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    • 11. 发明授权
    • Wave generator of wave gear device
    • 波齿轮装置波发生器
    • US08833205B2
    • 2014-09-16
    • US13696004
    • 2012-05-23
    • Masaru Kobayashi
    • Masaru Kobayashi
    • F16H33/00F16H1/32F16H49/00
    • F16H1/32F16H49/001Y10T74/19
    • An externally toothed portion of a cup-shaped flexible externally toothed gear of a wave gear device is flexed into an ellipsoidal shape by a six-roller-type wave generator. A region of an inner peripheral surface of the ellipsoidally flexed externally toothed portion that is positioned on a major axis of the ellipsoidal shape is maximally inclined. First rollers of the wave generator are arranged so that the incline is identical to the incline of the region of the inner peripheral surface. A circular outer peripheral surface of the first rollers can be brought into contact with the region of the inner peripheral surface in an external-tooth tooth-trace direction without deflection; therefore, the angular transmission precision of the wave gear device can be improved.
    • 波轮齿轮装置的杯形柔性外齿轮的外齿部分通过六辊式波发生器弯曲成椭圆形。 位于椭圆形长轴上的椭圆形外齿部的内周面的区域最大地倾斜。 波浪发生器的第一辊布置成使得倾斜与内周表面的区域的倾斜度相同。 第一辊的圆形外周面可以在外齿齿迹方向上与内周面的区域接触而不偏转; 因此,能够提高波齿轮装置的角度传递精度。
    • 12. 发明授权
    • Wave-type linear motion mechanism
    • 波型直线运动机构
    • US08656810B2
    • 2014-02-25
    • US13266163
    • 2009-06-02
    • Masaru Kobayashi
    • Masaru Kobayashi
    • F16H27/02F16H29/02F16H33/00F16H35/00F16H37/00
    • F16H49/001F16H2049/008Y10T74/18568Y10T74/18576Y10T74/19
    • Disclosed is a wave-type linear motion mechanism including a hydraulic pressure chamber for applying a retention force in the axial direction to a rigid screw member which moves in a linear fashion. Regulating valves are provided in the hydraulic pressure chamber, and these regulating valves open during the rotation of a wave generator so that no hydraulic pressure is exerted on the rigid screw member which moves in a linear fashion. During the rotation of the wave generator the regulating valves close to establish an airtight state in the hydraulic pressure chamber, and a hydraulic pressure is exerted as a retention force on the rigid screw member. Although restricted by the meshing strength between the rigid screw member and a flexible screw member and the buckling strength of the flexible screw member, the retention force of the wave-type linear motion mechanism is able to be increased.
    • 公开了一种波形直线运动机构,其包括用于将轴向保持力施加到以线性方式移动的刚性螺钉构件的液压室。 调节阀设置在液压室中,并且这些调节阀在波发生器的旋转期间打开,使得在以线性方式移动的刚性螺钉构件上不施加液压。 在波浪发生器旋转期间,调节​​阀靠近在液压室中建立气密状态,并且作为保持力施加液压作用在刚性螺钉构件上。 虽然受到刚性螺钉构件和柔性螺钉构件之间的啮合强度和柔性螺钉构件的弯曲强度的限制,但是能够增加波形线性运动机构的保持力。
    • 20. 发明申请
    • ROBOT HAND AND FINGER MECHANISM
    • 机器手和手指机构
    • US20090261609A1
    • 2009-10-22
    • US12416254
    • 2009-04-01
    • Yusuke ShibamotoMasaru Kobayashi
    • Yusuke ShibamotoMasaru Kobayashi
    • B25J15/08B25J15/00
    • B25J15/022
    • A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.
    • 机器人手将线性致动器的致动杆的纵向延伸和缩回运动转换成通过连杆机构打开和关闭左和右第一连杆的运动。 连杆机构包括由螺旋弹簧构成的左右中间连杆。 当左右第一连杆与要夹持的物体接触时,中间连杆弹性变形膨胀,并且夹持物体的力由于中间连杆的弹性变形而逐渐增加。 可以防止大的夹紧力突然发生在物体上,并防止物体变形,损坏或遭受有害影响。