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1. 发明授权

US06408224B1 Rotary articulated robot and method of control thereof 失效
标题翻译：旋转铰接机器人及其控制方法
公开(公告)号：US06408224B1
公开(公告)日：2002-06-18
申请号：US09708667
申请日：2000-11-09
申请人： Osamu Okamoto , Teruomi Nakaya , Heihachiro Kamimura , Isao Yamaguchi
发明人： Osamu Okamoto , Teruomi Nakaya , Heihachiro Kamimura , Isao Yamaguchi
IPC分类号： G06F1900
CPC分类号： B25J9/1661 , B25J9/1664 , B25J17/025 , G05B2219/33219 , G05B2219/34015 , G05B2219/36417 , G05B2219/39078 , G05B2219/40114 , G05B2219/40299 , G05B2219/40442 , G05B2219/40543 , G05B2219/40584 , Y10T29/53091 , Y10T29/53178 , Y10T29/53191 , Y10T74/19126 , Y10T74/20317 , Y10T74/20323 , Y10T74/20329
摘要： In a rotary articulated robot having at least a plurality of offset rotary joints in which a drive arm and driven arm are driven in rotation about an offset rotary axis inclined with respect to the arm axis, a hollow rotary shaft that is driven in rotation by a motor is arranged rotatably, being inclined, at the leading end of the arm of either the drive arm or driven arm while a rotor member to which turning effort from the hollow shaft is transmitted is fixed at the base of the other arm, said hollow rotary shaft and said rotor member constituting a high reduction ratio transmission/torque increasing mechanism. The method of control is that the operation of the joints is determined by dividing the operating region of the end effector into a plurality of blocks, the operating conditions of each joint necessary for movement to a prescribed block are converted to database form for each block, the teaching of operating points in the prescribed block region is converted to database form and a track is generated to the block of the operating region on the basis of the block region data; and when a reference point of the block is reached, the in-block operating point data is fetched.
摘要翻译：在具有至少多个偏移旋转接头的旋转关节式机器人中，驱动臂和从动臂围绕相对于臂轴线倾斜的偏移旋转轴线旋转驱动，空心旋转轴由旋转轴旋转驱动电动机可旋转地布置在驱动臂或从动臂的臂的前端处，同时来自中空轴的转向力的转子构件被固定在另一个臂的底部，所述中空旋转体轴和所述转子构件构成高减速比的变速/转矩增加机构。控制方法是通过将末端执行器的操作区域划分为多个块来确定关节的操作，将移动到规定块所需的每个关节的操作条件转换为每个块的数据库形式，将规定块区域中的操作点的教导转换为数据库形式，并且基于块区域数据将轨道生成到操作区域的块; 并且当达到块的参考点时，获取块内工作点数据。

2. 发明授权

US5797105A Air active control aircraft using three dimensional true airspeed detection system 失效
标题翻译：空中主动控制飞机采用三维真空速度检测系统
公开(公告)号：US5797105A
公开(公告)日：1998-08-18
申请号：US975110
申请日：1997-11-20
申请人： Teruomi Nakaya , Osamu Okamoto , Naoaki Kuwano , Seizo Suzuki , Shuichi Sasa , Hidehiko Nakayasu , Masakazu Sagisaka
发明人： Teruomi Nakaya , Osamu Okamoto , Naoaki Kuwano , Seizo Suzuki , Shuichi Sasa , Hidehiko Nakayasu , Masakazu Sagisaka
IPC分类号： G01P5/16 , B64C13/18 , G01P5/165 , G01P13/02 , G05D1/06 , G05D1/08 , G05D1/10 , G06F165/00
CPC分类号： G01P5/165 , G01P13/025 , G05D1/0638 , G05D1/0816
摘要： An air active control aircraft having an air three-dimensional true airspeed detection system composed of an air data sensor probe in the form of a truncated pyramid-shape Pitot probe and an air flight velocity operation processor for calculating an air flight velocity vector from three-dimensional air pressure information detected by the air data sensor probe, airframe motion detection sensors for detecting an airframe motion, and an on-board control computer for generating a flight control law. The on-board control computer inputs an air flight velocity vector signal obtained from the air flight velocity vector device into a control-surface control system in parallel with airframe motion detection sensor signals, and presumes a flight motion induced by a change in air to generate the flight control law for quickly carrying out air flight stability control.
摘要翻译：一种具有空气三维真空速检测系统的空气动力控制飞机，其特征在于，包括以截锥形的皮托特探针形式的空气数据传感器探头和用于从三角锥形皮托探针的空中飞行速度矢量计算的空中飞行速度运算处理器，由空气数据传感器探测器检测的三维空气压力信息，用于检测机身运动的机身运动检测传感器，以及用于产生飞行控制定律的车载控制计算机。车载控制计算机将从空中飞行速度矢量装置获得的空中飞行速度矢量信号输入到与机身运动检测传感器信号并联的控制表面控制系统中，并且假定由空气变化引起的飞行运动产生飞行控制法快速执行飞行稳定性控制。

3. 发明授权

US5531957A Method for manufacturing a mounting object provided with a metallic heat-resistant two-dimensional fastener 失效
标题翻译：具有金属耐热二维紧固件的安装对象的制造方法
公开(公告)号：US5531957A
公开(公告)日：1996-07-02
申请号：US420587
申请日：1995-04-12
申请人： Osamu Okamoto , Teruomi Nakaya
发明人： Osamu Okamoto , Teruomi Nakaya
IPC分类号： B64C1/38 , B22F7/04 , B64C3/32 , B64G1/58 , B64G1/64 , C04B22/00 , C04B38/00 , C04B41/86 , C04B41/88 , E04B1/38 , F02C7/24 , F16B5/07
CPC分类号： B64G1/64 , B22F7/04 , B64G1/58 , B64G1/641 , Y10S24/43 , Y10S24/50 , Y10S24/51 , Y10S269/90 , Y10T24/2708 , Y10T24/2717 , Y10T24/2725 , Y10T24/2733 , Y10T24/2742 , Y10T24/4523 , Y10T24/45958 , Y10T428/12021 , Y10T428/24017
摘要： A mounting object comprises a combination of a mounting object body wherein engaging portions of fastener elements of a metallic heat-resistant two-dimensional fastener are projected outside from a mounting surface, and base portions are embedded and integrally molded, and a mating fastener element base object wherein mating fastener elements in detachably engagement with said fastener elements are projected and integrally molded. Said mounting object body is obtained as a heat-resistant material integral with a metallic two-dimensional fastener by covering and fixing part of the fastener elements of the metallic two-dimensional fastener with a carbon powder having a high melting temperature and covering bases thereof with a metallic powder, a ceramics powder or a mixed powder of them to mold and sinter it.
摘要翻译：安装对象包括安装对象体的组合，其中金属耐热二维紧固件的紧固件的接合部分从安装表面突出到外部，并且基部嵌入并整体模制，并且配合紧固件元件基部其中与所述紧固件元件可拆卸地接合的配合紧固件元件被突出并整体模制。通过用金属二维紧固件的紧固件的一部分覆盖和固定具有高熔点的碳粉末并将其基底覆盖在其上的所述安装物体作为与金属二维紧固件成一体的耐热材料而获得，金属粉末，陶瓷粉末或它们的混合粉末进行模塑和烧结。

4. 发明授权

US5005786A Docking and active damping device for space structures 失效
标题翻译：空间结构的对接和主动阻尼装置
公开(公告)号：US5005786A
公开(公告)日：1991-04-09
申请号：US402586
申请日：1989-09-05
申请人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Naoaki Kuwano , Yoshinori Sakai , Hiroshi Oda , Masao Uegusa , Goji Iba
发明人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Naoaki Kuwano , Yoshinori Sakai , Hiroshi Oda , Masao Uegusa , Goji Iba
IPC分类号： B64G1/38 , B64G1/64 , F16F15/02
CPC分类号： B64G1/646
摘要： A docking and active damping device for space structures is provided, in a docking portion of one space structure to be docked, with a positioning device in which an output rotor can be moved and rotated within a two-dimensional plane by a composite rotation of one or more eccentric rotors capable of being independently driven and controlled by a direct drive motor and the output rotor, and a docking member having a docking ring and a latch mechanism are supported on the output rotor of the positioning device. A probe having a capture device capable of being protruded and driven in an axial direction by a linear motion is provided inwardly of the docking member, and the probe provides a 4-freedom movement according to a position of the passive side to capture and dock a drogue. The docking ring is supported through a strain sensor, a vibration of the passive side structure is detected, and the docking member is moved in a direction of suppressing the vibration to promptly suppress the vibration caused by disturbances from the inside and outside of the space structures.
摘要翻译：在一个待对接的一个空间结构的对接部分中提供用于空间结构的对接和主动阻尼装置，其具有定位装置，在该定位装置中，输出转子可以在二维平面内通过复合旋转或更多的能够由直接驱动马达和输出转子独立驱动和控制的偏心转子，并且具有对接环和闩锁机构的对接构件被支撑在定位装置的输出转子上。具有能够通过线性运动在轴向方向突出并被驱动的捕获装置的探针设置在对接构件的内部，并且探针根据被动侧的位置来捕获和对准一个4自由度的运动流氓对接环通过应变传感器支撑，检测到被动侧结构的振动，并且对接构件沿抑制振动的方向移动，以迅速地抑制由空间结构的内部和外部的干扰引起的振动。

5. 发明授权

US06976401B2 Offset rotary joint unit equipped with rotation correction mechanism 失效
标题翻译：偏移旋转接头单元配有旋转校正机构
公开(公告)号：US06976401B2
公开(公告)日：2005-12-20
申请号：US10190538
申请日：2002-07-09
申请人： Osamu Okamoto , Teruomi Nakaya , Isao Yamaguchi , Seizo Suzuki , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki , Tadashi Kishimoto
发明人： Osamu Okamoto , Teruomi Nakaya , Isao Yamaguchi , Seizo Suzuki , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki , Tadashi Kishimoto
IPC分类号： B25J17/00 , B25J17/02 , B25J19/00 , B25J19/06 , B25J18/00
CPC分类号： B25J17/0291 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit 4 is composed of a first arm 1, a rotation correction arm 2 rotationally driven around the axial line of the first arm, and a second arm 3 rotationally driven around an axial line obliquely intersecting with the rotation correction arm. A rotation correction joint mechanism 5 linking the first arm 1 and the rotation correction arm 2 and an offset rotary joint mechanism 6 linking the rotation correction arm 2 and the second arm 3 are driven by a single motor 12, and the rotation correction joint mechanism 5 rotates synchronously and in the reverse direction, following the rotation of the offset rotary joint mechanism 6, thereby allowing the second arm 3 to execute a bending motion in a two-dimensional plane with respect to the first arm 1 only by virtue of rotary mechanisms.
摘要翻译：一种具有旋转校正机构的偏移旋转接头单元，其中只能通过旋转机构在二维平面中执行弯曲运动，并且可以支撑高负载重量并且适用于双臂机构如护理助理机器人。一个偏移旋转接头单元4由第一臂1，围绕第一臂的轴线旋转驱动的旋转校正臂2和与旋转校正臂倾斜相交的轴线旋转地驱动的第二臂3组成。连接第一臂1和旋转校正臂2的旋转校正关节机构5和连接旋转校正臂2和第二臂3的偏移旋转关节机构6由单个电动机12驱动，旋转校正关节机构5 在偏移旋转接头机构6的旋转之后，同步且相反方向旋转，从而允许第二臂3仅通过旋转机构相对于第一臂1在二维平面中执行弯曲运动。

6. 发明授权

US06922610B2 Robot having offset rotary joints 失效
标题翻译：机器人偏移旋转接头
公开(公告)号：US06922610B2
公开(公告)日：2005-07-26
申请号：US10424711
申请日：2003-04-29
申请人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Isao Yamaguchi , Heihachiro Kamimura , Kotaro Matsumoto , Sachiko Wakabayashi , Shuichi Sasa
发明人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Isao Yamaguchi , Heihachiro Kamimura , Kotaro Matsumoto , Sachiko Wakabayashi , Shuichi Sasa
IPC分类号： B25J5/00 , B25J9/06 , B25J13/08 , B25J17/02 , B62D57/028 , B64G1/16 , B64G1/62 , G06F19/00
CPC分类号： B62D57/028 , B25J9/06 , B25J17/025 , B64G1/16 , B64G1/62
摘要： A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. A robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.
摘要翻译：获得具有对于行星式着陆车辆，极限作战机器人等要求的各种功能的机器人，特别是提供一种用于机器人的腿部结构，其能够在翻倒时自身起床，便于起飞和着陆在不均匀地面，具有行走功能，具有能够进行三维操作的手功能。机器人包括主机器人体和安装在该主体上的至少三个腿，用于使主机器人体的三维运动，例如自立行动或行走动作; 每个腿由具有连接在一起的多个所述偏移旋转接头的多关节臂构成，并且具有安装在臂的前端的接地构件，使得每个腿能够独立控制三维运动，驾驶。

7. 发明授权

US06430475B2 Pressure-distribution sensor for controlling multi-jointed nursing robot 失效
标题翻译：用于控制多关节护理机器人的压力分布传感器
公开(公告)号：US06430475B2
公开(公告)日：2002-08-06
申请号：US09828988
申请日：2001-04-10
申请人： Osamu Okamoto , Teruomi Nakaya , Heihachiro Kamimura , Isao Yamaguchi , Seizo Suzuki , Kazuyoshi Yabuuchi , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki
发明人： Osamu Okamoto , Teruomi Nakaya , Heihachiro Kamimura , Isao Yamaguchi , Seizo Suzuki , Kazuyoshi Yabuuchi , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki
IPC分类号： G06F1900
CPC分类号： G01L5/228 , A61G12/00 , B25J9/0003 , B25J9/06 , B25J13/084 , G01L1/205
摘要： The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened. Moreover, after executing local processing, through the use of an encoder and pressure-sensitive sheet sensor provided in each of the joints, in addition to the information processing means, [this data] is sent to the CPU, whereby the central operation processing load is lightened.
摘要翻译：本发明提供了一种接触传感器，其能够确定具有圆柱形形状的每个关节单元的整个表面上的压力分布，其两端部以偏移角切割并构成机器人手臂。为了提供通过使用来自这些传感器的检测值来实现机器人手臂的实时驱动控制的技术，通过形成压敏片传感器，电极的交叉点分布在每个接头的整个表面上，其中排列成平行的列电极和以缠绕线形状布置的行电极组合在一起，这些接头具有两个端部以偏移角切割的圆柱形形状。此外，通过制造覆盖行和列的规定宽度的电极结构，信号输出端子的数量减少，操作处理负荷减轻。此外，在执行本地处理之后，通过使用设置在每个关节中的编码器和压敏片传感器，除了信息处理装置之外，将该数据发送到CPU，由此中央操作处理负载减轻了

8. 发明授权

US5756891A Verification method of a flight control system using a transportable wind tunnel 失效
标题翻译：使用可运输风洞的飞行控制系统的验证方法
公开(公告)号：US5756891A
公开(公告)日：1998-05-26
申请号：US751477
申请日：1996-11-18
申请人： Teruomi Nakaya , Osamu Okamoto , Naoaki Kuwano , Seizo Suzuki , Shuichi Sasa , Hidehiko Nakayasu , Masakazu Sagisaka
发明人： Teruomi Nakaya , Osamu Okamoto , Naoaki Kuwano , Seizo Suzuki , Shuichi Sasa , Hidehiko Nakayasu , Masakazu Sagisaka
IPC分类号： G09B9/00 , B64F5/00 , G01M9/02 , G01M9/06 , G05D1/08
CPC分类号： G01M9/065 , G01M9/06
摘要： A transportable three-dimensional calibration wind tunnel system consisting of a small wind tunnel portion for creating a three-dimensional airflow having a suitable wind velocity, and a two-axis rotational deformation device portion for causing the wind tunnel portion to effect a conical motion with a nozzle blow port being in close proximity to an apex to suitably change a flow angle. The two-axis rotational deformation device includes a .beta.-angle rotational deformation device having a .beta.-angle deformation base supported to be rotated horizontally, and an .alpha.-angle rotational deformation device having an .alpha.-angle deformation base supported to be rotated vertically. A rotational axis of the .alpha.-angle deformation base, a rotational axis of the .beta.-angle deformation base and a center axis of the small wind tunnel portion are arranged so that they intersect at a point. When verifying a flight control system of an aircraft using the transportable three-dimensional calibration wind tunnel system, the nozzle blow port of the three-dimensional calibration wind tunnel system is positioned at the extreme end of an air data sensor probe provided on the aircraft, and the three-dimensional calibration wind tunnel system and an on-board control computer of the aircraft are connected to an out-board control computer so that a suitable three-dimensional airflow is generated by the three-dimensional calibration wind tunnel system to verify the operation and function of the control surface in the stopped state on the ground.
摘要翻译：一种可移动的三维校准风洞系统，包括用于产生具有合适风速的三维气流的小风洞部分和用于使风洞部分进行圆锥运动的双轴旋转变形装置部分，喷嘴吹出口靠近顶点以适当地改变流动角度。双轴旋转变形装置包括具有被支撑为水平旋转的β角变形基体的β角转动变形装置，以及被支撑为垂直旋转的α角变形基体的α角旋转变形装置。 α角变形基底的旋转轴线，β角变形基底的旋转轴线和小风洞部分的中心轴线被布置成使得它们在一个点处相交。当使用可运输的三维校准风洞系统验证飞行器的飞行控制系统时，三维校准风洞系统的喷嘴吹出口位于设置在飞行器上的空气数据传感器探头的最末端，并将飞机的三维校准风洞系统和车载控制计算机连接到外板控制计算机，以便通过三维校准风洞系统产生合适的三维气流，以验证控制面在地面停止状态下的操作和功能。

9. 发明授权

US5501114A Three-dimensional free motion apparatus 失效
标题翻译：三维自由运动装置
公开(公告)号：US5501114A
公开(公告)日：1996-03-26
申请号：US191125
申请日：1994-02-03
申请人： Osamu Okamoto , Teruomi Nakaya
发明人： Osamu Okamoto , Teruomi Nakaya
IPC分类号： G09B9/00 , B64G7/00
CPC分类号： B64G7/00
摘要： A floating board is installed on a surface table through an extremely low friction plane sliding and supporting mechanism, such as using a gas bearing, of two-dimensional 3 freedom to thereby constitute a plane sliding mechanism portion, and a vertical sliding shaft tube supported to be enable translation in a vertical direction and connected to a balance belt for applying a balance weight is provided on the floating board through an extremely low friction vertical shaft sliding and supporting mechanism, such as a bas bearing, to thereby constitute a vertical shaft sliding mechanism portion. Further, a spherical shaft is installed above the vertical sliding shaft tube of the vertical shaft sliding mechanism portion through an extremely low friction 3-freedom rotational and supporting mechanism, such as using a gas bearing, to thereby constitute a 3-axis turning rotational mechanism portion, and a specimen model loading portion is provided on the spherical shaft to thereby obtain a three-dimensional free motion apparatus that can be applied to an agravic environment simulation experimental apparatus, an evaluation and test apparatus for a flexible-article handling work robot, and the like, in which as a whole, the 3-axis translation and the motion function of 3-axis turning 6-freedom can be secured in the extremely low friction state.
摘要翻译：通过诸如使用气体轴承的极低摩擦平面滑动和支撑机构来安装浮动板，其具有二维3自由度，从而构成平面滑动机构部分，以及垂直滑动轴管，其被支撑到通过极低摩擦的垂直轴滑动和支撑机构（诸如底座轴承）在浮动板上提供垂直方向的平移和连接到用于施加平衡重的平衡皮带，从而构成垂直轴滑动机构一部分。此外，通过诸如使用气体轴承的极低摩擦的3自由度的旋转和支撑机构，在立轴滑动机构部分的垂直滑动轴管上方安装球轴，由此构成3轴转动旋转机构部分，并且在球面轴上设置样本模型加载部，从而获得可应用于柔性物品处理作业机器人的恶劣环境模拟实验装置，评价和测试装置的三维自由运动装置，其中整体上可以在极低的摩擦状态下确保3轴转动6自由度的3轴平移和运动功能。

10. 发明授权

US5429875A Mounting object provided with a metallic heat-resistant two-dimensional fastener 失效
标题翻译：安装对象设有金属耐热二维紧固件
公开(公告)号：US5429875A
公开(公告)日：1995-07-04
申请号：US985660
申请日：1992-12-07
申请人： Osamu Okamoto , Teruomi Nakaya
发明人： Osamu Okamoto , Teruomi Nakaya
IPC分类号： B64C1/38 , B22F7/04 , B64C3/32 , B64G1/58 , B64G1/64 , C04B22/00 , C04B38/00 , C04B41/86 , C04B41/88 , E04B1/38 , F02C7/24 , F16B5/07 , B22F3/10 , B22F7/00
CPC分类号： B64G1/64 , B22F7/04 , B64G1/58 , B64G1/641 , Y10S24/43 , Y10S24/50 , Y10S24/51 , Y10S269/90 , Y10T24/2708 , Y10T24/2717 , Y10T24/2725 , Y10T24/2733 , Y10T24/2742 , Y10T24/4523 , Y10T24/45958 , Y10T428/12021 , Y10T428/24017
摘要： A mounting object comprises a combination of a body wherein elements of a metallic heat-resistant two-dimensional fastener in a mounting surface, and their engaging portions projecting therefrom have their base portions embedded and integrally molded, and a mating base object wherein integrally molded mating fastener elements project for detachable engagement with said fastener elements. The mounting object body is formed as a heat-resistant material integral with a metallic two-dimensional fastener by covering and fixing part of the fastener elements of the metallic two-dimensional fastener with a carbon powder having a high melting temperature and covering bases thereof with a metallic powder, a ceramics powder, or a mixture thereof which is molded and sintered.
摘要翻译：安装对象包括主体的组合，其中安装表面中的金属耐热二维紧固件的元件及其从其突出的接合部分具有嵌入并整体模制的基部，以及配合基体，其中整体模制配合紧固件元件伸出以与所述紧固件元件可拆卸地接合。通过用金属二维紧固件的紧固件的一部分覆盖和固定具有高熔点的碳粉末并将其基底覆盖在其上的方式，将安装物体形成为与金属二维紧固件成一体的耐热材料模制和烧结的金属粉末，陶瓷粉末或其混合物。

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