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31. 发明专利

JPH01164575A METHOD OF CONTROLLING BILATERAL MANIPULATOR 失效
公开(公告)号：JPH01164575A
公开(公告)日：1989-06-28
申请号：JP32297787
申请日：1987-12-22
申请人： TOSHIBA CORP
发明人： IIKURA SHOICHI
IPC分类号： G05D3/12 , B25J3/00
摘要： PURPOSE: To increase bilateral controllability by changing the position of a slave arm in a direction for external force application so as to surely transmit an external force applied to the slave arm to a master arm. CONSTITUTION: An external force applied to a slave arm 11 as indicated by B is detected as torque by a torque sensor 20 provided in a slave side. A detecting signal thereof is multiplied by a torque feedback gain KTS and inputted to a comparator 16, and accordingly a motor 14 is operated as if back drive is seen to be reduced, and the position of the slave arm 11 is changed in B for external force application. Thus, the force of a B' direction is also transmitted easily to a master arm 1.

32. 发明专利

JP2001171600A HOLDING.OPENING BRACKET OF DEVELOPING STRUCTURE 失效
公开(公告)号：JP2001171600A
公开(公告)日：2001-06-26
申请号：JP35425499
申请日：1999-12-14
申请人： NAT SPACE DEV AGENCY , TOSHIBA CORP
发明人： MATSUMOTO KAZUO , IIKURA SHOICHI
IPC分类号： B64G1/22
摘要： PROBLEM TO BE SOLVED: To contribute to a holding and opening action with a safety and a high reliability by a simple constitution. SOLUTION: A mounted portion 20 mounted to a developable developing structure 11 and at least one pair of mounting leg portions 22 mounted to a support structure 10 are bonded and formed through an elastic part 21 in which an elastic force in a mounting shaft direction is a flexible elastic force as compared with that in another direction.

33. 发明专利

JP2001048099A DEVELOPING STRUCTURE 失效
公开(公告)号：JP2001048099A
公开(公告)日：2001-02-20
申请号：JP27683499
申请日：1999-09-29
申请人： TOSHIBA CORP
发明人： IIKURA SHOICHI , JINNO MAKOTO , AKIBA TOSHIKATSU
IPC分类号： B64G1/22 , E04B1/344 , F16S1/00 , H01Q1/08 , H01Q15/20
摘要： PROBLEM TO BE SOLVED: To make panel storing efficiency into high efficiency after panel surface accuracy is made highly accurate. SOLUTION: A first panel 11 is folded and stored by opposing the back face to a mounting surface of a space navigation body 10 via a first hinge mechanism 15. A second panel 12 is folded and stored in space with a mounting surface of the space navigation body 10 in a state of the back face opposed to the back face of the first panel 11 via a second hinge mechanism 16. A third panel 13 is folded and stored by opposing the surface to a surface of the first panel 11 via a third hinge mechanism 17. A fourth panel 14 is folded and stored by opposing the back face to a back face of the third panel 13 via a fourth hinge mechanism 18.

34. 发明专利

JP2000351400A GROUND TEST DEVICE FOR DEVELOPMENT STRUCTURE 失效
公开(公告)号：JP2000351400A
公开(公告)日：2000-12-19
申请号：JP16388399
申请日：1999-06-10
申请人： TOSHIBA CORP
发明人： ONUMA KIYOSHI , IKEDA YUICHI , IIKURA SHOICHI
IPC分类号： B64G7/00
摘要： PROBLEM TO BE SOLVED: To realize easy and highly precise ground test of various development structures. SOLUTION: A first bobbin winder pulley 16 around which a first wire 17 to suspend the joint part 121 of a robot arm 12 is axially movably assembled such that a rotation force is transmitted to a spline shaft 13 and bearing members 14 and 15 to rotatably support a spline shaft 13 disposed movably in a direction orthogonal to an axial direction through guide rails 10 and 11 and a second yarn wining pulley 18 is fitted in one end of the spline shaft 13. A second wire 19 freely wound around a second bobbin winder pulley 18 is led out to the sides on one side of the guide rails 10 and 11, and a first weight 21 is suspended from its tip and the wire is led out to the other sides of the guide rails 10 and 11 based on a bearing member 14. One end of a wire 22 from which a second weight 24 is suspended is situated in an engaged state at its tip part.

35. 发明专利

JP2000351398A UNFOLDING MECHANISM LATCH DEVICE 失效
公开(公告)号：JP2000351398A
公开(公告)日：2000-12-19
申请号：JP16388499
申请日：1999-06-10
申请人： TOSHIBA CORP
发明人： IIKURA SHOICHI , ONUMA KIYOSHI
IPC分类号： B64G1/44 , B64G1/22
摘要： PROBLEM TO BE SOLVED: To strengthen rigidity of an unfolding mechanism by sliding a fitting part of a latch pin of latch mechanisms to one side of shaft parts and rotary parts, bringing the fitting part near to an unfolding position, storing/fitting the fitting part in/to fitting holes, and completing unfolding operation. SOLUTION: Second to fourth joining parts 17, 18, 19 are stored in fitting holes 173, 183, 193 of shaft parts 171, 181, 191 by being brought near to an unfolding position by sliding a guide ball 232 of a fitting part 231 of a latch pin 23 of respective latch mechanisms 21 by rotating the rotary parts 172, 182, 192 in the unfolding direction in a state of causing a dimensional error by thermal deformation or the like in the shaft parts 171, 181, 191, the rotary parts 172, 182, 192, first to third link members and support parts 11, 12. The fitting holes 173, 183, 193 of the shaft parts 171, 181, 191 are fitted to the fitting part 231 of the latch pin 23 to complete unfolding operation.

36. 发明专利

JP2000266026A BOLT FASTENING HOLDING UNFASTENING MECHANISM AND ASSEMBLING JIG DEVICE 失效
公开(公告)号：JP2000266026A
公开(公告)日：2000-09-26
申请号：JP6661499
申请日：1999-03-12
申请人： TOSHIBA CORP
发明人： ISHIKAWA YOSHINOBU , MUNAKATA TADASHI , IIKURA SHOICHI , TODO TAKAHIKO , KUSAMA SATORU , YAMAZAKI TOSHIHARU , TAKAGI HIROKAZU , INUKAI TAKAO
IPC分类号： B23P19/06 , B64G1/22 , F16B5/02 , F16B35/00 , F16B35/06
摘要： PROBLEM TO BE SOLVED: To firmly hold a member to be fastened, and realize the safety holding and unfastening of high reliability by forming the pressure receiving parts on at least a lowermost layer and an uppermost layer of a plurality of fastening layers of the member to be fastened, corresonding to a base. SOLUTION: A bolt fastening holding unfastening mechanism is provided by forming the pressing parts 6a, 8a (not shown in Fig.) of a first bolt part 6 and a nut part 8 of a collecting bolt correspoinding to the pressure receiving parts 2i, 2j formed on a panel 2a of a lowermost layer and a panel 2d of an uppermost layer of a member to be fastened, and the panel 2a of the lowermost layer and the panel 2d of the uppermost layer of the member to be fastened are independently fastened by the collecting bolt. Accordingly the force to be added to a plurality of fastening parts 2e, 2f, 2g, 2h of the member to be fastened can be independently controlled. Further, a separation nut 5 is separated into a plurality of parts, so that the fastening force of all the fastening parts 23, 2f, 2g, 2h of the member to be fastened can be simultaneously unfastened when a base 3 and the fastening bolt are unscrewed, whereby the holding and unfastening operation of high accuracy can be realized without increasing the fastening places on the member to be fastened.

37. 发明专利

JP2000233800A HOLDING OPENING DEVICE FOR SPACE STRUCTURE 失效
公开(公告)号：JP2000233800A
公开(公告)日：2000-08-29
申请号：JP3422499
申请日：1999-02-12
申请人： TOSHIBA CORP
发明人： TODO TAKAHIKO , IIKURA SHOICHI
IPC分类号： B64G1/44
摘要： PROBLEM TO BE SOLVED: To provide a highly reliable and highly accurate holding/ opening operation by positioning/holding a freely unfolding space structure in/by a support structure, and winding a copper plate for releasing a hold of the space structure in a spiral shape round a spring member by moving/energizing the space structure to an opening position from a holding position by interlocking with release operation for releasing fastening. SOLUTION: A space structure 11 is positioned at a prescribed interval by a spacer member 12 by arranging the spacer member 12 in an unfolding part 111. An inserting hole 121 is arranged in the spacer member 12, and a fastening bolt 13 is loosely inserted into the inserting hole 121. A separating nut 14 is threadedly engaged with the fastening bolt 13 to be housed in a nut holding bracket 15 arranged in a space navigation body 10 to be separated from the fastening bolt 13. A spring member 17 is locked and installed between a spring locking installing part 131 of the fastening bolt 13 and a spring locking installing part 161 of a catcher member 16. The spring member 17 is formed in a bamboo shoot shape by winding a copper plate in a spiral shape, and is housed in a multicylinder shape in a compressive state to thereby obtain highly reliable and highly accurate holding/opening operation.

38. 发明专利

JPH08326865A ROTATION CONSTRAINER AND X-RAY DIAGNOSTIC INSTRUMENT USING IT 失效
公开(公告)号：JPH08326865A
公开(公告)日：1996-12-10
申请号：JP13246795
申请日：1995-05-31
申请人： TOSHIBA CORP
发明人： SEKINE KUNIO , HIRAOKA TAKAFUMI , YOSHII YASUO , IIKURA SHOICHI
IPC分类号： F16H35/00 , A61B6/00 , F16D41/08 , F16D41/10
摘要： PURPOSE: To provide a rotation constrainer capable of decreasing any force to be applied for the purpose of releasing a constrained body from its state bitten between an outer ring and an output shaft. CONSTITUTION: A rotatable input shaft 6 having its central axis on the central axis inside of an outer ring 1 is provided. A output shaft 2 rotatable by having its central axis on the axis of an outer ring 1 inside of the outer ring 1 is provided. Plural constrainers 3 for constraining the rotation of the output shaft 2 are provided between the outer ring 1 and the output shaft 2. A push-pressing spring 4 for elastically supporting the constrainers 3 provides connection between the output shaft 2 and each constrainer 3. Each constrainer 3bits in a space between constrainers 3 themselves and in order to make to output shaft 2 from its unrotatable state to its rotatable state, a releasing member 5 touches a position shifted from the revolutional track center line 11a of each constrainer 3 making its revolution along the inner circumference of the outer ring 1, and any constrainer 3 biting between the output shaft 2 and the outer ring 1 is released to be placed in its rotatable state by means of the releasing member 5.

39. 发明专利

JPH0442026A SIX-AXIAL-TENSION TORQUE SENSOR 失效
公开(公告)号：JPH0442026A
公开(公告)日：1992-02-12
申请号：JP14747690
申请日：1990-06-07
申请人： TOSHIBA CORP
发明人： IIKURA SHOICHI
IPC分类号： G01L5/16
摘要： PURPOSE:To omit complicated computing processes and to make it possible to detect axial tension accurately and quickly by combining three force/strain conversion blocks having parallel planar structures. CONSTITUTION:This sensor is composed of three force/strain blocks 10 - 12 which are basically formed of parallel planar structures. The blocks are coupled based on the orthogonal coordinates comprising (x) - (z) axes with respect to an original point Os. Resistor-type strain gages 51A, 51B, 52A, 52B, 61A, 61B, 62A, 62B, 71A, 71B, 72A and 72B are stuck to the blocks as strain sensors. These blocks 10 - 12 are assembled into an actual force transfer path under the state wherein the blocks are contained in a housing 41. The corresponding lead wires of each gage are connected in a bridge pattern. The signal corresponding to the intended axial tension is outputted from the output terminal of the bridge circuit. Thus, the real time detection can be performed without complicated operating processings.

40. 发明专利

JPH01247809A ACTUATOR 失效
公开(公告)号：JPH01247809A
公开(公告)日：1989-10-03
申请号：JP25939188
申请日：1988-10-17
申请人： TOSHIBA CORP
发明人： SUZUMORI KOICHI , MATSUMARU TAKAFUMI , IIKURA SHOICHI
IPC分类号： B25J19/00 , F15B15/10
摘要： PURPOSE:To enable the smooth and multi-degree of freedom of actuator operation by separating a cylindrical elastic body into a plurality of pressure chambers with divisions extended axially in the body and adjusting pressure in each pressure chamber for the operation of the actuator so made. CONSTITUTION:Elastic divisions 15, 17 and 19 are extended axially within a cylindrical elastic body 3 and three pressure chambers 21, 23 and 25 are thereby formed within the cylindrical elastic body 3. According to the aforesaid construction, the pressure chambers 21, 23 and 25 expand and contract via the adjustment of pressure in any one thereof and the combination of pressure in each pressure chamber 21, 23 and 25 enables the smooth motion of the whole body 3 including bending, contraction and expansion. It becomes possible, therefore, to obtain smooth and multi-degree freedom of actuator operation.

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