate is made of a magnetic material having high magnetic permeability.
摘要翻译：公开了提供舞台平台的高精度定位和移动的舞台装置，同时产生减少的杂散磁场波动和扰动。舞台装置包括具有定子和动圈的至少一个线性电动机。每个定子包括一个磁轭，该磁轭包括永磁体的线性阵列，相对于该永磁体，附接到平台的运动线圈在轭的线性延伸的线圈间隙内移动。磁屏蔽板围绕磁轭的所有外表面和边缘延伸，并且邻近线圈间隙。磁屏蔽板由具有高磁导率的磁性材料制成。

6. 发明授权

US06701803B1 Reduction gears-integrated actuator 有权
标题翻译：减速齿轮 - 集成执行器
公开(公告)号：US06701803B1
公开(公告)日：2004-03-09
申请号：US10089062
申请日：2002-04-05
申请人： Masafumi Tamai , Yasuhiro Miyamoto , Mayumi Umetsu
发明人： Masafumi Tamai , Yasuhiro Miyamoto , Mayumi Umetsu
IPC分类号： F16H3700
CPC分类号： F16H49/001 , H02K7/116 , Y10T74/19
摘要： A reduction gears-integrated actuator provided with harmonic reduction gears 14, a motor 7 and a rotation position detector 26, wherein a rotor 11 comprises a cup-shaped rotary yolk 12, a permanent magnet 13 is fixed to the outer periphery of the rotary yolk 12, a circular spline 15 is formed in a silk-hat shape, a flange portion 15a is fixed to one end of an actuator frame 2, and a cylinder portion 15b is disposed opposite to the inner periphery of the rotary yolk 12 via a space, and a cup-shaped housing 18 coupled with an output shaft 5 is disposed between the output shaft 5 and a rotating shaft 6 and on the inner peripheral side of a flexible spline 16, and a preloading elastic member 25 is provided between a rotary shaft 6-supporting bearing 21 and the housing, hence the axial-direction length of the actuator can be reduced, and a driving torque can be increased without compromise in reductions in size and weight, thereby providing a low-cost reduction gears-integrated actuator.
摘要翻译：具有谐波减速齿轮14，马达7和旋转位置检测器26的减速机一体式致动器，其中转子11包括杯状旋转蛋黄12，永磁体13固定在旋转蛋黄的外周如图12所示，圆形花键15形成为丝绸帽状，凸缘部15a固定在致动器框架2的一端，并且筒部15b经由空间设置在旋转蛋黄12的内周侧与输出轴5连结的杯状壳体18配置在输出轴5与旋转轴6之间以及柔性花键16的内周侧，预紧弹性部件25设置在旋转轴 6支承轴承21和壳体，因此可以减小致动器的轴向长度，并且可以在不降低尺寸和重量的情况下提高驱动扭矩，从而提供低成本的减速齿轮集成致动器。

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