Kawasaki Heavy Industries Patente

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A burner includes: a first nozzle shaped as a tube having a burner axis as a central axis, the first nozzle including a main fuel outlet from which the first nozzle ejects a fluid mixture of a main fuel and primary air; a flame-holding plate shaped as a truncated circular cone with a diameter that increases downstream, the flame-holding plate being located at a tip of the first nozzle and around a periphery of the main fuel outlet to generate a flame-holding eddy downstream of the flame-holding plate; a second nozzle including a secondary air outlet that surrounds the main fuel outlet and from which the second nozzle ejects secondary air; and an auxiliary fuel nozzle located in a second flow path that is defined between the first nozzle and the second nozzle and through which the secondary air flows, the auxiliary fuel nozzle including an auxiliary fuel outlet from which the auxiliary fuel nozzle ejects a gaseous fuel containing a nitrogen component along an outer surface of the flame-holding plate or an outer surface of the first nozzle. The flame-holding plate includes a protrusion located downstream of the auxiliary fuel outlet, the protrusion being circumferentially continuous on the outer surface of the flame-holding plate.

The articulated robot 1 includes: a first joint (joint JT1) including a first support portion (support portion 23) and a first operation portion (first end 311); a first actuator (actuator 41) whose first body (body 411) is located on the opposite side of the first operation portion from the first support portion; a second joint (joint JT2) including a second support portion (second end 312) and a second operation portion (first end 321); and a second actuator (actuator 42) in which, in a direction in which a first axis (axis Ax1) or a second axis (axis Ax2) extends, a direction in which a second shaft (shaft 422) projects is opposite to a direction in which a first shaft (shaft 421) projects.

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A robot system 100 includes: a robot 1; and a controller 9 that controls the robot 1, the robot 1 includes a robot arm 2 that extends and contract in a predetermined first direction X, a wrist 4 coupled to the robot arm 2, and a hand 3 coupled to the wrist 4, the wrist 4 moves the hand 3 in a second direction Z intersecting the first direction X, the controller 9 causes the robot 1 to perform an advancing motion of moving the wrist 4 and the hand 3 in the first direction X by extending the robot arm 2 in the first direction X, and a lifting/lowering motion of moving the hand 3 in the second direction Z by the wrist 4 after the advancing motion.

A robot wrist 4 includes a first base 41, a second base 42, a linkage 6, and a first actuator 51. The linkage 6 includes a Chebyshev linkage 60 coupling the second base 42 to the first base 41 such that the second base 42 is linearly movable in a straight direction Z. The Chebyshev linkage 60 includes a driving link 61 that is coupled to the first base 41 to be rotatable about a driving axis D and is rotationally driven, a driven link 62 coupled to the first base 41 to be rotatable about an axis parallel to the driving axis D, and an intermediate link 63 coupled to each of the driving link 61 and the driven link 62 to be rotatable about an axis parallel to the driving axis D. The second base 42 is coupled to the intermediate link 63.

A propulsion system for an aircraft includes: electric motors; a propeller including blades whose pitch angles are changeable; a gear box that reduces speeds of rotations of the electric motors and transmits the rotations to the propeller; an actuator that changes the pitch angles of the blades; a pump that is driven by power transmitted from the gear box and supplies oil to the gear box; a heat exchanger that cools the oil by using at least one of a gas or a liquid as a cooling medium; and a circulation passage through which the oil circulates between the gear box and the heat exchanger.

A propulsion system for an aircraft includes electric motors, a propeller, and a gear box. The gear box includes: pinion gears; a first sun gear engaged with the pinion gears; a second sun gear located in front of the first sun gear; a transmission shaft connected to the first sun gear and the second sun gear; planetary gears engaged with the second sun gear; a ring gear engaged with the planetary gears; a housing that accommodates the pinion gears, the first sun gear, the second sun gear, the planetary gears, and the ring gear; and a planetary carrier that is connected to the planetary gears, rotates together with the planetary gears, and is connected to an output shaft. At least part of at least one of the electric motors is located inside a radial-direction outermost end of the housing in the radial direction.

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