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1. 发明专利

JP2001141058A AIR-TIGHTENING DEVICE 失效
公开(公告)号：JP2001141058A
公开(公告)日：2001-05-25
申请号：JP32774299
申请日：1999-11-18
申请人： HITACHI LTD , NAT SPACE DEV AGENCY
发明人： YAMADA MASAFUMI , EZAWA NAOYA , FUJIMOTO NOBUYOSHI , AMANO TOSHIYUKI
IPC分类号： H01R13/73 , F16J12/00
摘要： PROBLEM TO BE SOLVED: To provide an air-tightening device for facilitating speedy replacement of inner equipment disposed in a case without specific operation. SOLUTION: The air-tightening device comprises an airtight case 100 having an opening/closing door and the equipment 200 disposed in the airtight case 100 and controlled from the outside. The equipment is removably fixed to the inner wall of the airtight case and is replaced via the opening/closing door. A rail-like guide 120 is disposed on the inner wall surface of the airtight case with a predetermined interval from the inner wall, the inner equipment is provided with a projection 208 engaged between the rail-like guide and the inner wall of the airtight case, the projection of the inner equipment is inserted along the clearance between the guide and the inner wall surface of the case to guide and lock the inner equipment to a predetermined position.

2. 发明专利

JPH0663886A CONNECTOR COUPLING DEVICE 失效
公开(公告)号：JPH0663886A
公开(公告)日：1994-03-08
申请号：JP22305392
申请日：1992-08-21
申请人： NAT SPACE DEV AGENCY , HITACHI LTD
发明人： EZAWA NAOYA , YAMAWAKI KOJI , KURAOKA KESATOSHI
IPC分类号： B25J9/08 , B25J15/04
摘要： PURPOSE:To reduce a load on a manipulator for operating connecting members. CONSTITUTION:A connector insert and extract mechanism 211 to move a male connector 220 provided in a second connecting member 200 reciprocatedly in the insert and extract direction is provided in the second connecting member 200. A protruded cone part is formed at the top end of a first connecting member 100, and a recessed guide cone part 202 in which the cone part is closely fitted is formed at the top end of the second connecting member 200. On the first connecting member 100, a finger 116 with a protrusion 117 and a finger open and close drive mechanism 110 to operate the finger 116 are provided. On the second connecting member 200, a guide piece 210 in which an engaging hole 217 to engage with the protrusion 117 and restrict a relation of relative position of the both members 100 and 200 is formed is provided.

3. 发明专利

JPH0230483A HOLD BONDING MEANS AND MANIPULATOR ARM 失效
公开(公告)号：JPH0230483A
公开(公告)日：1990-01-31
申请号：JP17904988
申请日：1988-07-20
申请人： HITACHI LTD , NAT SPACE DEV AGENCY
发明人： DOBASHI AKIRA , EZAWA NAOYA , YAMAWAKI KOJI , KURAOKA KESATOSHI
IPC分类号： B25J17/00 , B25J9/06 , B25J15/04 , B25J18/00
摘要： PURPOSE:To perform alignment and holding fixture according to the bonding of a pair of hold bonding members by providing alignment means and hold fixing means on a pair of hold bonding members. CONSTITUTION:The taper face 101d of a holding side bonding member 100 is led to the center part gradually along the taper face 201a of the bonding member 200 of the side to be held according to the holding side bonding member 100 approaching to the bonding member 200 of the side to be held and simultaneously the projection part 111 of a rotation stopping means 110 is guided into a groove 112. A pair of hold bonding members 100, 200 are regulated at their approximate alignment in X, Y direction and the operation around Z axis at this time. Moreover, when both tapers 101d, 201a are bonded with the approach of the holding side bonding member 100 and the projection part 111 of the rotation stopping means 110 is bonded into the groove 112, a pair of the holding members 110, 200 are completely regulated around a Z shaft. When a driving motor 121 is driven in this state, two fingers 125 are moved to the external part mutually inside a holding face 201b to fix the Z axial direction.

4. 发明专利

JPH07314369A CONNECTION DEVICE 失效
公开(公告)号：JPH07314369A
公开(公告)日：1995-12-05
申请号：JP11851894
申请日：1994-05-31
申请人： NAT SPACE DEV AGENCY , HITACHI LTD
发明人： EZAWA NAOYA , YANAI TETSUYA , ODA MITSUSHIGE
IPC分类号： B25J15/04 , B64G1/64
摘要： PURPOSE:To improve connection strength between a connection member and a counter member without increasing their size largely. CONSTITUTION:A connection member 100 is provided with a casing 130, plural connection pawls 101 and plural connection holding pawls 105 installed on the casing 130 through pins to be capable of oscillation, and pawl drive mechanisms to oscillate the connection pawls 101 and connection holding pawls 105 respectively. A counter member 200 is provided with a casing 230 in which pawl engagement holes 201 with which forward end parts of the connection pawls 101 and forward end parts of the connection holding pawls 105 are engaged are formed. In the casing 230 of the counter member 200, protruded parts 233 protruded toward where the casing 130 of the connection member 100 is positioned under the condition immediately before connection where both members 100, 200 face each other are formed, while in the casing 130 of the connection member 100, recessed parts 133 to be engaged with the protruded parts 233 in the casing 230 of the counter member 200 are formed.

5. 发明专利

JPH0666326A SHAFT JOINT MECHANISM 失效
公开(公告)号：JPH0666326A
公开(公告)日：1994-03-08
申请号：JP22305492
申请日：1992-08-21
申请人： NAT SPACE DEV AGENCY , HITACHI LTD
发明人： EZAWA NAOYA , YAMAWAKI KOJI , KURAOKA KESATOSHI
IPC分类号： B25J17/02 , F16D1/02 , F16D1/05
摘要： PURPOSE:To facilitate the connection control for connecting a drive shaft and a driven shaft by providing a connection section reciprocatable in parallel with one shaft, and providing a connection section on the other shaft side having a taper face for guiding in the axis direction of one shaft. CONSTITUTION:A shaft joint mechanism is constituted of a driving side connection section 102 reciprocatable in the axial direction of a drive shaft 100 and a recessed driven side connection section 201 coupled with the driving side connection section 102, a key 103 is formed on the outer periphery of the driving side connection section 102, and its tip is formed into a taper face 105. A key way 204 insertable by the key 103 and a taper face 202 corresponding to the taper face 105 are formed on the inner periphery of the driven side connection section 201. A spring 104 exciting the driving side connection section 102 in the tip direction is provided in the driving side connection section 102, and a limit switch 205 detecting the connection with the driving side connection section 102 is provided at the bottom section of the hole section 203 of the driven side connection section 201.

6. 发明专利

JPH0663889A CONNECTING DEVICE 失效
公开(公告)号：JPH0663889A
公开(公告)日：1994-03-08
申请号：JP22305292
申请日：1992-08-21
申请人： NAT SPACE DEV AGENCY , HITACHI LTD
发明人： EZAWA NAOYA , YANAI TETSUYA , MATSUEDA TATSUO
IPC分类号： B25J17/00
摘要： PURPOSE:To miniaturize the connecting member on the other side, and to securely enable accurate mutual positioning between connecting members in the three- dimensional space, and also to enable the mutual connection even between large electrical or mechanical connecting members. CONSTITUTION:In a connecting member on one side, three claws 102 are radially arranged, and each of these three claws 102 is provided so as to be capable of being oscillated to be opened or closed. On the connecting member 200 on the other side, three engaging parts 204 with which the three claws 102 engage in the closed condition are formed.

7. 发明专利

JPH0251017A MEASURING APPARATUS 失效
公开(公告)号：JPH0251017A
公开(公告)日：1990-02-21
申请号：JP19991788
申请日：1988-08-12
申请人： HITACHI LTD , NAT SPACE DEV AGENCY
发明人： TAKARADA SHINICHI , EZAWA NAOYA , YAMAWAKI KOJI , KURAOKA KESATOSHI
IPC分类号： G01B21/00 , G01D5/12
摘要： PURPOSE:To easily and inexpensively measure the absolute value of physical quantity exceeding the measuring range of a measuring device by a method wherein the measured value of this time is compared with the absolute measured value of the previous time and, when the difference between both values is large, a value obtained by adding the value within the measuring range to said difference value is set as an absolute measured value. CONSTITUTION:When the angle of rotation of a rotary shaft 1 is detected, a measured value X is inputted at first and the absolute angle Y calculated at the previous sampling time is subsequently taken out of a memory device 8 to check whether or not the difference between them is sufficiently small. The difference delta is compared with a predetermined sufficiently small threshold value epsilon and, when the value delta is larger, the value X is largely different from the value Y and is not within the measuring range of an one-revolution angle detector 2, and therefore, 360 deg. is added to the value X to again calculate the difference delta. When the value delta is smaller than the value epsilon, the value X is near the value Y and, therefore, said value X is set to the present angle and stored in the device 8 for the next sample. By this technique, an absolute angle at the arbitrary positive number of rotations can be obtained using an angle detector wherein a detection range is within one revolution.

8. 发明专利

JPH01169121A LINKED CONNECTION ARRANGEMENT 失效
公开(公告)号：JPH01169121A
公开(公告)日：1989-07-04
申请号：JP32709987
申请日：1987-12-25
申请人： HITACHI LTD , NAT SPACE DEV AGENCY
发明人： DOBASHI AKIRA , EZAWA NAOYA , KURAOKA KESATOSHI , SHIRAKI KUNIAKI
IPC分类号： B25J15/04 , F16D1/02 , F16D1/10
摘要： PURPOSE:To make it possible to connect two members with a simple structure and transmit torque by arranging a connection member A having a link with its far end movable, and a connection member B having a link guiding surface and an engagement recess. CONSTITUTION:The far end of a claw 102 of a connection member A 100 approaches a connection member 200 in a closed condition, is guided with a sloped surface 201, and is introduced to the center. Then a link drive motor 110 of the connection member A 100 starts rotating to drive a screw 114 to move a push plate 106 in the horizontal direction, and to open the claw 102 outward about a center of a pin 101. The claw 102 is guided with a guiding groove 202 and with a fixing hole 203. When the claw 102 becomes in a fully opened condition, an end plate 107 of the connection member A 100 comes into contact with an end of the connection member B 200 to complete 3-dimensional positioning about three axes of roll, pitch, and yaw and in the 3-axes directions of X, Y, and Z. Concurrently, a torque transmission shafts 124 and 204 are joined, and torque can be transmitted from the connection member A 100 to the connection member B 200.

9. 发明专利

JPH05293198A 失效
公开(公告)号：JPH05293198A
公开(公告)日：1993-11-09
申请号：JP9776392
申请日：1992-04-17
申请人： HITACHI LTD
发明人： NOMURA MAKI , EZAWA NAOYA , SUGANO AKIHIRO
IPC分类号： A62C27/00 , A62C37/40 , G08B17/00 , G08B23/00 , G08B25/00
摘要： PURPOSE:To allow the device to approach quickly the vicinity of a fire by providing a moving body loaded with a nozzle for injecting a fire extinguishing agent, detecting a temperature of a fire site and deciding a temperature distribution of the fire site, moving the moving body, based on its result and allowing it to execute fire fighting. CONSTITUTION:Plural temperature sensors 133 for measuring a room temperature are attached in a room in which generation of a fire is predicted, and also, a moving main body 160 which moves freely in the room, and in which a turret 161 to which a nozzle 162 for injecting a fire extinguishing agent is attached is loaded so as to be freely rotatable and flexible is provided. When a fire 191 is generated, a temperature rise in a room is detected by the temperature sensor 133, and based on its detecting signal, a position of the fire 191 is calculated by a control computer 100, and transmitted to a moving main body position controller 180. Subsequently, when the nozzle 162 is turned to the position of the fire 191, a command is given to valve driving devices 140, 150 and a nozzle controller 120 and a fire extinguishing agent 171 in a fire extinguishing agent tank 170 is injected toward the fire 191, and the fire is extinguished.

10. 发明专利

JPH03256687A END EFFECTER DISCRIMINATING DEVICE AND MANIPULATOR HAVING SAME DISCRIMINATING DEVICE AND MANIPULATOR SYSTEM 失效
公开(公告)号：JPH03256687A
公开(公告)日：1991-11-15
申请号：JP5359290
申请日：1990-03-07
申请人： HITACHI LTD
发明人： EZAWA NAOYA , TAKARADA SHINICHI
IPC分类号： B25J15/04
摘要： PURPOSE:To instantaneously and reliably discriminate an end effecter during mounting of a manipulator and the end effecter by providing a means to discriminate a mounted end effecter. CONSTITUTION:When an object containing an end effecter 102 is grasped by a manipulator 101, information 107, e.g. a marking formed on an object to be grasped containing the end effecter, is read by a discriminating means 108 mounted on the grasping part of the manipulator 101, and the object containing an end effecter 102 is discriminated. Further, by inputting the discriminating information 107 to a control device 105 of the manipulator 101, the tip co-ordinate of the manipulator 102 is controlled from the shape and the size of the object containing the end effecter 102 grasped at present.

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