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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
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 。
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公开(公告)号：US5248133A
公开(公告)日：1993-09-28
申请号：US859813
申请日：1992-03-30
申请人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Naoaki Kuwano , Kenji Ogimoto , Ryuji Sakata , Yasuaki Taniguchi , Hiroyoshi Tanaka , Goji Iba
发明人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Naoaki Kuwano , Kenji Ogimoto , Ryuji Sakata , Yasuaki Taniguchi , Hiroyoshi Tanaka , Goji Iba
摘要： A plurality of eccentric rotors are rotatably fitted between a fixed base and an output shaft on which an object to be vibrationproofed is mounted, the output shaft being supported movably in 3 to 6 Degree-of-Freedom, magnet spring mechanisms are provided on fitted wall surfaces between the fixed base and the eccentric rotor, a composite vibrationproof adjusting spring is provided between the fixed base and the output shaft, the magnet spring mechanism responding to a fine displacement of the output shaft, and in a case where the output shaft is greatly displaced, the output shaft is braked so as to be restored to a predetermined position by the composite vibrationproof adjusting spring mechanism. The magnet spring mechanism produces a large braking force since a rotational angle is large and a rotational-angle speed is high due to eccentricity of eccentric rotors.
摘要翻译： 多个偏心转子可旋转地装配在固定基座和安装有防振物体的输出轴之间，输出轴以3至6自由度可动地支撑，弹簧机构设置在安装壁上 在固定基座和偏心转子之间的表面，在固定基座和输出轴之间设置复合防振调节弹簧，弹簧机构响应于输出轴的精细位移，并且在输出轴大大的情况下 输出轴被制动，以便通过复合防振调节弹簧机构恢复到预定位置。 磁簧弹簧机构产生大的制动力，因为由于偏心转子的偏心，旋转角度大，转角速度高。
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3.发明授权Transportable three-dimensional calibration wind tunnel system, verification method of flight control system using said system and flight simulator using said system 失效运输三维校准风洞系统，使用该系统的飞行控制系统的验证方法和使用该系统的飞行模拟器
公开(公告)号：US5866813A
公开(公告)日：1999-02-02
申请号：US751478
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
摘要： A transportable three-dimensional calibration wind tunnel system is comprised of a small wind tunnel portion for creating a three-dimensional calibration air having a suitable wind velocity, and a two-axis rotational deformation device portion for causing said wind tunnel portion to effect a conical motion with a nozzle blow port being an apex to suitably change a flow angle. The two-axis rotational deformation device is comprised of a .beta.-angle rotational deformation device having a .beta.-angle deformation base supported to be rotated horizontally, and a .alpha.-angle rotational deformation device having a .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. In a method for the verification of 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： 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校准空气的小风洞部分和用于使所述风洞部分实现锥形的两轴旋转变形装置部分 具有喷嘴吹出口作为顶点的运动以适当地改变流动角度。 双轴旋转变形装置由具有被支撑为水平旋转的β角变形基体的β角旋转变形装置和具有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。 在使用可运输的三维校准风洞系统验证飞机的飞行控制系统的方法中，三维校准风洞系统的喷嘴吹出口位于空气数据传感器探头的末端 飞机上提供的三维校准风洞系统和飞机的车载控制计算机连接到外板控制计算机，从而通过三维校准风产生合适的三维气流 隧道系统验证控制面在地面停止状态下的运行和功能。
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4.发明授权Transportable three-dimensional calibration wind tunnel system, verification method of flight control system and flight simulator using same 失效可移动三维校准风洞系统，飞行控制系统验证方法和飞行模拟器使用相同
公开(公告)号：US5627311A
公开(公告)日：1997-05-06
申请号：US517969
申请日：1995-08-22
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
摘要： A transportable three-dimensional calibration wind tunnel system consists 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： 可移动的三维校准风洞系统由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锥形运动的双轴旋转变形装置部分组成， 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。
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5.发明授权Air active control aircraft using three dimensional true airspeed detection system 失效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
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。
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6.发明授权Verification method of a flight control system using a transportable wind tunnel 失效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
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。
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7.发明授权Truncated pyramid-shape multi-hole pitot probe and flight velocity detection system using said truncated pyramid-shape multi-hole pitot probe 失效截锥金字塔形多孔皮托探头和飞行速度检测系统采用截头棱锥形多孔皮托探针
公开(公告)号：US5423209A
公开(公告)日：1995-06-13
申请号：US249068
申请日：1994-05-25
申请人： Teruomi Nakaya , Masao Ebihara , Yoshio Hayashi , Seizo Suzuki , Naoaki Kuwano , Asao Hanzawa , Takashi Saitow , Mitsuo Usami , Toru Iwata
发明人： Teruomi Nakaya , Masao Ebihara , Yoshio Hayashi , Seizo Suzuki , Naoaki Kuwano , Asao Hanzawa , Takashi Saitow , Mitsuo Usami , Toru Iwata
CPC分类号： G01F1/46 , G01P13/025 , G01P5/165
摘要： A flight velocity detection system using a truncated pyramid-shape multi-e Pitot probe in which an extreme end portion has a truncated pyramid-shape, a cylindrical hole is provided at the apex thereof, a total pressure tube of a smaller diameter than that of the cylindrical hole is secured at a position by a predetermined length determined by a relationship with the diameter of the cylindrical hole from the extreme end of the cylindrical hole, and groups of pressure holes comprised of a plurality of pressure holes are arranged in each of the truncated pyramid surfaces of the truncated pyramid shape. Items of pressure information detected by the probe are input into a velocity vector processor to convert them into electric signals, and signals are processed using pressure coefficients of the holes of the probe with respect to the velocity vector stored in advance in the velocity vector processor to calculate flight velocity vector (V, .alpha., .beta.) with respect to the probe axis from the pressure information and air density.
摘要翻译： 使用截头棱锥形多孔皮托探头的飞行速度检测系统，其顶端具有截头棱锥形，圆柱形孔设置在其顶点，直径小于 圆柱形孔被固定在与圆柱形孔的前端与圆柱形孔的直径关系确定的预定长度的位置处，并且由多个压力孔组成的一组压力孔布置在 截头棱锥形截面金字塔表面。 由探头检测到的压力信息的项目被输入到速度矢量处理器中以将它们转换为电信号，并且使用相对于预先存储在速度矢量处理器中的速度向量的探针的孔的压力系数来处理信号， 从压力信息和空气密度计算相对于探针轴的飞行速度矢量（V，α，β）。
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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
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。
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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
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。
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10.发明授权公开(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
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