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1. 发明授权

US5577902A Robot hand for forging working 失效
标题翻译：机器人手锻造工作
公开(公告)号：US5577902A
公开(公告)日：1996-11-26
申请号：US243324
申请日：1994-05-16
申请人： Yoshinori Todo , Masami Sakamoto , Noriaki Ushijima , Akira Sonoda , Yukio Miura , Kyousuke Araki , Kenichi Yoshida
发明人： Yoshinori Todo , Masami Sakamoto , Noriaki Ushijima , Akira Sonoda , Yukio Miura , Kyousuke Araki , Kenichi Yoshida
IPC分类号： B21J13/08 , B25J9/10 , B25J17/02 , G25J17/02
CPC分类号： B21J13/08 , B25J17/0208 , B25J9/1015
摘要： A robot hand for gripping workpieces to be forged which are subjected to impact loads is provided. The robot hand 2 includes a grip 3 for gripping a workpiece to be forged and a grip support 2a for supporting the grip 3. A grip guide 12 for supporting the grip 3 so that it is movable in a plane perpendicular to the longitudinal axis of the grip support and slidable in forward and rearward directions and a spherical seat 5 for bearing the grip guide 12 so that it can be inclined are provided within a casing 4 of the grip support 2a. The casing 3 of the grip support 2a is provided with various actuators 9, 10, 11, 7 for changing the supporting state between a state in which the grip 3 can be moved and inclined and a state in which the grip 3 can not be moved and inclined. The grip 3 is brought into the movable and inclinable state for absorbing an impact when the impact load is applied to the gripped workpiece to be forged.
摘要翻译：提供一种用于夹持被锻造的受冲击载荷的工件的机器人手。机器人手2包括用于夹持要锻造的工件的把手3和用于支撑把手3的把手支撑件2a。一种用于支撑把手3的把手3，使得其能够在垂直于纵向轴线的平面中移动夹持支撑件可沿前后方向滑动，并且用于支承把手导向件12的球形座5可以被倾斜设置在把手支撑件2a的壳体4内。把手支撑件2a的壳体3设有各种致动器9,10,11,7，用于改变把手3能够移动和倾斜的状态与手柄3不能移动的状态之间的支撑状态和倾斜。当将冲击载荷施加到待锻造的被锻造工件上时，把手3被带入可移动和可倾斜的状态，用于吸收冲击。

2. 发明授权

US5498121A Robot which is capable of receiving impact load 失效
标题翻译：能够承受冲击载荷的机器人
公开(公告)号：US5498121A
公开(公告)日：1996-03-12
申请号：US243320
申请日：1994-05-16
申请人： Yoshinori Todo , Masami Sakamoto , Noriaki Ushijima , Akira Sonoda , Yukio Miura , Kyousuke Araki
发明人： Yoshinori Todo , Masami Sakamoto , Noriaki Ushijima , Akira Sonoda , Yukio Miura , Kyousuke Araki
IPC分类号： B21J13/08 , B25J9/10 , B25J19/00 , B66C23/72
CPC分类号： B25J19/0091 , B21J13/08 , B25J9/1065 , Y10S414/13 , Y10T74/20335
摘要： When an impact load is applied to a workpiece which is held by the robot, the impact force can be absorbed. The robot includes a grip 3 for holding a workpiece to which an impact load is applied and a buffer mechanism disposed between the grip 3 and a robot arm 2. The buffer mechanism 4 includes two parallel link mechanisms 5, 6 for enabling the grip 3 to be moved in various directions and hydraulic actuator mechanisms 7, 8 for relaxing the actuation of the parallel link mechanisms 5, 6. When an impact force is applied to the grip 3, two parallel link mechanisms 5, 6 are actuated so that the grip 3 is slightly displaced while the hydraulic actuator mechanisms 5, 6 relax the actuation of the parallel link mechanisms 7, 8. Therefore, the impact force which is applied to the grip 3 can be absorbed. Additionally, after the impact force is applied to the grip 3, the buffer mechanism 4 can immediately be returned automatically to the initial position.
摘要翻译：当对由机器人保持的工件施加冲击载荷时，可以吸收冲击力。机器人包括用于保持施加冲击载荷的工件的手柄3和设置在把手3和机器人臂2之间的缓冲机构。缓冲机构4包括两个平行的连杆机构5,6，在各个方向上移动和用于放松平行连杆机构5,6的致动的液压致动器机构7,8。当冲击力施加到把手3时，两个平行的连杆机构5,6被致动，使得把手3 在液压致动器机构5,6放松平行连杆机构7,8的致动时略微移动。因此，可以吸收施加到把手3的冲击力。此外，在将冲击力施加到把手3之后，缓冲机构4可以立即自动返回到初始位置。

3. 发明授权

US4466947A Denitration catalyst and denitrating method 失效
标题翻译：脱硝催化剂和脱硝方法
公开(公告)号：US4466947A
公开(公告)日：1984-08-21
申请号：US456398
申请日：1983-01-07
申请人： Makoto Imanari , Bunzi Oshida , Yusaku Arima , Hirokazu Tanaka , Yoshinori Todo , Norihisa Kobayashi , Toshikuni Sera
发明人： Makoto Imanari , Bunzi Oshida , Yusaku Arima , Hirokazu Tanaka , Yoshinori Todo , Norihisa Kobayashi , Toshikuni Sera
IPC分类号： B01D53/94 , B01J23/22 , B01J23/30 , B01J27/053 , B01J8/00 , C01B21/00
CPC分类号： B01J23/22 , B01D53/9418 , B01D2251/2062 , B01D2255/2047 , B01D2255/20707 , B01D2255/20723 , B01D2255/20776
摘要： A denitration catalyst comprising at least three metal components, (A) titanium, (B) tungsten and/or magnesium, and (C) vanadium, the titanium and tungsten being contained as oxides and the magnesium and vanadium being contained in the form of an oxide or a sulfate or both, said catalyst being composed of a porous molded article of a mixture of an oxide of component A and an oxide and/or a sulfate of component B, the atomic ratio of component B to component A being from 0.01 to 1, and a vanadium compound localized in that area of said molded article which extends from its outermost surface to a depth of 500 microns or less, the content of the vanadium compound in said area being 0.1 to 15% by weight; and a method for removing nitrogen oxides from a waste gas, which comprises contacting a waste gas containing nitrogen oxides, together with ammonia and molecular oxygen, at a temperature of 150.degree. to 650.degree. C., with the aforesaid catalyst.
摘要翻译：包含至少三种金属组分（A）钛，（B）钨和/或镁和（C）钒）的脱硝催化剂，所述钛和钨作为氧化物包含，并且所述镁和钒以氧化物或硫酸盐或两者，所述催化剂由组分A的氧化物和组分B的氧化物和/或硫酸盐的混合物的多孔模制品组成，组分B与组分A的原子比为0.01至 1和位于所述模制品的该区域的钒化合物，其从最外表面延伸至500微米或更小的深度，所述区域中的钒化合物的含量为0.1至15重量％; 以及从废气中除去氮氧化物的方法，该方法包括在150℃至650℃的温度下将含有氮氧化物的废气与氨和分子氧与上述催化剂接触。

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