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    • 4. 发明申请
    • MULTIPLE-JOINT INDUSTRIAL ROBOT
    • 多联合工业机器人
    • US20140102240A1
    • 2014-04-17
    • US14117579
    • 2012-04-02
    • Takahiro InadaShinji KitamuraMasato Yamamoto
    • Takahiro InadaShinji KitamuraMasato Yamamoto
    • B25J17/02
    • B25J17/0283B25J19/0029Y10S901/29Y10T74/20311
    • A wrist portion of a robot includes: a first movable portion configured to rotate relative to an arm portion around a first wrist axis; a second movable portion configured to rotate relative to the first movable portion around a second wrist axis; a third movable portion configured to rotate relative to the second movable portion around a third wrist axis; and a cable insertion portion through which an effector cable is inserted, the effector cable being used to supply electric power to an end effector attached to the third movable portion. The cable insertion portion is provided at the first movable portion so as to be located on the first wrist axis. Two motors among a plurality of motors configured to drive the wrist portion are attached to the first movable portion so as to sandwich the cable insertion portion in a direction perpendicular to the first wrist axis.
    • 机器人的手腕部包括:第一可动部,其构造成相对于围绕第一腕轴的臂部旋转; 第二可移动部分,其构造成围绕第二手腕轴线相对于第一可移动部分旋转; 第三可移动部分,其构造成围绕第三手腕轴线相对于第二可动部分旋转; 以及电缆插入部分,通过所述电缆插入部分插入效应器电缆,所述效应器电缆用于向连接到所述第三可移动部分的末端执行器提供电力。 电缆插入部设置在第一可动部上,以位于第一腕轴上。 配置成驱动腕部的多个电动机中的两个电动机被安装在第一可动部上,以便将电缆插入部分沿垂直于第一腕轴的方向夹持。
    • 5. 发明授权
    • Electric power steering apparatus
    • 电动助力转向装置
    • US07341125B2
    • 2008-03-11
    • US11180731
    • 2005-07-14
    • Masato Yamamoto
    • Masato Yamamoto
    • B62D5/04
    • B62D5/0484
    • The invention provides an electric power steering apparatus which can improve a steering feeling. In the electric power steering apparatus, in the case that once the electric abnormality is generated in the hardware such as the motor, the torque sensor or the like and an output of the assist force by the motor is reduced, however, the electric abnormality is thereafter dissolved due to some kind or another reason, the output of the assist force by the motor is increased immediately to an intermediate target value (within a broken line α). Accordingly, it is possible to prevent such a steering feeling as the steering wheel becomes suddenly heavy. Further, since the output of the assist force is gradually increased to a reset target value (within a broken line β) after the output of the assist force by the motor is increased to the intermediate target value, it is possible to prevent such a steering feeling as the steering wheel becomes suddenly light on the basis of the thereafter increase of the assist force even if the steering wheel becomes heavy to some extent. Accordingly, it is possible to smoothly change to the assist at a normal time from the assist at an abnormal time while preventing the steering ineffective feeling, and it is possible to improve the steering feeling.
    • 本发明提供一种能够提高转向感的电动助力转向装置。 在电动助力转向装置中,在电动机,扭矩传感器等的硬件中产生电动异常和电动机的辅助力的输出一旦减少的情况下,电气异常是 此后由于某种或其他原因而溶解,马达的辅助力的输出立即增加到中间目标值(在虚线α内)。 因此,可以防止方向盘突然变重的转向感觉。 此外,由于在马达的辅助力的输出增加到中间目标值之后,辅助力的输出逐渐增加到复位目标值(在虚线β内),所以可以防止这种转向 即使方向盘在一定程度上变重的情况下,随着辅助力的增加也随着方向盘突然变亮。 因此,能够在防止转向无效感的同时在异常时的辅助下正常地顺利地变更为助力,能够提高转向感。
    • 10. 发明授权
    • Back-cover release device for a camera
    • 相机后盖释放装置
    • US4887114A
    • 1989-12-12
    • US320660
    • 1989-03-08
    • Masato YamamotoMasahiro NakajimaToshimasa Yamanaka
    • Masato YamamotoMasahiro NakajimaToshimasa Yamanaka
    • G03B17/02
    • G03B17/02G03B2217/268
    • A release device for unlocking the back-cover of a camera includes a back-cover lock member urged in a direction to lock the back-cover, an operating lever pivotally disposed along a side of the camera and operable externally of the camera so as to be angularly displaced therefrom and an interlocking plate for interlocking the operating lever with the back-cover lock member. The operating lever is engageable with the interlocking plate after the operating lever is angularly rotated through a predetermined preliminary angle in an opening direction from a position where the operating lever is disposed along the camera body so as to displace the interlocking plate and to correspondingly displace the lock member to thereby unlock the back-cover. The interlocking plate is interlocked with a film rewind shaft so as to move the film rewind shaft in a direction to disengage the shaft from a film cartridge in accordance with the movement of the back-cover lock member to its unlocked position when the operating lever has been rotated beyond the predetermined preliminary angle.
    • 用于解锁相机的后盖的释放装置包括沿着锁定后盖的方向被推动的后盖锁定构件,沿着照相机的侧面可枢转地设置的操作杆,并且可在照相机的外部操作,以便 与其成角度地移位,以及互锁板,用于将操作杆与后盖锁定构件互锁。 操作杆在操作杆沿着照相机主体沿着打开方向从预定的预定角度旋转预定的预定角度以使操作杆沿着照相机主体设置,以便使互锁板移位并相应地使 锁定构件,从而解锁后盖。 互锁板与胶片重绕轴互锁,以便当操作杆具有的位置时,根据后盖锁定构件的移动到其未锁定位置,使胶片倒带轴沿着从轴与胶片暗盒脱离的方向移动 旋转超过预定的预备角度。