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1. 发明专利

JP2009068531A Actuator having elastic contraction body, gripping mechanism having the actuator and robot hand having the gripping mechanism 有权
标题翻译：具有弹性承包体的执行机构，具有执行器和机器人的搬运机构具有运送机构
公开(公告)号：JP2009068531A
公开(公告)日：2009-04-02
申请号：JP2007234906
申请日：2007-09-11
申请人： Ashimori Ind Co Ltd , Shin Meiwa Ind Co Ltd , 新明和工業株式会社 , 芦森工業株式会社
发明人： SUZUMORI KOICHI , MORI MAYUKO , TAKAHASHI MASAYUKI , HOSOYA TAKASHI , TAKEMATSU AIMI , KUSUMOTO KOJI
IPC分类号： F15B15/10 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To achieve a high output of an actuator having an elastic contraction body.
SOLUTION: This actuator 50 has the elastic contraction body 4 having a cylindrical tube 11 for sealing fluid inside, a blocking-up member 30 for blocking the upper end side of the tube 11, a blocking member 40 for blocking the lower end side of the tube 11 and a braided member 12 formed by knitting a plurality of thread-shaped bodies in a grating shape, covering the outer periphery of the tube 11 and contracting in the axial direction when extending in the width direction of the tube 11, and a pressure adjusting device 20 for adjusting the pressure of the fluid in of the tube 11. The braided member 12 is formed so as to satisfy (8n×T×N×σ×d)/(D×π)≥2.4×10
8 /π, where an outer diameter of the tube 11 is D, the braiding number of the braided member 12 is 8n, the superposing number of the braided member 12 is N, the decitex number of the thread-like body 13 is T, the tensile strength of the thread-shaped body 13 is σ and a diameter of the thread-shaped body 13 is (d).
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：实现具有弹性收缩体的致动器的高输出。解决方案：该致动器50具有弹性收缩体4，弹性收缩体4具有用于密封流体内部的圆筒形管11，用于阻塞管11的上端侧的阻塞构件30，用于阻挡下端的阻塞构件40 管11的一侧，编织构件12通过编织光栅形状的多个线状体而形成，覆盖管11的外周并沿着管11的宽度方向延伸而沿轴向收缩，以及用于调节管11中的流体压力的压力调节装置20.编织构件12形成为满足（8n×T×N×σ×d）/（D×π）≥2.4×10 8 /π，其中管11的外径为D，编织构件12的编织编号为8n，编织构件12的叠加数为N，螺纹的分形数线状体13为T，线状体13的拉伸强度为σ，线状体13的直径为（d）。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JP2009214242A Manipulator 审中-公开
标题翻译：操纵器
公开(公告)号：JP2009214242A
公开(公告)日：2009-09-24
申请号：JP2008061411
申请日：2008-03-11
申请人： Shin Meiwa Ind Co Ltd , 新明和工業株式会社
发明人： TAKEMATSU AIMI , KUNITAKE TAKASHI , TAKAHASHI MASAYUKI , YAMAOKA YOSHIHIRO
IPC分类号： B25J3/00
摘要： PROBLEM TO BE SOLVED: To suppress unintentional operation force from being input to an operation handle for operating an arm at operation of an operation lever for operating a hand in a manipulator provided with the arm and the hand.
SOLUTION: The power assist arm (manipulator) is provided with an operation device installed in a range that an operator can visually recognize action of the hand or in a range that the operator can hear a sound when the hand grasp an object to be grasped. The operation device is provided with the operation handle 13 having a rod-like body 9; a six-axis force sense sensor 10; and the operation lever 15. The operation lever 15 is provided with an upper side pressing plate 97 and a lower side pressing plate 93 and a deflection gauge 16 stuck on a connection plate 96. A downwardly extending first support rod 91 and a downwardly extending second support rod 92 are provided on the rod-like body 9. The operation lever 15 and the operation handle 13 are fixed to a fixed plate 95.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了在设置有手臂和手的操纵器中操作手的操作杆的操作时抑制无意的操作力被输入到用于操作手臂的操作手柄。解决方案：动力辅助臂（操纵器）设置有操作装置，该操作装置安装在操作者可视觉地识别手的动作的范围内，或者在手抓住物体的操作者可以听到声音的范围内被抓住操作装置设置有具有杆状体9的操作手柄13; 六轴力检测传感器10; 和操作杆15.操作杆15设置有粘贴在连接板96上的上侧按压板97和下侧按压板93以及偏转量规16.向下延伸的第一支撑杆91和向下延伸的第二支撑杆92设置在杆状体9上。操作杆15和操作手柄13固定在固定板95上。版权所有（C）2009，JPO＆INPIT

3. 发明专利

JP2010162621A Operation evaluating device of manipulator and power assist device including the same 审中-公开
标题翻译：操作评估装置的操纵装置及其辅助装置
公开(公告)号：JP2010162621A
公开(公告)日：2010-07-29
申请号：JP2009004885
申请日：2009-01-13
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： TAKEMATSU AIMI , TAKAHASHI MASAYUKI , YAMAOKA YOSHIHIRO , KATO ATSUSHI
IPC分类号： B25J3/00
摘要： PROBLEM TO BE SOLVED: To provide an operation evaluating device capable of objectively evaluating operability of a manipulator and a power assist device including the operation evaluating device.
SOLUTION: This manipulator includes operation parts 1 and 2 operated by an operator and a motion part 11 performing a plurality of motions based on operation inputs of the operation parts 1 and 2. In the manipulator, this operation evaluating device evaluates operability of the manipulator by the operation parts 1 and 2. The operation evaluating device includes an evaluation means for evaluating the operability of the manipulator by making operation times of the operation parts 1 and 2 required to make the motion part 11 perform a motion to reach from a reference position to a target position and a difference between the position that the motion part 11 reaches and the target position, and operation input amount added when operation inputs are added to the operation inputs of the operation parts 1 and 2 to make the motion part 11 perform other motions, as evaluating elements.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够客观地评价机械手的操作性的操作评估装置和包括操作评估装置的动力辅助装置。解决方案：该操纵器包括由操作者操作的操作部分1和2以及基于操作部分1和2的操作输入执行多个运动的运动部件11.在操作器中，该操作评估装置评估由操作部件1和操作部件2操纵的操作器。操作评估装置包括：评估装置，用于通过使运动部件11进行运动所需的操作部分1和2的操作时间来评估操纵器的可操作性到目标位置的基准位置和运动部分11到达的位置与目标位置之间的差异以及当操作输入被添加到操作部分1和2的操作输入时添加的操作输入量，以使运动部分11 执行其他动议，作为评估要素。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2010078031A Actuator 有权
标题翻译：执行器
公开(公告)号：JP2010078031A
公开(公告)日：2010-04-08
申请号：JP2008245761
申请日：2008-09-25
申请人： Shinmaywa Industries Ltd , 新明和工業株式会社
发明人： SUZUMORI KOICHI , MORI MAYUKO , TAKAHASHI MASAYUKI , HOSOYA TAKASHI , TAKEMATSU AIMI
IPC分类号： F15B15/10 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide an actuator capable of sufficiently coping with a large output.
SOLUTION: The actuator includes an elastic contraction body 1 having a cylindrical elastic body 2 for supplying and discharging a working fluid and a net-like body 3 fitted around the elastic body, an end member 4 having one end inserted into both ends of the elastic contraction body 1, a protective member 9 fixed to the one-end side of the end member 4 via the elastic contraction body 1 for regulating swelling in the diametrical outside direction of the elastic contraction body 1, and a regulating means for regulating so that the protective member 9 does not move to the other end side of the end member 4.
COPYRIGHT: (C)2010,JPO&INPIT

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