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    • 4. 发明授权
    • Multijoint manipulator and endoscope system having the same
    • 具有相同的多节点机械手和内窥镜系统
    • US08376934B2
    • 2013-02-19
    • US13092702
    • 2011-04-22
    • Kazuhiko TakahashiToshio Nakamura
    • Kazuhiko TakahashiToshio Nakamura
    • A61B1/00A61B1/04G06F3/033
    • B25J9/06A61B1/00147A61B1/0052A61B1/0055A61B5/065A61B34/30A61B34/37A61B2034/2059A61B2034/306A61B2090/064
    • A multijoint manipulator apparatus includes a tubular-member, linear-motion-transmission-members, a drive-unit, a position-detector, a tension-detector, an operation-unit, and a movement-degree-calculation-unit. The linear-members are inserted in the tubular-member, one end and the other end of each of the linear-members being fixed to the vicinity of a joint of the tubular-member and the drive-unit, respectively. The drive-unit moves the linear-members. The position-detector and the tension-detector detect positions and tension of the linear-members, respectively. A desired position/posture of a point of interest is input to the operation-unit. The calculation-unit calculates a current position/posture of the point, a weighting factor serving to give priority to and move the linear-members the tension of which is relatively low among the linear-members, and movement degrees of the linear-members to move the point to the desired position/posture, and causes the drive-unit to pull the linear-members.
    • 多关节机械手装置包括管状构件,直线运动传递构件,驱动单元,位置检测器,张力检测器,操作单元和移动程度计算单元。 线性构件插入管状构件中,每个线性构件的一端和另一端分别固定在管状构件和驱动单元的接头附近。 驱动单元移动线性元件。 位置检测器和张力检测器分别检测线性元件的位置和张力。 将感兴趣点的期望位置/姿势输入到操作单元。 计算单元计算点的当前位置/姿势,用于优先使线性构件中的线性构件的张力相对较低的直线构件的加权系数和线性构件的移动度向 将点移动到期望的位置/姿势,并且使驱动单元拉动线性构件。
    • 8. 发明申请
    • Method of manufacturing cage for roller bearing and cage for roller bearing
    • 滚子轴承和滚子轴承保持架的制造方法
    • US20060204158A1
    • 2006-09-14
    • US10567568
    • 2004-08-06
    • Kazuto KobayashiToshio NakamuraKeiichi HorinoYoshiro Ide
    • Kazuto KobayashiToshio NakamuraKeiichi HorinoYoshiro Ide
    • F16C33/52
    • F16C33/4682B21D53/12F16C19/38F16C23/086F16C33/543Y10T29/49686Y10T29/49687Y10T29/49691
    • A method of manufacturing a retainer for a roller bearing made of a metal plate and has a tubular main portion, pockets formed in the main portion intermittently concerning a circumferential direction and capable of retaining rollers rollably, and an outwardly oriented flange-like collar portion. An annular intermediate material is formed by die cutting the metal plate, and after a second intermediate material is formed by forming through holes in the intermediate material intermittently, a portion of the second intermediate material excluding a radially outer end portion is plastically deformed into a tubular shape. The portion plastically deformed tubular shape is formed as the main portion, a portion corresponding to the radially outer end portion of the second intermediate material is formed as the collar portion or a collar portion element for forming the collar portion, and portions corresponding to the through holes are formed as the pockets.
    • 一种制造用于由金属板制成的滚子轴承的保持器的方法,并且具有管状主体部分,在主体部分中间歇地形成有围绕圆周方向并且能够滚动地保持辊的口袋和向外定向的凸缘状套环部分。 通过对金属板进行模切而形成环状的中间材料,在间歇地形成中间材料的贯通孔而形成第二中间材料之后,除了径向外端部以外的部分第二中间材料塑性地变形为管状 形状。 形成塑性变形管状的部分形成为主要部分,对应于第二中间材料的径向外端部的部分形成为套环部分或用于形成套环部分的套环部分元件,以及对应于贯穿 孔形成为袋。