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11. 发明申请

US20090210091A1 LEGGED MOBILE ROBOT AND CONTROL SYSTEM THEREOF 失效
标题翻译：移动机器人及其控制系统
公开(公告)号：US20090210091A1
公开(公告)日：2009-08-20
申请号：US12397773
申请日：2009-03-04
申请人： Toru Takenaka , Hiroshi Gomi , Susumu Miyazaki , Kazushi Hamaya
发明人： Toru Takenaka , Hiroshi Gomi , Susumu Miyazaki , Kazushi Hamaya
IPC分类号： G06F19/00
CPC分类号： B25J19/0091
摘要： The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.
摘要翻译：腿式移动机器人脚包括连接到每个腿的脚本体，设置在脚主体的前端以相对于脚本体可弯曲的脚趾以及能够保持弯曲角度的弯曲角保持器的脚趾在脚趾的可弯曲范围内。此外，有腿的移动机器人控制系统被配置为在脚踏的起始时间的第一时间点保持脚趾的弯曲角度，该第一时间点是从地板或更早的腿的起飞时间，并且在第二时间点释放弯曲角度腿后抬起地板将脚趾恢复到初始位置。由此，脱扣后的弯曲角度可以继续保持，由此能够防止机器人由于在起飞后立即接触地板而变得不稳定。此外，可以提高脚尖站立时的稳定性。

12. 发明申请

US20090121566A1 BRUSHLESS MOTOR 审中-公开
标题翻译：无刷电机
公开(公告)号：US20090121566A1
公开(公告)日：2009-05-14
申请号：US12264364
申请日：2008-11-04
申请人： Masaki ISHIZEKI , Hisashi Ishida , Susumu Miyazaki , Kazushi Hamaya
发明人： Masaki ISHIZEKI , Hisashi Ishida , Susumu Miyazaki , Kazushi Hamaya
IPC分类号： H02K11/00
CPC分类号： H02K5/225 , H02K1/148 , H02K3/522 , H02K2203/09
摘要： The brushless motor is provided with: a tubular stator case; a stator core; a rotor; a plurality of teeth which extend radially inward and are integrally formed on an inner peripheral surface of the stator core; a coil bobbin which is mounted between the mutually adjacent teeth; a lead wire which feed power to the coil; and a wiring substrate which relays a connection between the lead wire and the coil, wherein: the coil bobbin has flange portions which protrude outward from peripheral edges of the both ends of the coil bobbin; one of the flange portions of the coil bobbin has an enlarged member which protrudes outward from the surface of the flange portion; the enlarged member has a guide portion which holds the winding end of the coil; and the wiring substrate is connected the coil bobbin while contacting therewith in an axial direction of the stator core.
摘要翻译：无刷电机设有：管状定子箱; 定子铁心; 转子多个齿径向向内延伸并整体地形成在定子芯的内周面上; 安装在相互相邻的齿之间的线圈架; 向线圈供电的引线; 以及中继所述引线与所述线圈之间的连接的布线基板，其中，所述线圈架具有从所述线圈架的两端的周缘向外突出的凸缘部，线圈骨架的一个凸缘部分具有从凸缘部分的表面向外突出的扩大部件; 所述扩大构件具有保持所述线圈的绕组端的引导部; 并且所述布线基板在所述定子铁芯的轴向与所述线圈架线相接触的状态下连接。

13. 发明申请

US20080245584A1 Leg Type Mobile Robot 有权
标题翻译：腿型移动机器人
公开(公告)号：US20080245584A1
公开(公告)日：2008-10-09
申请号：US10573471
申请日：2005-07-25
申请人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
发明人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
IPC分类号： B62D51/06
CPC分类号： B62D57/032
摘要： To provide a leg type mobile robot, in which a downsizing and wait-saving of floor reaction force detector to be installed on the foot is enabled.The center Pb of the force sensor is disposed on the position Pa where the distance to the remotest position of ground area provided on the bottom of each plate spring part S1 to S4 is minimum in the standing-still state of the robot R, and the distance L1, L2, L3, and L4 to the remotest point of the ground area of each plate spring part S1, S2, S3, and S4 is equal. The center Pc of the ankle joint is offset in a rearward direction with respect to the position Pa in a plane view.
摘要翻译：为了提供一种腿式移动机器人，其中能够在脚上安装地板反作用力检测器的小型化和等待时间。力传感器的中心Pb设置在位置Pa处，在机器人R的静止状态下，设置在每个板簧部S1至S4的底部的接地区域的最远位置的距离最小的位置Pa，并且距离L1，L2，L3和L4到每个板簧部分S1，S2，S3和S4的接地区域的最远点相等。踝关节的中心Pc在平面图中相对于位置Pa向后方偏移。

14. 发明申请

US20050077856A1 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US20050077856A1
公开(公告)日：2005-04-14
申请号：US10499117
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧上的可膨胀且可压缩的袋状构件19（可变容量元件）。袋状构件 19由橡胶等弹性材料构成。大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时，压缩方向的板状构件19被控制为适合于步态机器人的高度。因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。

15. 发明授权

US08763733B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08763733B2
公开(公告)日：2014-07-01
申请号：US13496488
申请日：2009-09-18
申请人： Kazushi Hamaya , Hiroshi Gomi , Joonheon Shin
发明人： Kazushi Hamaya , Hiroshi Gomi , Joonheon Shin
IPC分类号： B62K15/00 , B62K1/00 , B62J1/00
CPC分类号： B62K1/00 , B62J1/005 , B62K11/007 , B62K15/00 , B62K2015/003
摘要： In an inverted pendulum type vehicle including a frame (2) incorporated with a propulsion unit (3) and a seat unit (4) provided on the frame, the seat unit (4) is moveable between a deployed position for supporting a rider and a retracted position different from the deployed position. Thereby, an object support unit for supporting an object such as a rider and a cargo can be positioned differently depending on the need so that the convenience and freedom in the use of the vehicle can be enhanced by preventing the object support unit from encumbering the user when not in use.
摘要翻译：在包括配备有推进单元（3）的框架（2）和设置在框架上的座椅单元（4））的倒立摆式车辆中，座椅单元（4）可在支撑骑手的展开位置和缩回位置与展开位置不同。由此，可以根据需要，不同地定位用于支撑诸如骑手和货物的物体的物体支撑单元，从而通过防止物体支撑单元妨碍使用者，从而可以提高车辆的使用方便性和自由度不用时。

16. 发明授权

US08353378B2 Frictional drive device and inverted pendulum type vehicle using the same 有权
标题翻译：摩擦驱动装置和倒立摆式车辆使用它
公开(公告)号：US08353378B2
公开(公告)日：2013-01-15
申请号：US12884738
申请日：2010-09-17
申请人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
发明人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
IPC分类号： B62K1/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2310/204 , B60B2310/228 , B60B2310/232 , B60B2310/305 , B60B2360/10 , B60B2360/147 , B60B2360/32 , B60B2360/348 , B60B2360/50 , B60B2380/12 , B60B2380/14 , B60L1/003 , B60L3/0061 , B60L11/1803 , B60L11/1861 , B60L11/1877 , B60L2200/14 , B60L2220/42 , B60L2240/425 , B60L2240/461 , B60L2260/34 , B62K11/007 , Y02T10/646 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y10T74/19
摘要： A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member. A speed reduction unit (72, 100) may be interposed between each actuator and the corresponding drive disk all in a coaxial relationship.
摘要翻译：一种摩擦驱动装置，包括一对驱动盘（48），所述驱动盘（48）以相互相对的关系围绕中心轴线（A）由框架（2,22）可旋转地支撑;以及一对致动器（64），由所述框架用于单独地旋转地驱动驱动盘并且相对于相应的驱动盘同轴地布置;多个驱动辊（56），沿着每个驱动盘的外周布置，并且每个具有旋转中心线以沿着平面旋转其不与中心轴线平行或垂直;以及环形主轮（85），其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件（86））和沿着所述环形构件支撑以便能够围绕所述环形构件的切线旋转的多个从动辊（92）。减速单元（72,100）可以以同轴的关系插入在每个致动器和对应的驱动盘之间。

17. 发明授权

US07884520B2 Brushless motor 有权
标题翻译：无刷电机
公开(公告)号：US07884520B2
公开(公告)日：2011-02-08
申请号：US12264453
申请日：2008-11-04
申请人： Hisashi Ishida , Tohru Yumoto , Masaki Ishizeki , Susumu Miyazaki , Kazushi Hamaya
发明人： Hisashi Ishida , Tohru Yumoto , Masaki Ishizeki , Susumu Miyazaki , Kazushi Hamaya
IPC分类号： H02K1/00
CPC分类号： H02K1/148
摘要： A brushless motor according to the present invention is provided with a tubular stator case, a stator core fitted into the stator case, and a rotor rotatably supported via a bearing inside the stator core. The stator core includes a tubular yoke portion and a plurality of split cores which are detachably mounted on the tubular yoke portion. A plurality of commutating-pole teeth which extend radially inward are integrally formed on an inner peripheral surface of the tubular yoke portion at regular intervals in the peripheral direction of the tubular yoke portion; and a root portion of each of the commutating-pole teeth has inclined shoulders which are gradually enlarged radially outward.
摘要翻译：根据本发明的无刷电动机设置有管状定子壳体，嵌合到定子壳体中的定子芯体和通过定子芯体内部的轴承可旋转地支撑的转子。定子铁芯包括管状磁轭部分和可拆卸地安装在管状磁轭部分上的多个分裂磁芯。在筒状轭部的圆周方向上以规则的间隔一体地形成有多个径向向内延伸的换向齿，并且每个整流齿的根部具有逐渐向径向外侧逐渐增大的倾斜肩部。

18. 发明申请

US20090127953A1 BRUSHLESS MOTOR 有权
标题翻译：无刷电机
公开(公告)号：US20090127953A1
公开(公告)日：2009-05-21
申请号：US12264307
申请日：2008-11-04
申请人： Tohru YUMOTO , Masaki ISHIZEKI , Hisashi ISHIDA , Susumu MIYAZAKI , Kazushi HAMAYA , Yuichi UEBAYASHI
发明人： Tohru YUMOTO , Masaki ISHIZEKI , Hisashi ISHIDA , Susumu MIYAZAKI , Kazushi HAMAYA , Yuichi UEBAYASHI
IPC分类号： H02K5/22
CPC分类号： H02K5/15
摘要： A brushless motor according to the present invention is provided with: a tubular stator case; a stator core fitted into the stator case; and a rotor rotatably supported via a bearing inside the stator core, wherein: an inner flange portion which extends radially inward is formed at a peripheral edge of an opening of one end of the stator case; and a bracket is fixed to the inner flange portion while contacting therewith so as to close the opening.
摘要翻译：根据本发明的无刷电动机设有：管状定子壳体; 安装在定子壳体中的定子芯体; 以及通过所述定子铁心内的轴承可旋转地支撑的转子，其中：径向向内延伸的内凸缘部分形成在所述定子壳体的一端的开口的周边边缘处; 并且托架在与其接触的同时固定在内凸缘部分上以便关闭开口。

19. 发明授权

US07492115B2 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US07492115B2
公开(公告)日：2009-02-17
申请号：US10525222
申请日：2003-08-07
申请人： Hiroshi Gomi , Kazushi Hamaya , Hitoshi Toyoda , Yoshinari Takemura
发明人： Hiroshi Gomi , Kazushi Hamaya , Hitoshi Toyoda , Yoshinari Takemura
IPC分类号： B25J9/18
CPC分类号： B25J9/1065 , B62D57/032
摘要： In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.
摘要翻译：在有腿可动机器人（1）中，每个腿部（2）具有至少第一接头（16）和位于第一接头的重力方向下方的第二接头（18,20），驱动第二接头（54,56）位于与第一接头的位置相同的位置和在重力方向上的第一接头上方的位置（28）中的至少一个。由此，能够减轻腿的地面接触端的重量，从而提供有腿的移动机器人，从而能够减少移动期间腿部发生的惯性力，特别是在高速移动期间。

20. 发明申请

US20070210739A1 LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 审中-公开
标题翻译： LEG联合协助手机移动机器人
公开(公告)号：US20070210739A1
公开(公告)日：2007-09-13
申请号：US11573922
申请日：2005-08-05
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a state wherein a solenoid switching valve in a gas passage in communication with air chambers is closed, an assist device produces an assisting driving force by compression or expansion of a gas as a knee joint (specific joint) of a leg bends or stretches, and applies the produced assisting driving force to the knee joint. In a valve-open state of the solenoid switching valve, no assisting driving force is produced. The solenoid switching valve is constructed of a solenoid switching valve having a self-holding feature, and installed in the gas passage such that a pressure difference between air chambers acts in a valve closing direction of a valve element in a predetermined period during which the solenoid switching valve is closed. This arrangement effectively reduces the power consumption of the solenoid switching valve by a simple construction.
摘要翻译：在与气室连通的气体通道中的电磁切换阀关闭的状态下，辅助装置通过作为腿部弯曲或拉伸的膝关节（特定接头）的气体的压缩或膨胀产生辅助驱动力，并将产生的辅助驱动力施加到膝关节。在电磁换向阀的阀打开状态下，不产生辅助驱动力。电磁切换阀由具有自保持特征的电磁切换阀构成，并且安装在气体通道中，使得空气室之间的压力差在阀元件的阀闭合方向作用在预定时间段内，在螺线管切换阀关闭。这种布置通过简单的结构有效地降低了电磁开关阀的功耗。

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