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公开(公告)号：JPH10225881A
公开(公告)日：1998-08-25
申请号：JP4493897
申请日：1997-02-14
Applicant: NAT AEROSPACE LAB
Inventor： OKAMOTO OSAMU , NAKATANI TERUOMI
Abstract: PROBLEM TO BE SOLVED: To provide an articulated robot, and a joint mechanism for that in which motion of a large freedom degree can be obtained by combination of joints each having a rotation mechanism only, in which weight reduction and high power of the joints can be achieved, in which payload to self-weight is large, and in which multi-stage articulation, a large moving range, and complicated and precise motion can be achieved. SOLUTION: A rotation control frame provided with a coreless electric direct drive motor on an inclined surface to a link axial line is provided between a driving side link and a driven side link to compose an offset rotary joint 5 having an offset rotation axial line OA in which the driven side link is inclined to a link axial line LA, and the offset rotary joints are provided in plural stages between a robot main body 3 and an end effector 4, thereby precise three-dimensional positioning of the end effector 4 can be performed by composite motion of the offset rotary joints 5.
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公开(公告)号：JPH0633919A
公开(公告)日：1994-02-08
申请号：JP20946692
申请日：1992-07-15
Applicant: NAT AEROSPACE LAB
Inventor： NAKATANI TERUOMI , OKAMOTO OSAMU
IPC: B64C1/38 , B22F7/04 , B64C3/32 , B64G1/58 , B64G1/64 , C04B22/00 , C04B38/00 , C04B41/86 , C04B41/88 , E04B1/38 , F02C7/24 , F16B5/07
Abstract: PURPOSE:To provide a heat resistant mounting body which is provided with an integrated metallic heat resistant two dimensional fastener and can be mounted in a removable manner. CONSTITUTION:A part of a fastener element 5 of a metallic two dimensional fastener is covered by carbon powder with high melting point and fixed, and in addition, the base part is covered by the metallic powder, ceramics powder or its mixed powder, and the formation and sintering thereof provides a heat resistant plate 1 (heat resistant tile) where the metallic two dimensional fastener is integrated. Similarly, a fastener element base body 10 to be fastened which is mounted on an aircraft body base plate 15 where the fastener element to be fastened is integrated is provided. Thus, the heat resistant mounting body can be mounted on the mounting surface of a structure in a removable manner, the relative fine displacement is possible, and no cracking or separation is generated even when the thermal expansion strain and vibrations may be generated.
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3.发明专利
公开(公告)号：JPS6392242A
公开(公告)日：1988-04-22
申请号：JP23670186
申请日：1986-10-02
Applicant: NAT AEROSPACE LAB
Inventor： NAKATANI TERUOMI , HAYASHI YOSHIO , SUZUKI SEIZO
IPC: H02K15/16 , B23Q1/54 , B25J9/10 , B25J9/14 , F16C23/10 , G05D3/00 , H01L21/00 , H01L41/09 , H02K7/075
Abstract: PURPOSE:To enable an output shaft to be moved at three degrees of freedom and accomplish the positioning of a translational position and a rotational position at the same time, by combining a complex eccentric shaft rotor and an output shaft rotor with each other. CONSTITUTION:A motor-operated direct driving positioning apparatus is composed of a bearing base cylinder A, an external eccentric shaft rotor B, an internal eccentric shaft rotor C, and an output shaft rotor D. The external eccentric shaft rotor B and the internal eccentric shaft rotor C are independently rotated by a motor rotational-driving mechanism section, and by the combined rotational motion of the eccentric shaft rotors B and C, the translational motion of the output shaft rotor D inserted into the internal wall of the cylinder of the internal eccentric shaft rotor C is performed at two degrees of freedom on a level at the right angle to the shaft.
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公开(公告)号：JPS6371629A
公开(公告)日：1988-04-01
申请号：JP21552886
申请日：1986-09-12
Applicant: NAT AEROSPACE LAB
Inventor： NAKATANI TERUOMI , HAYASHI YOSHIO , SUZUKI SEIZO
Abstract: PURPOSE:To reduce the weight of a model, to accurately separate the variation component of air force, and to obtain data on flight performance by disconnecting weight bodies of in-model high-pressure air supply piping, a pusher, a scale, and a model deformation mechanism part from a light airframe main body and providing them at specific positions of a rocking base plate. CONSTITUTION:The dynamic part in an air channel is divided roughly into the model main body A and a rocking device B. The model main body A consists of the airframe main body 1 and the rocking base plate 2 which supports the heavy bodies such as the airframe main body and the pushed, etc., and the rocking base 2 is supported on the rocking device B through a flexible joint, etc. The rocking base plate 2 is provided with a simulated jet turbine engine 3 through the air supply piping 5 and the model deformation mechanism part 4 and scale 6 are further fixed on the base plate 2. An internal frame 11 where the rocking base plate 2 is fitted is recessed in the airframe main body 1 and various small-sized, lightweight active controllers are provided at specific positions. The rocking device B consists of an alpha setting mechanism part 12 and alpha beta setting mechanism 13 for setting an elevation angle alpha and a yawing angle beta, front support piping 14, and rear support 15. Consequently, the variation component of air force regarding flight characteristics is accurately separated.
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公开(公告)号：JPS62252619A
公开(公告)日：1987-11-04
申请号：JP9421386
申请日：1986-04-23
Applicant: NAT AEROSPACE LAB
Inventor： ISHIDA YOJI , NAKATANI TERUOMI
Abstract: PURPOSE:To mass-produce products and to improve the product accuracy by plating a plate body provided wit the numerous grooves or holes larger than a prescribed size at prescribed positions and contracting the grooves or holes to the prescribed size. CONSTITUTION:Grooves 2 or holes 3 somewhat larger than a required size are made on a plate body 1. Then, the plate body 1 is roughly formed in accordance with its applications and deformations of the grooves or holes due to the above forming are corrected. Further, the hole diameter or slot width is made to be smaller up to a prescribed size by repeated plating. In that method, small holes or narrow slots are mass-produced.
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Patent Agency Ranking
公开(公告)号：JPH0361834A
公开(公告)日：1991-03-18
申请号：JP19659889
申请日：1989-07-31
Applicant: NAT AEROSPACE LAB , KAWASAKI HEAVY IND LTD
Inventor： OKAMOTO OSAMU , TADA YASUO , NAKATANI TERUOMI , SUZUKI SEIZO , SAKAI YOSHINORI , NIWA SENJI
Abstract: PURPOSE:To make it possible to impart an arbitrary nonlinear repeating load on various kinds of raw materials and primary-structure materials constantly by constituting a load actuator with a composite eccentric type direct motor- driven positioner which has a stage characterized by four degrees of freedom so that the driving can be controlled. CONSTITUTION:An output shaft is positioned at an original point. Under this state, a test piece 50 is inserted into an upper tightening device 5 and fixed. The lower end is fixed to a tightening device which is linked to a stage 31 through a universal joint 10. At this time, the output shaft 30 can be freely moved up and down. At this time, a signal for the precession of the output shaft is inputted into a composite eccentric type direct motor-driven positioner which is a load actuator. Then the output shaft performs twisting rotation thetaZ around the axis based on an output signal and also performs circular motion at a specified radius and at a specified speed within a two-dimensional plane. The motion close to the specified precession is repeatedly loaded on the test piece 50. During this period, six components of force acting on the device 5 are detected with a load cell 7.
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公开(公告)号：JPS5830673A
公开(公告)日：1983-02-23
申请号：JP12926481
申请日：1981-08-18
Applicant: NAT AEROSPACE LAB
Inventor： NAKATANI TERUOMI , HAYASHI YOSHIO
Abstract: PURPOSE:To measure the flow rate vectors of detection pressure and the static pressure at the same time by arranging a total pressure tube at the tip of a pyramidal trapesoid shaped Pitot tube type probe and also pressure hole on the pyramidal faces. CONSTITUTION:The tip end of a probe is formed by grinding a rod member at 45 deg. with respect to its axis 1 and the tip is provided with a shielding total pressure tube section (a) and each of the pyramidal faces with pressure holes 2a-2c. The total pressure section has a total pressure tube 3 positioned at a length L towards inside of a shielding hole 7 with diameter D, and the rod member is provided with partial flow holes 8a-8c which leak part of the pressure in the shielding hole. By means of the pressure tube 3' connected to the total pressure tube and the pressure tubes 4a-4c conncted to the pressure holes 2a-2c their pressure PH of the total pressure tube and the respective pressures P1-P3 of the pressure holes 2a-2c are measured, and flow rate vectors and static pressure are sought from the pressure PH and pressure differences PH-P1, PH-P2 and PH-P3.
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公开(公告)号：JP2001287189A
公开(公告)日：2001-10-16
申请号：JP2000108346
申请日：2000-04-10
Applicant: NAT AEROSPACE LAB
Inventor： OKAMOTO OSAMU , NAKATANI TERUOMI , KAMIMURA HEIHACHIRO , YAMAGUCHI ISAO , SUZUKI SEIZO , YABUUCHI NORIYOSHI , UENO JUNICHI , USUI YASUKI , NAGANO HIROAKI , RENBUTSU KATSUHIKO , ISAKI MITSUHARU
IPC: B25J19/02 , A61G12/00 , B25J5/00 , B25J9/00 , B25J9/06 , B25J9/22 , B25J13/08 , G01L1/20 , G01L5/00 , G01L5/22
Abstract: PROBLEM TO BE SOLVED: To provide a contact sensor that can measure the distribution of pressures throughout the surface of each joint unit forming a robot arm and having cylindrical shapes cut with an offset angle at both ends, and provide a technology that can control the driving of the robot arm on a real-time basis with detection values from the sensor. SOLUTION: A pressure-sensitive sheet sensor comprising a combination of row electrodes arranged parallel and column electrodes arranged in a bobbin form distributes the electrode nodes throughout the surface of each joint having cylindrical shapes cut with an offset angle at both ends. An electrode structure covering given widths along the columns and rows decreases the number of output signal terminals to thus lessen the burden of arithmetic processing. The pressure-sensitive sheet sensor, an encoder and an information processing means disposed for each joint execute local processing before sending the results to a CPU to thus lessen the burden of central arithmetic processing.
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公开(公告)号：JPH10332728A
公开(公告)日：1998-12-18
申请号：JP15930097
申请日：1997-06-03
Applicant: NAT AEROSPACE LAB
Inventor： NAKATANI TERUOMI , KUWANO NAOAKI , NAKAMURA MASATAKE , HANZAWA ASAO
Abstract: PROBLEM TO BE SOLVED: To enable acquisition of flying speed vectors with high accuracy and high speed even for flying in a wide speed range from low speed to supersonic speed and at a high attitude angle. SOLUTION: From five pieces of information detected by a truncated quadrangular pyramid type 5-holed probe 1, an elevation angle pressure coefficient Cα of air flow, an angle of side-slip pressure coefficient Cβ and an angle-to- airflow pressure coefficient Cγ are obtained, an arithmetic processing expression made of polynominal approximate expressions is constituted with these pressure coefficients and each pressure calibration coefficient according to Mach number M, an elevation angle α, and an angle of side-slip β of the above probe 1 per each speed range that a wide speed range stored in an arithmetic processor in advance is divided into a plurality, and the above pressure calibration coefficient in the speed range is called so as to calculate the flying speed vectors (M, α and β) with the above polynominal approximate expression.
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公开(公告)号：JPH0796900A
公开(公告)日：1995-04-11
申请号：JP26313893
申请日：1993-09-28
Applicant: NAT AEROSPACE LAB
Inventor： OKAMOTO OSAMU , NAKATANI TERUOMI
Abstract: PURPOSE:To provide a three-dimensional free-motion device which can perform three-dimensional six freedom free-motion obtained by the combined operation of an ultra-low frictional support mechanism, and which can be applied to an agravic circumstance simulating and testing device, an evaluating test device for a working robot for handling a soft material, or the like. CONSTITUTION:A planar slide mechanism 3 gives for a floating bed 2, three freedom motions, that is biaxial translating motions on an X-Y plane, and an axial rotary motion, and a slide shaft cylinder 22 of a vertical axial slide mechanism part 4 can ensure a one-freedom motion which is a one-axial translating motion in the Z-axial direction under an ultralow frictional condition. Further, a three-axial rotary mechanism part 5 can ensure rotary motion around three axes for a sample model installing part 6 under an ultralow frictional condition. Accordingly, six-freedom motions, that is, three-axial translating motions and rotary motions around three axes can be ensured under an ultralow frictional condition, as a whole.
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