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1. 发明授权

EP2988003B1 PISTON OF AXIAL PISTON PUMP MOTOR, CYLINDER BLOCK FOR AXIAL PISTON PUMP MOTOR, AND AXIAL PISTON PUMP MOTOR 有权
标题翻译：轴向柱塞泵马达活塞，轴向柱塞泵马达缸体和轴向柱塞泵马达
公开(公告)号：EP2988003B1
公开(公告)日：2018-05-09
申请号：EP14785582.9
申请日：2014-02-20
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YOSHIMURA, Isamu , NOMURA, Ryo , WADA, Hisao , SAKAI, Ryuji
IPC分类号： F04B1/12 , F04B1/22 , F04B53/14 , F01B3/00 , F03C1/28
CPC分类号： F16J1/09 , F01B3/007 , F03C1/0605 , F04B1/124 , F04B1/22 , F04B27/0878 , F04B39/122 , F04B53/14
摘要： An end part of a piston (5) on a front edge side is formed so as to have a crowning of a 1.2-order to 2.5-order curve where a length is 10% or more and 80% or less of a length of a cylindrical part (20) and a height is 10% or more and 160% or less of a clearance. An end part of the piston (5) on a rear edge side is formed so as to have a crowning of a 1.2-order to 2.5-order curve where a length is 10% or more and 60% or less of the length of the cylindrical part (20) and a height is 10% or more and 160% or less of the clearance. An end part of a cylinder block (3) on a front edge side is formed so as to have a crowning of a 1.2-order to 2.5-order curve where a length is 8% or more and 60% or less of the length of a cylindrical part (20) and a height is 12% or more and 125% or less of the clearance.

2. 发明公开

EP3647761A1 SYSTEM FOR SPECIFYING CAUSE OF ABNORMALITY IN DEVICE HAVING ROTATING MEMBER 审中-公开
公开(公告)号：EP3647761A1
公开(公告)日：2020-05-06
申请号：EP18825520.2
申请日：2018-05-17
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： SATO, Eiji , WADA, Hisao
IPC分类号： G01M99/00 , G01D5/244 , G01H17/00
摘要： An abnormality cause identifying system 10 for a device including a rotating member includes: acceleration sensors 22a and 22b, a pickup sensor 24, and a temperature sensor 26, which observe a state of a rotating member R and acquire a measurement data piece; a measurement data piece converting portion 30 configured to convert the measurement data piece into two or more new-format conversion data pieces that are different from each other; and an abnormality cause identifying portion 40 configured to identify an abnormality cause of the device by analyzing the conversion data pieces created by the measurement data piece converting portion 30.

3. 发明公开

EP4241931A1 HAND AND CONTROL METHOD OF HAND 审中-实审
公开(公告)号：EP4241931A1
公开(公告)日：2023-09-13
申请号：EP21888964.0
申请日：2021-10-05
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： MURASE, Yohei , MATSUURA, Takeshi , ORYU, Tamami , WADA, Hisao , FUKUDA, Hiroaki
IPC分类号： B25J15/00 , B25J15/08
摘要： A hand 100 includes a first gripper 2 and a second gripper 5. The second gripper 5 grips a workpiece located on a predetermined axis E. The first gripper 2 includes two first fingers 21 that are opened and closed in a predetermined opening/closing direction. Each of the first fingers 21 includes a first part 22 including a distal end and a second part 23 including a proximal end, and is bent or curved such that the first part 222 moves between an interference position M1 at which an imaginary region X defined by projecting the first part 22 in the opening/closing direction A interferes with the axis E and a non-interference position M2 at which the imaginary region X does not interfere with the axis E.

4. 发明公开

EP4238706A1 ROBOT HAND 审中-实审
公开(公告)号：EP4238706A1
公开(公告)日：2023-09-06
申请号：EP21885838.9
申请日：2021-10-05
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： ORYU, Tamami , WADA, Hisao , MURASE, Yohei , FUKUDA, Hiroaki
IPC分类号： B25J3/00 , B25J15/08
摘要： A robot hand 100 includes a first finger 2, a second finger 3, and a first moving mechanism 5 that brings the first and second fingers 2 and 3 close to each other in a predetermined moving direction so that the first and second fingers 2 and 3 grip a workpiece. The first moving mechanism 5 includes a first movable pulley 53, a first wire 56 that has two ends, one of which is connected to the first finger 2 and the other is connected to the second finger 3, and is wrapped around the first movable pulley 53, and a first air cylinder 57 that moves the first movable pulley 53. The first air cylinder 57 moves the first movable pulley 53 so that a tension of the first wire 56 acts on the first and second fingers 2 and 3 to bring the first and second fingers 2 and 3 close to each other.

5. 发明公开

EP2650538A1 SKEW PLATE-TYPE HYDRAULIC ROTARY MACHINE 审中-公开
标题翻译： HYDRAULISCHESCHRÄGPLATTEN-ROTATIONSMASCHINE
公开(公告)号：EP2650538A1
公开(公告)日：2013-10-16
申请号：EP10860466.1
申请日：2010-12-07
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： OHNO, Takeshi , SUZUKI, Takahisa , WADA, Hisao , OHNO, Mariko
IPC分类号： F04B1/22 , F03C1/22
CPC分类号： F01B3/108 , F03C1/0639 , F04B1/126 , F04B1/2078 , F04B1/2085 , F04B1/22 , F04B27/0882 , F04B27/0886
摘要： A swash plate type hydraulic rotating machine (10) includes: a rotating shaft (3); a valve plate (4); a swash plate (15); a cylinder block (9) fitted to the outside of the rotating shaft (3), such that the cylinder block (9) is slidingly in contact with the valve plate (4); cylinders (11) provided in the cylinder block (9); pistons (13) inserted in the respective cylinders (11), such that the pistons (13) are movable in an axial direction (L) in a reciprocating manner; shoes (14) each fitted to the distal end of a respective one of the pistons (13); an annular keep plate (17) provided between the swash plate (15) and the cylinder block (9), the keep plate (17) supporting the shoes (14); a plain bearing (80) inserted within the inner periphery of the keep plate (17), the plain bearing (80) supporting the keep plate (17) in a manner to push the keep plate (17) toward the swash plate (15) side; and set springs (20) biasing the plain bearing (80) and the cylinder block (9) toward the opposite sides in the axial direction L. The swash plate type hydraulic rotating machine (10) is configured such that, when in an assembled state, a gap in the axial direction (L) between the cylinder block (9) and the plain bearing (80) is 0 or a fine gap.
摘要翻译：旋转斜盘式液压旋转机（10）包括：旋转轴（3）; 阀板（4）; 斜盘（15）; 安装在所述旋转轴（3）的外侧的气缸体（9），使得所述气缸体（9）与所述阀板（4）滑动接触; 设置在气缸体（9）中的气缸（11）活塞（13）插入到各个气缸（11）中，使得活塞（13）能够以往复方式沿轴向方向（L）移动; 每个活塞（13）的前端各自配置的鞋（14）; 设置在旋转斜盘（15）和气缸体（9）之间的环形保持板（17），保持板（17）支撑鞋（14）; 插入保持板（17）的内周内的滑动轴承（80），以保持板（17）朝向斜盘（15）的方式支撑保持板（17）的滑动轴承（80）侧; 以及将滑动轴承（80）和气缸体（9）朝向轴向方向L的相对侧设定的弹簧（20）。斜盘式液压旋转机械（10）构成为，在组装状态气缸体（9）和滑动轴承（80）之间的轴向（L）的间隙为0或微细间隙。

6. 发明公开

EP4241933A1 HAND, ROBOT, ROBOT SYSTEM, AND CONTROL METHOD FOR HAND 审中-实审
公开(公告)号：EP4241933A1
公开(公告)日：2023-09-13
申请号：EP21888962.4
申请日：2021-10-05
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： MURASE, Yohei , MATSUURA, Takeshi , ORYU, Tamami , WADA, Hisao , FUKUDA, Hiroaki
IPC分类号： B25J15/08
摘要： A hand 100 includes: a base 1; two first fingers 21 extending from the base 1 and bendable; an opening/closing actuator 3 that is disposed in the base 1 and moves the two first fingers 21 in a predetermined opening/closing direction A so that the two first fingers 21 grip a workpiece; and a bending actuator 3 that is disposed in the base 1 and causes the two first fingers 21 to bend. Each of the first fingers 21 includes a second part 23 extending from the base 1 and a first part 22 coupled to the second part 23 to be rotatable about a rotation axis B parallel to the opening/closing direction A. The first part 22 is bendable with respect to the second part 23. The first part 22 includes a damper 25 that causes the first part 22 to elasticity extend and contract in an extension direction C2 of the first part 22.

7. 发明授权

EP2581630B1 FILL PLUG FOR HYDRAULIC DEVICE 有权
标题翻译：液压装置填充塞
公开(公告)号：EP2581630B1
公开(公告)日：2017-10-25
申请号：EP11792116.3
申请日：2011-06-01
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： SAKAI, Ryuji , WADA, Hisao , IMAI, Tatsuya
IPC分类号： F16J13/12 , F16B35/00 , F16B33/00 , F16J15/04 , F16L55/11
CPC分类号： F16J13/12 , F16B33/004 , F16B35/00 , F16J15/04 , F16L55/1108

8. 发明公开

EP4241934A1 HAND, ROBOT SYSTEM, AND CONTROL METHOD OF HAND 审中-实审
公开(公告)号：EP4241934A1
公开(公告)日：2023-09-13
申请号：EP21888963.2
申请日：2021-10-05
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： MURASE, Yohei , MATSUURA, Takeshi , ORYU, Tamami , WADA, Hisao , FUKUDA, Hiroaki
IPC分类号： B25J17/02
摘要： A second hand H2 that couples a first workpiece to a second workpiece, where the first and second workpieces are to be coupled to each other by insertion coupling, includes: a second gripper 5 that grips the first workpiece; a straight-moving actuator 6 that moves the second gripper 5 straight in the direction of a predetermined axis E; and a rotation actuator 7 that rotates the second gripper 5 about the axis E. The second gripper 5 includes three second fingers 51 that grip the first workpiece, and a linkage 52 that opens and closes the three second fingers 51.

9. 发明公开

EP2988003A1 PISTON FOR AXIAL PISTON PUMP MOTOR, CYLINDER BLOCK FOR AXIAL PISTON PUMP MOTOR, AND AXIAL PISTON PUMP MOTOR 有权
标题翻译：用于轴向柱塞泵马达的活塞，用于轴向柱塞泵马达的缸柱塞和轴向柱塞泵马达
公开(公告)号：EP2988003A1
公开(公告)日：2016-02-24
申请号：EP14785582.9
申请日：2014-02-20
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YOSHIMURA, Isamu , NOMURA, Ryo , WADA, Hisao , SAKAI, Ryuji
IPC分类号： F04B1/22 , F03C1/253 , F04B53/14 , F04B53/16
CPC分类号： F16J1/09 , F01B3/007 , F03C1/0605 , F04B1/124 , F04B1/22 , F04B27/0878 , F04B39/122 , F04B53/14
摘要： An end part of a piston (5) on a front edge side is formed so as to have a crowning of a 1.2-order to 2.5-order curve where a length is 10% or more and 80% or less of a length of a cylindrical part (20) and a height is 10% or more and 160% or less of a clearance. An end part of the piston (5) on a rear edge side is formed so as to have a crowning of a 1.2-order to 2.5-order curve where a length is 10% or more and 60% or less of the length of the cylindrical part (20) and a height is 10% or more and 160% or less of the clearance. An end part of a cylinder block (3) on a front edge side is formed so as to have a crowning of a 1.2-order to 2.5-order curve where a length is 8% or more and 60% or less of the length of a cylindrical part (20) and a height is 12% or more and 125% or less of the clearance.
摘要翻译：活塞（5）的前端侧的端部形成为长度为长度的10％以上且80％以下的1.2阶〜2.5阶曲线的隆起圆筒部20的高度为间隙的10％以上且160％以下。活塞（5）的后端侧的端部形成为长度为长度的10％以上且60％以下的1.2阶〜2.5阶曲线的隆起圆筒部20的高度为该间隙的10％以上且160％以下。前缘侧的缸体（3）的端部形成为长度为长度的8％以上且60％以下的1.2阶〜2.5阶曲线的隆起圆柱形部分（20）和高度为间隙的12％或更大和125％或更小。

10. 发明公开

EP2581630A1 FILL PLUG FOR HYDRAULIC DEVICE 有权
标题翻译：嘴液压装置
公开(公告)号：EP2581630A1
公开(公告)日：2013-04-17
申请号：EP11792116.3
申请日：2011-06-01
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： SAKAI, Ryuji , WADA, Hisao , IMAI, Tatsuya
IPC分类号： F16J13/12 , F16B35/00
CPC分类号： F16J13/12 , F16B33/004 , F16B35/00 , F16J15/04 , F16L55/1108
摘要： High-performance sealing of a through hole in which pressure is high can be realized by tightening a filler plug with respect to an internal thread portion formed in an oil passage of a hydraulic device at a high tightening torque. In addition, the hydraulic device can be reduced in size and cost by realizing a small height of a head portion of the filler plug.
The filler plug is configured such that: a head portion (16) is formed on an upper end portion of an external thread portion (15); a sealing portion (18) formed at the head portion (16) can be caused to strongly contact a funnel-shaped inclined inner peripheral surface (19) formed at one end of an internal thread portion (14) formed in an oil passage (13) of the hydraulic device (12) by tightening the external thread portion (15) with respect to the internal thread portion (14); an upper peripheral surface portion of the sealing portion (18) is formed as a tapered portion (22); a circular constricted portion (21) is formed between the sealing portion (18) and the upper end portion of the external thread portion (15); and a dimensionless value of a head portion height H1 from an upper end surface of the head portion (16) to the sealing portion (18), that is, a dimensionless value obtained by dividing the head portion height H1 by a nominal designation value of the external thread portion (15) ranges from 0.4 to 0.7.

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