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    • 2. 发明申请
    • SLIDING DOOR STRUCTURE FOR AUTOMOBILE
    • 汽车滑动门结构
    • US20080100091A1
    • 2008-05-01
    • US11927034
    • 2007-10-29
    • Shinichi KunishimaMasaya EndoMasato YamamotoYukiko Jinishi
    • Shinichi KunishimaMasaya EndoMasato YamamotoYukiko Jinishi
    • B60J5/06
    • B60J5/06E05D15/101E05D15/1047E05D15/1081E05Y2900/531Y10T292/1041
    • A sliding door structure of a vehicle is provided for sliding a door body with respect to an opening portion of a vehicle body in forward and rearward directions of the vehicle body for opening and closing. The sliding door structure includes a rail disposed on the door body and aligned with the forward and rearward directions of the vehicle body. An arm protrudes from an edge portion on a door opening direction side of the opening portion of the vehicle body, and is configured to engage with the rail to hold the door body movably in the forward and rearward directions. The arm includes an arm side engagement portion configured to engage with a vehicle body side engagement portion disposed proximate to the edge portion of the door opening direction side of the opening portion of the vehicle body. The arm connects between the edge portion on the door opening direction side of the opening portion of the vehicle body and the rail and is configured to rise and fall in a width direction of the vehicle and is configured to push the door body outward beyond an outside plate of the vehicle body at a beginning of the opening of the door body. The door body is able to slide in the door opening direction after engagement between the vehicle body side engagement portion and the arm side engagement portion when the arm pushes the door body outwardly in the width direction of the vehicle.
    • 车辆的滑动门结构被设置成用于相对于车身的开口部分在车体的前后方向上滑动门体以进行打开和关闭。 滑动门结构包括设置在门体上并与车体的前后方向对齐的轨道。 臂从车身开口部的门开放方向侧的边缘部突出,并且被配置为与轨道接合以沿前后方向可移动地保持门体。 臂包括臂侧接合部,其构造成与车身侧接合部接合,车身侧接合部设置在车身开口部的门开放方向侧的边缘部附近。 臂连接在车身开口部的门开放方向侧的边缘部分和轨道之间,并且构造成在车辆的宽度方向上升和下降,并且构造成将门体向外推动超出外部 在门体开口开始时车体的板。 当手臂沿着车辆的宽度方向向外推动门体时,门体能够在车体侧接合部分和臂侧接合部分接合之后沿门打开方向滑动。
    • 4. 发明申请
    • MULTIPLE-JOINT INDUSTRIAL ROBOT
    • 多联合工业机器人
    • US20140102240A1
    • 2014-04-17
    • US14117579
    • 2012-04-02
    • Takahiro InadaShinji KitamuraMasato Yamamoto
    • Takahiro InadaShinji KitamuraMasato Yamamoto
    • B25J17/02
    • B25J17/0283B25J19/0029Y10S901/29Y10T74/20311
    • A wrist portion of a robot includes: a first movable portion configured to rotate relative to an arm portion around a first wrist axis; a second movable portion configured to rotate relative to the first movable portion around a second wrist axis; a third movable portion configured to rotate relative to the second movable portion around a third wrist axis; and a cable insertion portion through which an effector cable is inserted, the effector cable being used to supply electric power to an end effector attached to the third movable portion. The cable insertion portion is provided at the first movable portion so as to be located on the first wrist axis. Two motors among a plurality of motors configured to drive the wrist portion are attached to the first movable portion so as to sandwich the cable insertion portion in a direction perpendicular to the first wrist axis.
    • 机器人的手腕部包括:第一可动部,其构造成相对于围绕第一腕轴的臂部旋转; 第二可移动部分,其构造成围绕第二手腕轴线相对于第一可移动部分旋转; 第三可移动部分,其构造成围绕第三手腕轴线相对于第二可动部分旋转; 以及电缆插入部分,通过所述电缆插入部分插入效应器电缆,所述效应器电缆用于向连接到所述第三可移动部分的末端执行器提供电力。 电缆插入部设置在第一可动部上,以位于第一腕轴上。 配置成驱动腕部的多个电动机中的两个电动机被安装在第一可动部上,以便将电缆插入部分沿垂直于第一腕轴的方向夹持。
    • 5. 发明授权
    • Electric power steering apparatus
    • 电动助力转向装置
    • US07341125B2
    • 2008-03-11
    • US11180731
    • 2005-07-14
    • Masato Yamamoto
    • Masato Yamamoto
    • B62D5/04
    • B62D5/0484
    • The invention provides an electric power steering apparatus which can improve a steering feeling. In the electric power steering apparatus, in the case that once the electric abnormality is generated in the hardware such as the motor, the torque sensor or the like and an output of the assist force by the motor is reduced, however, the electric abnormality is thereafter dissolved due to some kind or another reason, the output of the assist force by the motor is increased immediately to an intermediate target value (within a broken line α). Accordingly, it is possible to prevent such a steering feeling as the steering wheel becomes suddenly heavy. Further, since the output of the assist force is gradually increased to a reset target value (within a broken line β) after the output of the assist force by the motor is increased to the intermediate target value, it is possible to prevent such a steering feeling as the steering wheel becomes suddenly light on the basis of the thereafter increase of the assist force even if the steering wheel becomes heavy to some extent. Accordingly, it is possible to smoothly change to the assist at a normal time from the assist at an abnormal time while preventing the steering ineffective feeling, and it is possible to improve the steering feeling.
    • 本发明提供一种能够提高转向感的电动助力转向装置。 在电动助力转向装置中,在电动机,扭矩传感器等的硬件中产生电动异常和电动机的辅助力的输出一旦减少的情况下,电气异常是 此后由于某种或其他原因而溶解,马达的辅助力的输出立即增加到中间目标值(在虚线α内)。 因此,可以防止方向盘突然变重的转向感觉。 此外,由于在马达的辅助力的输出增加到中间目标值之后,辅助力的输出逐渐增加到复位目标值(在虚线β内),所以可以防止这种转向 即使方向盘在一定程度上变重的情况下,随着辅助力的增加也随着方向盘突然变亮。 因此,能够在防止转向无效感的同时在异常时的辅助下正常地顺利地变更为助力,能够提高转向感。