公开(公告)号：US08115349B2

公开(公告)日：2012-02-14

申请号：US12686389

申请日：2010-01-13

申请人： Takashi Mamba ,  Hiroshi Nakamura ,  Wennong Zhang

发明人： Takashi Mamba ,  Hiroshi Nakamura ,  Wennong Zhang

IPC分类号： H02K41/00

CPC分类号： H02K41/033 ,  H02K1/148 ,  H02K7/09 ,  H02K16/04 ,  H02N15/00

摘要： A magnetic levitation system includes a levitation-actuator movable element which generates a levitation force applied to a control object; and a levitation-actuator stator which receives a reactive force while the control object is being operated, the levitation-actuator stator being attached to a fixed or movable structure. The levitation-actuator stator includes levitation-actuator stator units connectable to each other in a travelling direction. Each levitation-actuator stator unit includes a coil and an iron core for generating a levitation force between the levitation-actuator stator unit and the levitation-actuator movable element. A length of an end portion of each iron core is equal to or larger than a length of each coil between the ends of the coil so that the cores are continuously arranged without gaps therebetween when the levitation-actuator stator units are connected to each other in the travelling direction.

摘要翻译： 磁悬浮系统包括产生施加到控制对象的悬浮力的悬浮致动器可移动元件; 以及悬浮致动器定子，其在控制对象被操作的同时接收反作用力，所述悬浮致动器定子附接到固定或可移动结构。 悬浮致动器定子包括沿行进方向彼此连接的悬浮致动器定子单元。 每个悬浮致动器定子单元包括用于在悬浮致动器定子单元和悬浮致动器可移动元件之间产生悬浮力的线圈和铁芯。 每个铁芯的端部的长度等于或大于线圈端部之间的每个线圈的长度，使得当悬浮致动器定子单元彼此连接时，芯彼此连续布置而没有间隙 行进方向。

公开(公告)号：US08148931B2

公开(公告)日：2012-04-03

申请号：US12686386

申请日：2010-01-13

申请人： Takashi Mamba

发明人： Takashi Mamba

IPC分类号： G05B11/32

CPC分类号： G05B19/232 ,  G05B2219/37309 ,  G05B2219/49257 ,  G05B2219/49288

摘要： There are included a plurality of actuators, an instruction generator for generating instructions of plural degrees of freedom, a position arithmetic unit for calculating positions of plural degrees of freedom from signals of a plurality of sensors, a control arithmetic unit for calculating operation amounts of plural degrees of freedom from the instructions of plural degrees of freedom and the positions of plural degrees of freedom, a thrust force conversion arithmetic unit for calculating thrust force instructions of the plurality of actuators from the operation amounts of the plural degrees of freedom, a current instruction unit for calculating current instructions which should be flowed to the plurality of actuators, and a sensor configuration input device for selecting a desired sensor configuration from among a plurality of sensor configurations. The positions of plural degrees of freedom are calculated by using a position arithmetic expression corresponding to a selected sensor configuration.

摘要翻译： 包括多个致动器，用于产生多个自由度的指令的指令发生器，用于计算多个传感器的信号的多个自由度的位置的位置运算单元，用于计算多个传感器的操作量的控制运算单元 从多个自由度的指令和多个自由度的位置的自由度的自由度，用于从多个自由度的操作量计算多个致动器的推力指令的推力转换运算单元，当前指令 用于计算应该流向多个致动器的当前指令的单元，以及用于从多个传感器配置中选择所需传感器配置的传感器配置输入设备。 通过使用与选择的传感器构造对应的位置算术表达式来计算多个自由度的位置。

公开(公告)号：US20110314950A1

公开(公告)日：2011-12-29

申请号：US13226419

申请日：2011-09-06

申请人： Takashi Mamba

发明人： Takashi Mamba

IPC分类号： B25J18/00

CPC分类号： B25J17/0258 ,  B25J9/102 ,  B25J19/0029 ,  H02K7/1163 ,  Y10T74/20329

摘要： A robot includes an articulation mechanism that includes a pair of opposing bevel gears, a pair of motors that rotate the pair of opposing bevel gears independently of each other, an output bevel gear that is engaged with each of the pair of opposing bevel gears and is supported so as to be rotatable and so as to be swingable in rotational directions of the pair of opposing bevel gears, and an output body that is secured to the output bevel gear, a cover-and-support structure that is a supporting member and functions as a cover covering the outside of the entirety of the articulation mechanism, and a swing mechanism that supports the cover-and-support structure such that the cover-and-support structure is swingable in the rotational directions of the pair of opposing bevel gears.

摘要翻译： 一种机器人包括一个铰接机构，其包括一对相对的锥齿轮，一对电动机，使一对相对的锥齿轮彼此独立地旋转;输出锥齿轮，与所述一对相对的锥齿轮中的每一个啮合，并且是 被支撑成能够旋转并且能够在所述一对相对的锥齿轮的旋转方向上摆动;以及输出主体，其固定到所述输出锥齿轮，作为支撑构件的盖支撑结构，并且具有功能 作为覆盖整个关节运动机构的外侧的盖，以及支撑盖支撑结构的摆动机构，使得盖支撑结构能够在一对相对的锥齿轮的旋转方向上摆动。