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1. 发明授权

US5142989A Propelling mechanism and traveling device propelled thereby 失效
标题翻译：螺旋桨机构和行驶装置
公开(公告)号：US5142989A
公开(公告)日：1992-09-01
申请号：US766081
申请日：1991-09-27
申请人： Koichi Suzumori , Kokichi Aomori
发明人： Koichi Suzumori , Kokichi Aomori
IPC分类号： B61B13/10 , B08B9/049 , B62D57/024 , F16L55/26 , G21C17/017
CPC分类号： F16L55/26 , G21C17/017
摘要： A propelling mechanism for traveling through piping comprises: a motive power device; a plurality of sun gears driven in rotation by the motive power device; at least two planet gears meshed with each one of the sun gears and rotatably supported at specifically spaced-apart positions to undergo axial rotation about their own axes and simultaneously to undergo orbital revolution around the periphery of that sun gear; and a plurality of traction wheels with treads rotating together with respective planet gears, the treads being pressed into contact with the inner wall surface by the orbital revolution of the planet gears, driving power due to the axial rotation of the planet gears being transmitted by way of the treads of the wheels as traction to the inner wall surface. A traveling device for operating as a probe to travel through piping with bends and branches is constituted by coupling two of the above described propelling mechanisms to front and rear ends of a flexible mechanism constituting the main body of the device, which is provided with a control device for deflecting the flexible mechanism in steering operation in various directions to navigate smoothly through the piping.
摘要翻译：用于穿过管道的推进机构包括：动力装置; 由动力装置旋转驱动的多个太阳齿轮; 至少两个行星齿轮与每个太阳齿轮啮合，并且可旋转地支撑在特别间隔开的位置，以绕其自身轴线进行轴向旋转，同时绕该太阳齿轮的周边进行轨道旋转; 以及多个牵引轮，其具有与相应的行星齿轮一起旋转的踏面，踏板通过行星齿轮的轨道转动而被压靠与内壁表面接触，由于行星齿轮的轴向旋转而被驱动的驱动力被传递的轮胎的胎面作为牵引到内壁表面。用于作为探头操作以通过具有弯曲和分支的管道行进的行进装置通过将两个上述推进机构联接到构成装置的主体的柔性机构的前端和后端而构成，该柔性机构设置有控制用于在各个方向上的转向操作中使柔性机构偏转的装置，以顺畅地导管通过管道。

2. 发明授权

US4976191A Elastically deformable fluid actuator 失效
标题翻译：弹性变形流体致动器
公开(公告)号：US4976191A
公开(公告)日：1990-12-11
申请号：US422742
申请日：1989-10-17
申请人： Koichi Suzumori , Takafumi Matsumaru , Shoichi Iikura
发明人： Koichi Suzumori , Takafumi Matsumaru , Shoichi Iikura
IPC分类号： B23Q1/34 , B25J15/12 , B25J18/06 , F01B19/00 , F15B15/10
CPC分类号： B23Q1/34 , B25J15/12 , B25J18/06 , F01B19/00 , F15B15/10
摘要： An actuator for use in an arm or hand of an industrial robot comprises a tubular elastic body of which interior is separated into a plurality of pressure chambers by an axially extending partition, and means for adjusting respective pressures of the pressure chambers to render the tubular elastic body to take a motion at a multi-degree freedom. At least the outer peripheral part of the tubular elastic body has an anisotropic characteristic with respect to modulus of elasticity. The axial direction of the tubular elastic body is a direction small in modulus of longitudinal elasticity, while the direction perpendicular to the axial direction of the tubular elastic body is a direction large in modulus of longitudinal elasticity.
摘要翻译：用于工业机器人的手臂或手中的致动器包括管状弹性体，其内部通过轴向延伸的隔板分离成多个压力室，以及用于调节压力室的相应压力以使管状弹性体身体以多度自由采取动议。至少管状弹性体的外周部分具有相对于弹性模量的各向异性特性。管状弹性体的轴向是纵向弹性模量小的方向，而与管状弹性体的轴向垂直的方向是纵向弹性模量大的方向。

3. 发明授权

US5879147A Actuator driven by pressure change of fluid 失效
标题翻译：致动器由流体的压力变化驱动
公开(公告)号：US5879147A
公开(公告)日：1999-03-09
申请号：US896054
申请日：1997-07-17
申请人： Koichi Suzumori
发明人： Koichi Suzumori
IPC分类号： F15B15/12 , F01C5/02 , F01C5/00
CPC分类号： F01C5/02
摘要： The actuator of the present invention is driven by pressure changes of the fluid. A first structural body as an elastic body includes a plurality of pressure chambers along an axis direction. The first structural body passes through a second structural body, an annulus ring, with a predetermined gap between an outer surface of the first structural body and an inner surface of the second structural body. A supply unit sequentially supples fluid to the plurality of pressure chambers. A pressure welding position between the outer surface of the first structural body and the inner surface of the second structural body is sequentially changed by unit of the pressure chamber. Therefore, the second structural body rotates in response to changes of the pressure welding position.
摘要翻译：本发明的致动器由流体的压力变化驱动。作为弹性体的第一结构体包括沿着轴线方向的多个压力室。第一结构体穿过第二结构体，环形环，在第一结构体的外表面和第二结构体的内表面之间具有预定的间隙。供应单元顺序地将流体延伸到多个压力室。在第一结构体的外表面和第二结构体的内表面之间的压力焊接位置依次由压力室改变。因此，第二结构体响应于压力焊接位置的变化而旋转。

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