公开(公告)号：US4401325A

公开(公告)日：1983-08-30

申请号：US251842

申请日：1981-04-08

申请人： Kazuo Tsuchiya ,  Hirotsugu Masuda ,  Yuji Sakaguchi

发明人： Kazuo Tsuchiya ,  Hirotsugu Masuda ,  Yuji Sakaguchi

IPC分类号： F16L27/10 ,  F16L27/113

CPC分类号： F16L27/113 ,  Y10S285/915

摘要： A flexible pipe coupling is disclosed. This coupling comprises a large diameter cylindrical hollow body, a pair of small diameter cylindrical hollow bodies each having one end portion disposed inside each end of the large diameter cylindrical hollow body on the same axial line, and an elastic sleeve member for connecting each end of the large diameter cylindrical hollow body to one end of each of the small diameter cylindrical hollow bodies. The elastic sleeve member is provided at its both ends adjacent to the cylindrical hollow bodies with protrusions each extending outwardly in the widthwise direction of the sleeve member at a radius of curvature corresponding to 0.1.about.0.4 times the thickness of the sleeve member, whereby the durability of the coupling is further improved.

摘要翻译： 公开了一种柔性管接头。 该联接器包括大直径的圆柱形中空体，一对小直径的圆柱形中空体，每个小直径的圆柱形中空体的一端部设置在同一轴线上的大直径圆柱形中空体的每个端部的内侧，弹性套筒部件用于连接 大直径圆柱形中空体到每个小直径圆柱形中空体的一端。 弹性套筒构件在其两端附近设置有圆柱形中空体，其突出部沿着套筒构件的宽度方向向外延伸，其曲率半径对应于套筒构件的厚度的0.1倍，从而耐久性 的耦合进一步提高。

公开(公告)号：US4782860A

公开(公告)日：1988-11-08

申请号：US99969

申请日：1987-09-23

申请人： Yuji Sakaguchi ,  Takeo Takagi ,  Yoshinori Imamura

发明人： Yuji Sakaguchi ,  Takeo Takagi ,  Yoshinori Imamura

IPC分类号： F16K31/06 ,  F15B13/044

CPC分类号： F16K31/0651 ,  F16K31/0662 ,  Y10T137/87217

摘要： A magnet for control valve includes a housing having an inlet and an outlet for a pressurized fluid, a valve seat member having a conical inner surface valve seat, a spherical valve body adapted to be in line contact with the valve seat, a throttle adjusting plate made of a magnetic material shiftable toward and away from the valve seat, and an electromagnet for attracting and releasing the throttle adjusting plate to shift the valve body toward and away from the valve seat. According to the invention a sheet, preferably made of urethane foam is arranged on a side of the throttle adjusting plate opposite to the valve body, thereby eliminating noise caused by self-oscillation of the valve body and throttle adjusting plate, while maintaining high responsibility as a magnetic control valve.

摘要翻译： 一种用于控制阀的磁体包括具有用于加压流体的入口和出口的壳体，具有锥形内表面阀座的阀座构件，适于与阀座线接触的球形阀体，节气门调节板 由能够朝向和远离阀座移动的磁性材料制成，以及用于吸引和释放节气门调节板的电磁体，以使阀体朝向和远离阀座移动。 根据本发明，优选由聚氨酯泡沫制成的片材布置在节气门调节板的与阀体相对的一侧上，从而消除由于阀体和节气门调节板的自振而引起的噪音，同时保持高度责任 磁力控制阀。

公开(公告)号：US4689538A

公开(公告)日：1987-08-25

申请号：US906059

申请日：1986-09-11

申请人： Yuji Sakaguchi ,  Tatuo Terahama

发明人： Yuji Sakaguchi ,  Tatuo Terahama

IPC分类号： B25J9/16 ,  B25J9/04 ,  B25J9/14 ,  B25J13/08 ,  B25J18/02 ,  B25J19/00 ,  F15B15/10 ,  G05B19/18 ,  G05B19/19 ,  G05B19/42

CPC分类号： B25J9/142 ,  B25J18/02 ,  B25J9/046 ,  F15B15/103

摘要： A driving device having tactility includes at least one set of two elastic extensible and contractible bodies having one ends connected to a stationary portion of the device and the other ends connected to a driven member driven by contractive force in axial directions of said elastic bodies caused by expanded diameters by introducing pressurized fluid into the elastic bodies. The driving device comprises detecting means for detecting movements of said driven member, valve means for supplying and exhausting the pressurized fluid into and out of the respective elastic bodies, positioning means for actuating the valve means in response to output signals from the detecting means to position the driven member in predetermined positions, and control means for comparing output signals from the detecting means produced by external actions on the driven member positioned in at least one predetermined position with a reference level to control the positioning means. The driving device can perceive external actions acting on the overall device without requiring any separate tactile sensor.

摘要翻译： 具有触觉性的驱动装置包括至少一组两个弹性伸缩体，其一端连接到装置的固定部分，另一端连接到由所述弹性体的轴向上的收缩力驱动的从动构件，该驱动构件由 通过将加压流体引入到弹性体中来扩大直径。 驱动装置包括用于检测所述从动构件的运动的检测装置，用于将加压流体供给和排出各个弹性体的阀装置，用于响应于来自检测装置的位置的输出信号致动阀装置的定位装置 所述从动构件在预定位置，以及控制装置，用于将位于至少一个预定位置的从动构件上的由外部动作产生的检测装置的输出信号与参考水平进行比较，以控制定位装置。 驱动装置可以感知作用在整个装置上的外部动作，而不需要任何单独的触觉传感器。

公开(公告)号：US4615260A

公开(公告)日：1986-10-07

申请号：US603819

申请日：1984-04-25

申请人： Takeo Takagi ,  Yuji Sakaguchi

发明人： Takeo Takagi ,  Yuji Sakaguchi

IPC分类号： B25J9/14 ,  B25J17/02 ,  F15B15/10 ,  F16J3/00

CPC分类号： B25J9/142 ,  B25J17/0266 ,  B25J17/0275 ,  F15B15/103

摘要： A pneumatic actuator includes an elastic tubular body, closure members sealingly closing its ends and a braided structure made of braided cords reinforcing the tubular body. The braided structure is expanded in its radial direction and simultaneously contracted in its axial direction together with the tubular body when pressurized fluid is supplied into the tubular body. According to the invention the braided cords of the braided structure comprises monofilaments each having a smoothly rounded outer surface of a large radius of curvature. A protective layer may be provided between the tubular body and the braided structure or a filler such as an incompressible fluid substance having no constant shape is provided in the tubular body, or diameters of both ends of the braided structure and braided angles at both the ends are made larger than those at a substantially mid portion of the braided structure. The actuator according to the invention decreases damage of the tubular body to elongate its service life and exhibits an improved contacting performance and high fatigue strength and can greatly save air consumption to eliminate the disadvantage of much air consumption of the air-bag type actuator without adversely affecting its advantages.

摘要翻译： 气动致动器包括弹性管状体，封闭构件密封地封闭其端部以及由编织绳制成的编织结构，其加强了管状体。 编织结构在其径向方向上膨胀，并且当将加压流体供应到管状体中时，与管状体一起在其轴向方向上收缩。 根据本发明，编织结构的编织线包括单丝，每根单丝具有曲率半径较大的圆滑的外表面。 可以在管体和编织结构之间设置保护层，或者在管状体中设置诸如不规则形状的不可压缩流体物质的填充物，或者编织结构的两端的直径和两端的编织角度 被制成大于在编织结构的基本上中部的那些。 根据本发明的致动器减小了管状体的损坏以延长其使用寿命，并且具有改善的接触性能和高疲劳强度，并且可以大大节省空气消耗，以消除气囊型致动器的空气消耗大的缺点，而不会有不利影响 影响其优势。

公开(公告)号：US4860639A

公开(公告)日：1989-08-29

申请号：US180724

申请日：1988-04-04

申请人： Yuji Sakaguchi

发明人： Yuji Sakaguchi

IPC分类号： F15B15/10 ,  F15B15/28

CPC分类号： F15B15/103 ,  F15B15/2846

摘要： A pneumatic actuator includes a tubular body made of a rubber-like elastic material and a braided structure made of organic or inorganic high-tensile-strength fibers reinforcing an outside of the tubular body. Closure members sealingly close ends of the tubular body; at least one of the closure members has a fluid connecting passage. The tubular body deforms to expand its diameter when pressurized fluid is introduced through the connecting passage to cause contractive force in the longitudinal direction. Contraction-detecting strain gauges at one closure member provide signals corresponding to the contractive force of the actuator.

摘要翻译： 气动致动器包括由橡胶状弹性材料制成的管状体和由有机或无机高强度纤维制成的编织结构，其加强在管状体外部。 封闭构件密封地封闭管状体的端部; 封闭构件中的至少一个具有流体连接通道。 当加压流体通过连接通道引入时，管状体变形以扩大其直径，从而在纵向上产生收缩力。 在一个闭合构件处的收缩检测应变计提供与致动器的收缩力相对应的信号。

公开(公告)号：US4664232A

公开(公告)日：1987-05-12

申请号：US706417

申请日：1985-02-27

申请人： Takeo Takagi ,  Yuji Sakaguchi ,  Yoshinori Imamura

发明人： Takeo Takagi ,  Yuji Sakaguchi ,  Yoshinori Imamura

IPC分类号： B25J9/10 ,  B25J9/14 ,  B25J19/00 ,  F15B15/10 ,  F15B15/26 ,  F16D49/00 ,  F16D55/32 ,  F16D65/02 ,  F16J3/00

CPC分类号： B25J9/104 ,  B25J19/0004 ,  B25J9/142 ,  F15B15/103 ,  F15B15/262 ,  F16D49/00 ,  F16D55/32 ,  F16D2065/024

摘要： A brake device for use in an arm of a robot or manipulator cmprises a brake drum, a lever pivotally supported at its intermediate portion, a brake shoe provided on the lever between its pivotally supported point and its one end, a pneumatic actuator axially contractible upon applying internal pressure thereinto and having a movable end connected to the one end or the other end of the lever, and a spring connected to one end of the lever not connected to the actuator so as to operate to elongate the actuator. This brake device is remarkably small-sized and of light-weight and consumes only small amount of fluid pressure to contribute economy of energy in comparison with prior art brake devices. The brake device according to the invention is applicable to a robot arm comprising a rotating member connected to the brake drum so as to rotate together, and two elastic actuators whose one ends are connected to a stationary member and the other are connected to each other through the rotating member in a manner to rotate the rotating member by contraction of the one actuator and simultaneous extension of the other actuator. At least one of the actuators is a pneumatic actuator axially contractible upon applying internal pressure thereinto.

摘要翻译： 一种用于机器人或机械手的臂的制动装置，包括制动鼓，在其中间部分枢转地支撑的杆，设置在杠杆上的制动蹄在其枢轴支撑点与其一端之间， 在其中施加内部压力并且具有连接到杆的一端或另一端的可动端，以及连接到杆的一端而不连接到致动器以便操作以延长致动器的弹簧。 与现有技术的制动装置相比，该制动装置的尺寸非常小，重量轻，并且仅消耗少量的流体压力，从而提供能量的经济性。 根据本发明的制动装置可应用于包括连接到制动鼓以便一起旋转的旋转构件的机器人臂，以及两个弹性致动器，其一端连接到固定构件，另一端通过 所述旋转构件以通过所述一个致动器的收缩旋转所述旋转构件并且另一个致动器的同时延伸的方式。 致动器中的至少一个是在施加内部压力时轴向收缩的气动致动器。

公开(公告)号：US5052273A

公开(公告)日：1991-10-01

申请号：US359814

申请日：1989-06-01

申请人： Yuji Sakaguchi

发明人： Yuji Sakaguchi

IPC分类号： F15B15/10 ,  F15B15/28

CPC分类号： F15B15/103 ,  F15B15/2846

摘要： A pneumatic actuator includes a tubular body made of a rubber-like elastic material and a braided structure made of organic or inorganic high-tensile-strength fibers reinforcing an outside of the tubular body. Closure members sealingly close ends of the tubular body; at least one of the closure members has a fluid connecting passage. The tubular body deforms to expand its diameter when pressurized fluid is introduced through the connecting passage to cause contractive force in the longitudinal direction. Contraction-detecting strain gauges at one closure member provide signals corresponding to the contractive force of the actuator.

公开(公告)号：US4771983A

公开(公告)日：1988-09-20

申请号：US24217

申请日：1987-03-10

申请人： Yuji Sakaguchi ,  Takeo Takagi ,  Yoshinori Imamura

发明人： Yuji Sakaguchi ,  Takeo Takagi ,  Yoshinori Imamura

IPC分类号： F16K31/06

CPC分类号： F16K31/0651 ,  F16K31/0662 ,  Y10T137/87217

摘要： A magnet for control valve includes a housing having an inlet and an outlet for a pressurized fluid, a valve seat member having a conical inner surface valve seat, a spherical valve body adapted to be in line contact with the valve seat, a throttle adjusting plate made of a magnetic material shiftable toward and away from the valve seat, and an electromagnet for attracting and releasing the throttle adjusting plate to shift the valve body toward and away from the valve seat. According to the invention, a sheet, preferably made of urethane foam is arranged on a side of the throttle adjusting plate opposite to the valve body, thereby eliminating noise caused by self-oscillation of the valve body and throttle adjusting plate, while maintaining high responsibility as a magnet control valve.

摘要翻译： 一种用于控制阀的磁体包括具有用于加压流体的入口和出口的壳体，具有锥形内表面阀座的阀座构件，适于与阀座线接触的球形阀体，节气门调节板 由能够朝向和远离阀座移动的磁性材料制成，以及用于吸引和释放节气门调节板的电磁体，以使阀体朝向和远离阀座移动。 根据本发明，优选地由聚氨酯泡沫制成的片材布置在节气门调节板的与阀体相对的一侧上，从而消除由于阀体和节气门调节板的自振而引起的噪声，同时保持高的责任性 作为磁铁控制阀。