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公开(公告)号：EP2157441A1
公开(公告)日：2010-02-24
申请号：EP08765246.7
申请日：2008-06-06
Applicant: NHK Spring Co., Ltd.
Inventor： SHIGEMATSU, Ryohei , IMAMURA, Hiroshi , HIRATA, Takafumi
CPC classification number: G01S17/42 , G01S7/481 , G01S7/4817 , G02B26/10
Abstract: To provide an optical scanning sensor (1) which performs an object detection with high accuracy by suppressing the mutual interference between scanning light and reflection light, the optical scanning sensor (1) comprises a light projecting unit (2, 5) that projects light, an optical scanning actuator (3) that emits the light from the light projecting unit (2, 5) via a reflecting mirror (33) and performs scanning with the light emitted by causing the mirror (33) to swing, and a light receiving unit (4, 6) that receives, via the mirror (33), reflection light by an external object of scanning light emitted by the optical scanning actuator (3). The mirror (33) includes a first surface (33a) that reflects the light projected by the light projecting unit (2, 5) and emits the light reflected outward as the scanning light, and a second surface (33b) that is parallel to and discontinuous in a reflection area with the first surface (33a) and reflects and emits the reflection light to the light receiving unit (4, 6).
Abstract translation: 为了提供一种光学扫描传感器（1），其通过抑制扫描光和反射光之间的相互干扰而以高精度进行物体检测，所述光学扫描传感器（1）包括投光单元（2,5） 光学扫描致动器（3），其经由反射镜（33）发射来自所述投光单元（2,5）的光，并且通过使所述反射镜（33）摆动而发射的光进行扫描;以及光接收单元 （4），其经由所述反射镜（33）接收由所述光扫描致动器（3）发射的扫描光的外部物体的反射光。 反射镜（33）包括反射由投光单元（2,5）投影的光并将其向外反射的光作为扫描光的第一表面（33a）和与第二表面（33b）平行的第二表面 在具有第一表面（33a）的反射区域中不连续地反射并将反射光发射到光接收单元（4,6）。
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2.发明公开
公开(公告)号：EP2650561A1
公开(公告)日：2013-10-16
申请号：EP11847146.5
申请日：2011-12-08
Applicant: Nhk Spring Co., Ltd.
Inventor： HIRATA, Takafumi , SHIGEMATSU, Ryohei , FUJII, Takahiro
CPC classification number: F16H37/065 , B60N2/0296 , F16D3/06 , F16H55/06 , F16H55/20 , F16H2055/065 , Y10T74/19088 , Y10T74/19688
Abstract: To provide a multi-shaft driving device that aims for a lightening of weight and lowering of cost as compared with conventional structures. In a structure in which, when a movable shaft (40) is slidably installed at an output shaft (20) and advances toward an input-side bevel gear (14), an output-side bevel gear (50) of a distal end side of the movable shaft (40) meshes-together with the input-side bevel gear (14), and the movable shaft (40) rotates and rotation of this movable shaft (40) is transmitted to the output shaft (20), the movable shaft (40) and the output-side bevel gear (50) are molded integrally of resin, and the output shaft (20) also is formed of resin, and the movable shaft (40) is slidably exteriorly placed on an outer peripheral side of the output shaft (20).
Abstract translation: 提供一种多轴驱动装置，其与传统结构相比，重量轻，成本降低。 在可动轴（40）可滑动地安装在输出轴（20）上并向输入侧锥齿轮（14）前进的结构中，前端侧的输出侧锥齿轮（50） 所述可动轴（40）与所述输入侧锥齿轮（14）啮合，并且所述可动轴（40）旋转，并且所述可动轴（40）的旋转被传递到所述输出轴（20），所述可动轴 轴（40）和输出侧锥齿轮（50）由树脂一体地模制，输出轴（20）也由树脂形成，并且可动轴（40）可滑动地外部放置在 输出轴（20）。
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公开(公告)号：EP2154558A1
公开(公告)日：2010-02-17
申请号：EP08764917.4
申请日：2008-05-30
Applicant: NHK Spring Co., Ltd.
Inventor： SHIGEMATSU, Ryohei , IMAMURA, Hiroshi , HIRATA, Takafumi
CPC classification number: G02B26/105 , H02K41/0358 , H04N1/1135 , H04N2201/0246 , H04N2201/02477 , H04N2201/02495
Abstract: To provide an optical scanning actuator that is capable of realizing widening of a light scanning angle and is excellent in durability, the optical scanning actuator includes a movable unit that supports an optical element, a plurality of leaf springs having a thin plate shape with one end portion being fixed and another end portion being attached to the movable unit, and an electromagnetic driving unit including a magnet, a yoke laminated on the magnet to form a closed magnetic circuit together with the magnet, and a coil held by the movable unit. The coil is positioned in a gap between the magnet and the yoke such that opening plane of the coil is substantially orthogonal to a laminating direction of the magnet and the yoke. The movable unit is driven by an electromagnetic force applied to the coil.
Abstract translation: 为了提供一种能够实现光扫描角度的扩大并且耐久性优异的光学扫描致动器，所述光学扫描致动器包括：可移动单元，其支撑光学元件;多个板簧，其具有薄板形状，一端 所述电磁驱动单元包括磁体，层叠在所述磁体上以与所述磁体一起形成闭合磁路的磁轭，以及由所述可移动单元保持的线圈。 线圈位于磁体和磁轭之间的间隙中，使得线圈的开口平面基本垂直于磁体和磁轭的层叠方向。 可移动单元由施加到线圈的电磁力驱动。
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公开(公告)号：EP4183534A1
公开(公告)日：2023-05-24
申请号：EP21842209.5
申请日：2021-07-14
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA, Takafumi , HOTODA, Yuki , INABA, Masahiro
Abstract: Provided is a joint function unit which can suppress an unintended displacement of a movable-side member. This joint function unit 1, in which a movable part 13 is supported by a base part 11 so as to be displaceable in an axial direction thereof, comprises: a plurality of drive wires 19 each having one axial side which is a fixed part 27 fixed to the movable part 13 and the other axial side which is a supported part 29 supported by the base part 11; and an elastic body 21 which supports the supported part 29 of each of the plurality of drive wires 19 on the base part 11, biases the supported part 29 against the fixed part 27 in the axial direction, and applies tension to the drive wires 19.
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公开(公告)号：EP2650561B1
公开(公告)日：2015-08-19
申请号：EP11847146.5
申请日：2011-12-08
Applicant: NHK SPRING CO., LTD.
Inventor： HIRATA, Takafumi , SHIGEMATSU, Ryohei , FUJII, Takahiro
CPC classification number: F16H37/065 , B60N2/0296 , F16D3/06 , F16H55/06 , F16H55/20 , F16H2055/065 , Y10T74/19088 , Y10T74/19688
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Patent Agency Ranking
公开(公告)号：EP3838517A1
公开(公告)日：2021-06-23
申请号：EP19849797.6
申请日：2019-08-02
Applicant: NHK Spring Co., Ltd. , Riverfield Inc.
Inventor： HIRATA, Takafumi , KUROKAWA, Shimpei , HOTODA, Yuki , HARAGUCHI, Daisuke , SHINDO, Koki , TAKIKAWA, Kyohei
Abstract: Provided is an instrument for a surgical assistance robot, capable of ensuring sufficient flexibility and rigidity in an axial direction. The instrument 100 for a surgical assistance robot is provided with a joint function part 109 at an axial front end portion of a shaft 103 being a rod-shaped member extended from a main body 101, the joint function part configured to bend with respect to the axial direction of the shaft 103, thereby to enable an orientation of the end effector 105 to be changed, wherein a bending structure 107 that enables the joint function part 109 to be bent is provided with an outer coiled part 5 formed of a wire 5a wound in a coiled shape and an inner coiled part 7 formed of a wire 7a wound in a coiled shape and arranged in the outer coiled part 5, wherein the outer coiled part 5 has a plurality of gaps 5c to distance adjacent coils 5b, and coils 7b of the inner coiled part 7 are provided so as to correspond to the gaps 5c of the outer coiled part 5 and fit between the adjacent coils 5b while being in contact with the adjacent coils 5b of the outer coiled part 5.
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公开(公告)号：EP2682641A8
公开(公告)日：2014-03-12
申请号：EP12752273.8
申请日：2012-01-24
Applicant: Nhk Spring Co., Ltd.
Inventor： SHIGEMATSU, Ryohei , HIRATA, Takafumi , IINO, Shinji , NAKAYAMA, Soichi , NAKAMURA, Takeshi , ODA, Masahiro , KATSUBE, Kenichi
CPC classification number: F16H37/065 , B60N2/0296 , F16D2023/123 , F16D2125/28 , F16H1/222 , F16H3/22 , F16H19/04 , F16H21/28 , Y10T74/19019
Abstract: The present invention obtains a multi-shaft drive device that can protect a rack and pinion from operative load input to a selector. The multi-shaft drive device is provided with: an input-side bevel gear (52) to which motor power is transmitted; and an output-side bevel gear (34) that transmits the power transmitted from the input-side bevel gear (52) to a movable mechanism. The multi-shaft drive device is further provided with: a selector (10) that connects/disconnects the meshing of the output-side bevel gear (34) and the input-side bevel gear (52); and a rotating shaft (16) that causes the selector (10) to slide via a rack (18) and pinion (17). Furthermore, the angle of rotation of the rotating shaft (16) is regulated by the end of the pinion (17) contacting a vertical wall (1A) of a case (1).
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公开(公告)号：EP2682641A1
公开(公告)日：2014-01-08
申请号：EP12752273.8
申请日：2012-01-24
Applicant: Nhk Spring Co., Ltd.
Inventor： SHIGEMATSU, Ryohei , HIRATA, Takafumi , LINO, Shinji , NAKAYAMA, Soichi , NAKAMURA, Takeshi , ODA, Masahiro , KATSUBE, Kenichi
CPC classification number: F16H37/065 , B60N2/0296 , F16D2023/123 , F16D2125/28 , F16H1/222 , F16H3/22 , F16H19/04 , F16H21/28 , Y10T74/19019
Abstract: The present invention obtains a multi-shaft drive device that can protect a rack and pinion from operative load input to a selector. The multi-shaft drive device is provided with: an input-side bevel gear (52) to which motor power is transmitted; and an output-side bevel gear (34) that transmits the power transmitted from the input-side bevel gear (52) to a movable mechanism. The multi-shaft drive device is further provided with: a selector (10) that connects/disconnects the meshing of the output-side bevel gear (34) and the input-side bevel gear (52); and a rotating shaft (16) that causes the selector (10) to slide via a rack (18) and pinion (17). Furthermore, the angle of rotation of the rotating shaft (16) is regulated by the end of the pinion (17) contacting a vertical wall (1A) of a case (1).
Abstract translation: 本发明获得了一种多轴驱动装置，该多轴驱动装置可以保护齿条和小齿轮免于输入到选择器的操作负载。 多轴驱动装置具有：输入侧锥齿轮（52），马达动力被传递到该输入侧锥齿轮; 以及将从输入侧锥齿轮（52）传递的动力传递给可动机构的输出侧锥齿轮（34）。 多轴驱动装置还具有：选择器（10），其使输出侧锥齿轮（34）和输入侧锥齿轮（52）的啮合连接/断开; 和使选择器（10）经由齿条（18）和小齿轮（17）滑动的旋转轴（16）。 此外，旋转轴（16）的旋转角度由小齿轮（17）的与壳体（1）的垂直壁（1A）接触的端部限制。
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公开(公告)号：EP3954510A1
公开(公告)日：2022-02-16
申请号：EP20786994.2
申请日：2020-04-10
Applicant: NHK Spring Co., Ltd.
Inventor： OTSUKA, Motoyuki , HIRATA, Takafumi , KUROKAWA, Shimpei , NAKAYAMA, Soichi , INABA, Masahiro
Abstract: Provided is a flexible member that is capable of exhibiting excellent withstand load and bendability while achieving a reduction in size. This flexible member 1 is provided with: a body part 19 which has a plurality of wave washers 23 stacked in the axial direction and bonded together with each other, and which can be bent with respect to the axial direction by elastic deformation of the wave washers 23; and elastically-deformable linking members 21a, 21b that are provided to respective ends of the body part 19 and that are linked to a base part 15 and a moveable part 17, respectively, wherein when the body part 19 is being bent, the linking member 21a exhibits a deformation amount less than that of the wave washers 23.
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公开(公告)号：EP2682642A1
公开(公告)日：2014-01-08
申请号：EP12752971.7
申请日：2012-01-26
Applicant: Nhk Spring Co., Ltd.
Inventor： SHIGEMATSU, Ryohei , HIRATA, Takafumi , FUJII, Takahiro , NAKAJIMA, Kiyoshi , IINO, Shinji , NAKAYAMA, Soichi
CPC classification number: F16H37/065 , B60N2/0296 , F16H63/304 , F16H2063/3056 , Y10T74/19019
Abstract: A multi-shaft drive device is provided that is capable of obtaining an appropriate backlash in an enmeshed state of an output side bevel gear and an input side bevel gear. An output side bevel gear (35) that is biased in the direction of an input side bevel gear by a coil spring contacts a shaft support bush attached to a wall portion (17) in an enmeshed state with the input side bevel gear. A bias direction stroke end of the output side bevel gear (35) is accordingly restricted. Moreover, the wall portion (17) is provided to a gear holder (15) fixed to a device case (10) that supports the input side bevel gear, thereby enabling the axial direction position of the output side bevel gear (35) to always be positioned at a uniform position to enmesh appropriately with the input side bevel gear.
Abstract translation: 提供了一种多轴驱动装置，其能够在输出侧锥齿轮和输入侧锥齿轮啮合状态下获得适当的游隙。 通过螺旋弹簧向输入侧锥齿轮方向施力的输出侧锥齿轮（35）与输入侧锥齿轮啮合状态下的安装在壁部（17）上的轴支承衬套接触。 输出侧锥齿轮（35）的偏压方向行程端因此受到限制。 另外，通过在固定于支承输入侧锥齿轮的装置壳体（10）的齿轮支架（15）上设置壁部（17），能够始终使输出侧锥齿轮（35）的轴向位置 定位在与输入侧锥齿轮适当啮合的均匀位置。
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