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1. 发明授权

US09833340B2 Detection device of load and moment, and artificial limb including the detection device 有权
公开(公告)号：US09833340B2
公开(公告)日：2017-12-05
申请号：US14424208
申请日：2012-08-30
申请人： Hiroaki Hashimoto , Takuya Shirata
发明人： Hiroaki Hashimoto , Takuya Shirata
IPC分类号： A61F2/70 , A61F2/76 , G01L1/22 , G01L5/16 , G01L5/22 , A61F2/64
CPC分类号： A61F2/70 , A61F2/644 , A61F2/76 , A61F2002/704 , A61F2002/7635 , A61F2002/7645 , G01L1/2206 , G01L1/2287 , G01L5/161 , G01L5/226
摘要： The present invention provides a detection device for detecting a load and moment and capable of increasing the output by a strain gage. The detection device is provided with a characteristic sensor block. The sensor block includes a base having an axis extending in the direction of a load to be detected, a front side wall raised from the base at a position offset from the axis of the base, a rear side wall raised from the base at a position offset from the axis of the base in the direction opposite the front side wall, and an upper wall for connecting the upper end of the front side wall and the upper end of the rear side wall. The sensor block supports each strain gauge on the upper surface of the upper wall. The upper wall includes a center portion located at the center between the front side wall and the rear side wall, a first portion located between the center portion and the front side wall, and a second portion located between the center portion and the rear side wall. The first portion and the second portion, which support the strain gauges, have a smaller thickness than the center portion and are relatively easily deformed or strained.

2. 发明授权

US09329119B2 Speed reducer for industrial robot 有权
标题翻译：工业机器人减速机
公开(公告)号：US09329119B2
公开(公告)日：2016-05-03
申请号：US13991132
申请日：2011-12-02
申请人： Takuya Shirata , Kenichi Fujimoto
发明人： Takuya Shirata , Kenichi Fujimoto
IPC分类号： G01N21/64 , G01N21/25 , G01N33/28 , B25J9/10 , B25J13/08 , B25J19/00 , F16H57/04 , G01N21/85
CPC分类号： G01N21/25 , B25J9/102 , B25J13/087 , B25J19/0062 , F16H57/0405 , G01N21/251 , G01N21/85 , G01N33/2888
摘要： A speed reducer for an industrial robot includes a speed reducer main body and a lubricant deterioration sensor for detecting deterioration of a lubricant in the speed reducer main body. The lubricant deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, a clearance forming member forming an oil clearance in which the lubricant enters, and a support member supporting the light emitting element, the color light receiving element, and the clearance forming member. The clearance forming member is transmissive so that the light emitted from the light emitting element transmits therethrough. The oil clearance is provided on an optical path from the light emitting element to the color light receiving element.
摘要翻译：用于工业机器人的减速器包括减速器主体和用于检测减速器主体中的润滑剂的劣化的润滑剂劣化传感器。润滑剂劣化传感器包括用于发光的发光元件，用于检测接收到的光的颜色的彩色光接收元件，形成润滑剂进入的油隙的间隙形成部件和支撑发光元件的支撑部件，彩色光接收元件和间隙形成元件。间隙形成构件是透射的，使得从发光元件发射的光透射通过。油间隙设置在从发光元件到彩色光接收元件的光路上。

3. 发明授权

US09201054B2 Lubricant sensor 有权
标题翻译：润滑传感器
公开(公告)号：US09201054B2
公开(公告)日：2015-12-01
申请号：US13991133
申请日：2011-12-02
申请人： Takuya Shirata
发明人： Takuya Shirata
IPC分类号： G01N33/28 , G01N21/85 , G01N21/25
CPC分类号： G01N21/94 , G01N21/251 , G01N21/27 , G01N21/8507 , G01N33/2888 , G01N2201/02 , G01N2201/062
摘要： A speed reducer for an industrial robot includes a speed reducer main body and a lubricant deterioration sensor for detecting deterioration of a lubricant in the speed reducer main body. The lubricant deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, a clearance forming member forming an oil clearance in which the lubricant enters, and a support member supporting the light emitting element, the color light receiving element, and the clearance forming member. The clearance forming member is transmissive so that the light emitted from the light emitting element transmits therethrough. The oil clearance is provided on an optical path from the light emitting element to the color light receiving element.
摘要翻译：用于工业机器人的减速器包括减速器主体和用于检测减速器主体中的润滑剂的劣化的润滑剂劣化传感器。润滑剂劣化传感器包括用于发光的发光元件，用于检测接收到的光的颜色的彩色光接收元件，形成润滑剂进入的油隙的间隙形成部件和支撑发光元件的支撑部件，彩色光接收元件和间隙形成元件。间隙形成构件是透射的，使得从发光元件发射的光透射通过。油间隙设置在从发光元件到彩色光接收元件的光路上。

4. 发明授权

US09089443B2 Multi-articulated link knee joint 有权
标题翻译：多关节关节膝关节
公开(公告)号：US09089443B2
公开(公告)日：2015-07-28
申请号：US14352843
申请日：2012-03-09
申请人： Takuya Shirata , Yoshiaki Nakaya , Masahiko Okuda
发明人： Takuya Shirata , Yoshiaki Nakaya , Masahiko Okuda
IPC分类号： A61F2/64 , A61F2/76 , A61F2/50 , A61F2/68 , A61F2/70
CPC分类号： A61F2/644 , A61F2/76 , A61F2002/5006 , A61F2002/5084 , A61F2002/6863 , A61F2002/704 , A61F2002/762 , A61F2002/7625 , A61F2002/7665
摘要： A multi-articulated link knee joint capable of detecting a bending angle of a knee section without causing problems of an installation space and wiring of a sensor is provided. A four-link knee joint includes a knee section of a four-link mechanism, a fluid cylinder that restrains an action of the knee section, a position detecting device that detects a position of a piston rod with respect to a cylinder tube as an extension and contraction amount of the cylinder, and a computer that acquires a bending angle of the knee section by converting the position detected by the position detecting device.
摘要翻译：提供能够检测膝盖部分的弯曲角度而不引起传感器的安装空间和布线问题的多关节连杆膝关节。四连杆膝关节包括四连杆机构的膝部，限制膝部动作的流体缸，位置检测装置，其检测活塞杆相对于气缸管的位置作为延伸部和收缩量;以及计算机，其通过转换由位置检测装置检测到的位置来获取膝部的弯曲角度。

5. 发明申请

US20130250281A1 LUBRICANT DETERIORATION SENSOR 有权
标题翻译：润滑剂检测传感器
公开(公告)号：US20130250281A1
公开(公告)日：2013-09-26
申请号：US13991133
申请日：2011-12-02
申请人： Takuya Shirata
发明人： Takuya Shirata
IPC分类号： G01N33/28
CPC分类号： G01N21/94 , G01N21/251 , G01N21/27 , G01N21/8507 , G01N33/2888 , G01N2201/02 , G01N2201/062
摘要： A speed reducer for an industrial robot includes a speed reducer main body and a lubricant deterioration sensor for detecting deterioration of a lubricant in the speed reducer main body. The lubricant deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, a clearance forming member forming an oil clearance in which the lubricant enters, and a support member supporting the light emitting element, the color light receiving element, and the clearance forming member. The clearance forming member is transmissive so that the light emitted from the light emitting element transmits therethrough. The oil clearance is provided on an optical path from the light emitting element to the color light receiving element.
摘要翻译：用于工业机器人的减速器包括减速器主体和用于检测减速器主体中的润滑剂的劣化的润滑剂劣化传感器。润滑剂劣化传感器包括用于发光的发光元件，用于检测接收到的光的颜色的彩色光接收元件，形成润滑剂进入的油隙的间隙形成部件和支撑发光元件的支撑部件，彩色光接收元件和间隙形成元件。间隙形成构件是透射的，使得从发光元件发射的光透射通过。油间隙设置在从发光元件到彩色光接收元件的光路上。

6. 发明申请

US20090051228A1 ACTUATOR UNIT 审中-公开
标题翻译：执行器单元
公开(公告)号：US20090051228A1
公开(公告)日：2009-02-26
申请号：US11908803
申请日：2006-03-29
申请人： Masahiro Kanbara , Takuya Shirata , Junichiro Asano , Masayuki Togawa
发明人： Masahiro Kanbara , Takuya Shirata , Junichiro Asano , Masayuki Togawa
IPC分类号： H02K41/035
CPC分类号： H02K33/16 , H01F7/122 , H01F7/1646
摘要： An actuator unit 100 which moves a light reflection element 32 in a predetermined optical path-switching-position includes a mover 120 to which the light reflection element 32 is fixed, and a fixed part body 110 including an E-shaped yoke 113. When the mover 120 is located at one end in its moving range, the posture of the mover 120 is specified by magnetic attraction forces in two directions orthogonal to each other which are generated between one end portion 113a yoke 113 and an orthogonal part 113c of the E-shaped, and the mover by a permanent magnet 121 and an electromagnet 118, whereby a tilt of the mover 120 can be prevented.
摘要翻译：在预定光路切换位置移动光反射元件32的致动器单元100包括固定有光反射元件32的移动体120和包括E形轭113的固定部件体110。移动器120位于其移动范围的一端，因此，移动器120的姿势通过在E-端部113a的轭铁113和正交部113c之间产生的彼此正交的两个方向上的磁吸引力来指定，通过永磁体121和电磁体118形成的动子，由此可以防止动子120的倾斜。

7. 发明申请

US20150297366A1 DETECTION DEVICE OF LOAD AND MOMENT, AND ARTIFICIAL LIMB INCLUDING THE DETECTION DEVICE 有权
标题翻译：负载和动作的检测装置，以及包括检测装置的人为限制
公开(公告)号：US20150297366A1
公开(公告)日：2015-10-22
申请号：US14424208
申请日：2012-08-30
申请人： Hiroaki Hashimoto , Takuya Shirata
发明人： Hiroaki Hashimoto , Takuya Shirata
IPC分类号： A61F2/70 , G01L5/22 , G01L5/16 , G01L1/22
CPC分类号： A61F2/70 , A61F2/644 , A61F2/76 , A61F2002/704 , A61F2002/7635 , A61F2002/7645 , G01L1/2206 , G01L1/2287 , G01L5/161 , G01L5/226
摘要： The present invention provides a detection device for detecting a load and moment and capable of increasing the output by a strain gage. The detection device is provided with a characteristic sensor block. The sensor block includes a base having an axis extending in the direction of a load to be detected, a front side wall raised from the base at a position offset from the axis of the base, a rear side wall raised from the base at a position offset from the axis of the base in the direction opposite the front side wall, and an upper wall for connecting the upper end of the front side wall and the upper end of the rear side wall. The sensor block supports each strain gauge on the upper surface of the upper wall. The upper wall includes a center portion located at the center between the front side wall and the rear side wall, a first portion located between the center portion and the front side wall, and a second portion located between the center portion and the rear side wall. The first portion and the second portion, which support the strain gauges, have a smaller thickness than the center portion and are relatively easily deformed or strained.
摘要翻译：本发明提供了一种用于检测负载和力矩并且能够通过应变计增加输出的检测装置。检测装置具有特征传感器块。传感器块包括具有沿待检测负载方向延伸的轴线的基座，从基座偏离基座轴线的位置处从基座突出的前侧壁，在基座的位置处从后方升起的后侧壁在与前侧壁相反的方向上偏离基座的轴线，以及用于连接前侧壁的上端和后侧壁的上端的上壁。传感器块支撑上壁上表面上的每个应变片。上壁包括位于前侧壁和后侧壁之间的中心的中心部分，位于中心部分和前侧壁之间的第一部分和位于中间部分和后侧壁之间的第二部分。支撑应变片的第一部分和第二部分具有比中心部分更小的厚度并且相对容易变形或变形。

8. 发明申请

US20130250303A1 SPEED REDUCER FOR INDUSTRIAL ROBOT 有权
标题翻译：工业机器人减速机
公开(公告)号：US20130250303A1
公开(公告)日：2013-09-26
申请号：US13991132
申请日：2011-12-02
申请人： Takuya Shirata , Kenichi Fujimoto
发明人： Takuya Shirata , Kenichi Fujimoto
IPC分类号： G01N21/25
CPC分类号： G01N21/25 , B25J9/102 , B25J13/087 , B25J19/0062 , F16H57/0405 , G01N21/251 , G01N21/85 , G01N33/2888
摘要： A speed reducer for an industrial robot includes a speed reducer main body and a lubricant deterioration sensor for detecting deterioration of a lubricant in the speed reducer main body. The lubricant deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, a clearance forming member forming an oil clearance in which the lubricant enters, and a support member supporting the light emitting element, the color light receiving element, and the clearance forming member. The clearance forming member is transmissive so that the light emitted from the light emitting element transmits therethrough. The oil clearance is provided on an optical path from the light emitting element to the color light receiving element
摘要翻译：用于工业机器人的减速器包括减速器主体和用于检测减速器主体中的润滑剂的劣化的润滑剂劣化传感器。润滑剂劣化传感器包括用于发光的发光元件，用于检测接收到的光的颜色的彩色光接收元件，形成润滑剂进入的油隙的间隙形成部件和支撑发光元件的支撑部件，彩色光接收元件和间隙形成元件。间隙形成构件是透射的，使得从发光元件发射的光透射通过。油间隙设置在从发光元件到彩色光接收元件的光路上

9. 发明申请

US20150032228A1 MULTI-ARTICULATED LINK KNEE JOINT 有权
标题翻译：多连接KNEE JOINT
公开(公告)号：US20150032228A1
公开(公告)日：2015-01-29
申请号：US14352843
申请日：2012-03-09
申请人： Takuya Shirata , Yoshiaki Nakaya , Masahiko Okuda
发明人： Takuya Shirata , Yoshiaki Nakaya , Masahiko Okuda
IPC分类号： A61F2/64
CPC分类号： A61F2/644 , A61F2/76 , A61F2002/5006 , A61F2002/5084 , A61F2002/6863 , A61F2002/704 , A61F2002/762 , A61F2002/7625 , A61F2002/7665
摘要： A multi-articulated link knee joint capable of detecting a bending angle of a knee section without causing problems of an installation space and wiring of a sensor is provided. A four-link knee joint includes a knee section of a four-link mechanism, a fluid cylinder that restrains an action of the knee section, a position detecting device that detects a position of a piston rod with respect to a cylinder tube as an extension and contraction amount of the cylinder, and a computer that acquires a bending angle of the knee section by converting the position detected by the position detecting device.
摘要翻译：提供能够检测膝盖部分的弯曲角度而不引起传感器的安装空间和布线问题的多关节连杆膝关节。四连杆膝关节包括四连杆机构的膝部，限制膝部动作的流体缸，位置检测装置，其检测活塞杆相对于气缸管的位置作为延伸部和收缩量;以及计算机，其通过转换由位置检测装置检测到的位置来获取膝部的弯曲角度。

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