초록 ▼

A manipulator is provided whose drive transmission is carried out by using flexible tubes into which wire cables are inserted, drive portions are disposed at an appointed portion other than the manipulator, and respective joints are operated by the respective drive portions, wherein working efficien

A manipulator is provided whose drive transmission is carried out by using flexible tubes into which wire cables are inserted, drive portions are disposed at an appointed portion other than the manipulator, and respective joints are operated by the respective drive portions, wherein working efficiency and productivity are excellent. A manipulator is provided including joint portions and moving and rotating mechanisms which move and rotate the above joint portions, wherein the moving and rotating mechanism is provided with pulleys disposed at the joints, an endless wire which is rotated by motors each disposed at an appointed position of the supporting base and has an appointed portion fixed at the pulley, and a flexible tube having one end fixed in the vicinity of the side of the pulley and the other fixed in the vicinity of the motor, into which the wire is inserted, and one of the motors is disposed for one of the pulleys.

대표청구항 ▼

A manipulator is provided whose drive transmission is carried out by using flexible tubes into which wire cables are inserted, drive portions are disposed at an appointed portion other than the manipulator, and respective joints are operated by the respective drive portions, wherein working efficien

A manipulator is provided whose drive transmission is carried out by using flexible tubes into which wire cables are inserted, drive portions are disposed at an appointed portion other than the manipulator, and respective joints are operated by the respective drive portions, wherein working efficiency and productivity are excellent. A manipulator is provided including joint portions and moving and rotating mechanisms which move and rotate the above joint portions, wherein the moving and rotating mechanism is provided with pulleys disposed at the joints, an endless wire which is rotated by motors each disposed at an appointed position of the supporting base and has an appointed portion fixed at the pulley, and a flexible tube having one end fixed in the vicinity of the side of the pulley and the other fixed in the vicinity of the motor, into which the wire is inserted, and one of the motors is disposed for one of the pulleys. e and said module defining each of said first channel section and said second channel section therebetween. 7. The method of claim 1, wherein said characteristic of the flow of the ambient air comprises a rate of flow of the ambient air into said second channel section. 8. The method of claim 1, wherein said characteristic of the flow of the ambient sir comprises a temperature of the flow of the ambient air. 9. The method of claim 8, wherein said calculating step is based on a temperature of the exhaust gas upstream of said second channel section and a temperature of a mixture of the exhaust gas and the ambient air downstream of said second channel section. 10. The method of claim 1, wherein the flow of the ambient air is entrained in the flow of the exhaust gas in the second channel section. 11. The method of claim 1, wherein said second cross-sectional area is less than said first cross-sectional area. 12. The method of claim 11, comprising the further step of utilizing low pressure created by an increased flow velocity in said second channel section to draw the ambient air into said second channel section. 13. A method of determining a rate of flow of an exhaust gas in a pipe, said method comprising the steps of: placing a flow-restricting device in the pipe such that at least one of said device and the pipe define a first channel section and a second channel section, said second channel section being disposed downstream from said first channel section, said first channel section having a first crass-sectional area, said second channel section having a second cross-sectional area less than the first cross-sectional area, said second channel section defining a pressure drop section relative to the exhaust gas; providing a source of ambient air in fluid communication with said second channel section; measuring a rate of a flow of the ambient air into said second channel section; ascertaining a mathematical relationship between the rate of the flow of the ambient air into the second channel section and the rate of flow of the exhaust gas in the pipe; and calculating the rate of flow of the exhaust gas in the pipe based at least partially upon the rate of flow of the ambient air into the second channel section and the ascertained mathematical relationship. 14. The method of claim 13, wherein said flow-restricting device comprises a venturi. 15. The method of claim 13, wherein said flow-restricting device is teardrop-shaped. 16. The method of claim 13, wherein said source of ambient air is in fluid communication wit said second channel section through said flow-restricting device. 17. The method of claim 13, wherein the flow of the ambient air is entrained in the flow of the exhaust gas into second channel section. 18. The method of claim 13, wherein said flow restricting device includes an annulus opening between said first channel and said second channel. 19. The method of claim 13, wherein said flow-restricting device includes a housing tube substantially surrounding a module, said housing tube and said module defining each of said first channel section and said second channel section therebetween. 20. The method of claim 13, wherein said second cross-sectional area is less than said first cross-sectional area. 21. The method of claim 20, comprising the further step of utilizing low pressure created by an increased flow velocity in said second channel section to draw the ambient air into said second channel section. 22. An apparatus for determining a rate of flow of an exhaust gas in a pipe, said apparatus comprising: a flow-restricting device configured for being placed in to pipe such that at least one of said device and the pipe define a first channel section and a second channel section, said second channel section being disposed downstream from said first channel section, said first channel section having a first cross-sectional area, said second channel section having a second cross-sectional area less than