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31. 发明授权

US08408339B2 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：US08408339B2
公开(公告)日：2013-04-02
申请号：US12902377
申请日：2010-10-12
申请人： Hiroyuki Makino
发明人： Hiroyuki Makino
IPC分类号： B62D57/00
CPC分类号： B62K1/00 , B60B3/048 , B60B19/125 , B60Y2200/112 , B60Y2200/12 , B62K11/007
摘要： In a frictional drive device comprising a pair of drive disks each rotatably supported by a frame around a central axial line (A) in a mutually opposing relationship and configured to be individually rotatively actuated by a pair of actuators, a plurality of drive rollers arranged along an outer periphery of each drive disk so as to be rotatable along a prescribed plane of rotation, and an annular main wheel disposed at least 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 and a plurality of driven rollers supported along the annular member so as to be rotatable around a tangential line of the annular member, each drive roller includes at least a pair of individually rotatable disk members coaxially disposed to each other and having different diameters, the diameters being selected so that the disk members engage the corresponding driven roller at outer peripheral parts thereof. Typically, each drive roller include a plurality of disk members coaxially stacked upon one another in a mutually freely rotatable manner so as to jointly define a substantially hourglass shaped outer profile. Thereby, the slippage in the frictional engagement between the drive rollers and driven rollers can be minimized so that the drive efficiency can be improved and the drive force capacity can be maximized.
摘要翻译：在包括一对驱动盘的摩擦驱动装置中，所述一对驱动盘以相互相对的关系围绕中心轴线（A）围绕框架可旋转地支撑，并被构造成由一对致动器单独地旋转地驱动，每个驱动盘的外周沿着规定的旋转方向旋转;以及环形主轮，其相对于所述中心轴线至少大致同轴配置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件和沿着所述环形构件支撑的多个从动辊，以便能够围绕所述环形构件的切线旋转，每个驱动辊包括至少一对可单独旋转的盘构件，其彼此同轴地设置并具有不同的直径，选择直径使得盘构件在那里的外围部分与相应的从动辊接合的。通常，每个驱动辊包括以相互可自由旋转的方式彼此同轴地堆叠的多个盘构件，以便共同限定基本上沙漏形的外轮廓。由此，驱动辊和从动辊之间的摩擦接合的滑动可以最小化，从而可以提高驱动效率并且可以使驱动力容量最大化。

32. 发明申请

US20120032496A1 WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译：车轮和摩擦驱动装置和使用其的OMNI方向车辆
公开(公告)号：US20120032496A1
公开(公告)日：2012-02-09
申请号：US13263931
申请日：2010-03-15
申请人： Toru Takenaka , Makoto Hirano , Hiroshi Gomi , Masao Sasaki , Taiji Koyama , Shinichiro Kobashi , Hideharu Izumi , Kazuya Kuwabara , Hiroyuki Makino
发明人： Toru Takenaka , Makoto Hirano , Hiroshi Gomi , Masao Sasaki , Taiji Koyama , Shinichiro Kobashi , Hideharu Izumi , Kazuya Kuwabara , Hiroyuki Makino
IPC分类号： B60B19/12 , B62M13/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B62H1/12 , B62K11/007
摘要： [Task] To allow a wheel that provides a performance required for use in an omni-directional vehicle to be manufactured in an efficient manner.[Solution] An annular member (51) comprises a C-shaped main body (61) and a complementary member (62) defining an endless annular shape jointly with the main body (61), a joint (63) between the main body (61) and complementary member (62) includes mating surfaces that are non-perpendicular to the cross sectional center line of the annular member, and the main body (61) and the complementary member (62) are fixedly joined to each other by using a threaded bolt (64) passed radially through the mating surfaces.
摘要翻译： [任务]允许以有效的方式制造在全方位车辆中使用所需性能的车轮。解决方案环形构件（51）包括与主体（61）共同限定环形环形的C形主体（61）和互补构件（62），主体（ 61）和互补构件（62）包括与环形构件的横截面中心线非垂直的配合表面，并且主体（61）和互补构件（62）通过使用螺栓（64）径向通过配合表面。

33. 发明授权

US07822508B2 Autonomous mobile robot and goods carrying method of using the same 有权
标题翻译：自主移动机器人和货物携带方法使用相同
公开(公告)号：US07822508B2
公开(公告)日：2010-10-26
申请号：US11636597
申请日：2006-12-11
申请人： Kenichiro Sugiyama , Taro Yokoyama , Takeshi Koshiishi , Hiroyuki Makino
发明人： Kenichiro Sugiyama , Taro Yokoyama , Takeshi Koshiishi , Hiroyuki Makino
IPC分类号： G06F19/00
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： The autonomous mobile robot having an openable and closable gripper for gripping goods, cameras, an autonomous mobile means, and a control means for making the robot carry the goods to a destination from an acquisition source, the control means comprising: a grip position recognition means configured to recognize a predetermined position suitable for gripping a carrier container of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras; a grip control means configured to drive the gripper to the predetermined position of the carrier container and to control gripping the predetermined position; and a grip-success-or-not determination means configured to determine whether or not the gripping is successful, based on an external force acting on the gripper.
摘要翻译：自主移动机器人具有用于夹持货物的可开闭的夹具，照相机，自主移动装置和用于使机器人将货物从采集源运送到目的地的控制装置，所述控制装置包括：握持位置识别装置被配置为基于由所述摄像机拍摄的所述采集源的图像来识别适合于抓住具有预定规格的载体容器的预定位置，所述预定规格被配置为放置所述货物以携带; 夹持控制装置，其构造成将夹持器驱动到载体容器的预定位置并控制夹持预定位置; 以及构造成基于作用在所述夹持器上的外力来确定所述夹持是否成功的抓握成功或不确定装置。

34. 发明授权

US07719229B2 Charging system for legged mobile robot 有权
标题翻译：腿式移动机器人充电系统
公开(公告)号：US07719229B2
公开(公告)日：2010-05-18
申请号：US11705772
申请日：2007-02-14
申请人： Satoshi Kaneko , Koji Okazaki , Hiroyuki Makino , Takashi Nakayama , Masaaki Muromachi
发明人： Satoshi Kaneko , Koji Okazaki , Hiroyuki Makino , Takashi Nakayama , Masaaki Muromachi
IPC分类号： H01J7/00 , A63H30/00
CPC分类号： B25J19/005 , B60L11/1833 , G05D1/0225 , G05D2201/0217 , H01R13/2421 , H01R13/6315 , H02J7/0042 , Y02T10/7005 , Y02T10/7072 , Y02T90/12 , Y02T90/121 , Y02T90/125 , Y02T90/14
摘要： A charging system for a legged mobile robot that facilitates positioning of a robot to be charged and does not put a load on the robot is provided. The charging system includes a battery 2, a power receiving connector 4 and a movable shutter member 5 capable of being opened and closed on a rear cover 3, which are provided on a robot 1, and a holder 21, a power supplying connector 22, a slide mechanism 23, a base plate 25, a charging power supply 26 and the like, which are provided on a charging station 20. The robot 1 performs a predetermined positioning on the base plate 25 and then moves the center of gravity rearward to connect the power receiving connector 4 to the power supplying connector 22. In this step, when the rear cover 3 of the robot 1 is guided by a first guide section 21a of the holder 21, the slide mechanism 23 allows the holder 21 to move horizontally. Thus, even if the robot 1 and the charging station 20 are slightly misaligned with each other, the robot 1 can be easily positioned correctly.
摘要翻译：提供了一种用于有助于定位要充电的机器人并且不对机器人施加负载的有腿移动机器人的计费系统。充电系统包括设置在机器人1上的能够在后盖3上打开和关闭的电池2，电力接收连接器4和可动活门构件5，以及保持器21，供电连接器22，滑动机构23，基板25，充电电源26等。机器人1在基板25上进行预定的定位，然后将重心向后方移动以连接电力接收连接器4连接到供电连接器22.在该步骤中，当机器人1的后盖3由保持器21的第一引导部21a引导时，滑动机构23允许保持器21水平移动。因此，即使机器人1和充电站20彼此稍微不一致，也能够容易地正确地定位机器人1。

35. 发明申请

US20080238365A1 CHARGING APPARATUS 有权
标题翻译：充电器
公开(公告)号：US20080238365A1
公开(公告)日：2008-10-02
申请号：US12059237
申请日：2008-03-31
申请人： Satoshi Kaneko , Koji Okazaki , Norio Neki , Hiroyuki Makino , Takashi Nakayama , Masaaki Muromachi
发明人： Satoshi Kaneko , Koji Okazaki , Norio Neki , Hiroyuki Makino , Takashi Nakayama , Masaaki Muromachi
IPC分类号： H02J7/00
CPC分类号： B25J19/005 , H01M10/44 , H01M10/46
摘要： An apparatus capable of charging a battery mounted on a robot while allowing the robot to remain stably still in the state of standing on its legs is provided. Driving a first connector backward while it is connected with a second connector would cause a body of the robot to tilt as if being pulled by the first connector. However, it is possible to prevent the posture of the robot from becoming unstable by utilizing the fact that the connected state of first signal terminals and second signal terminals is maintained in that state. The backward driving of the first connector is restricted when a charge control unit is capable of communicating with a control system via the first signal terminals and the second signal terminals. This prevents the undesirable event that the posture of the robot becomes unstable due to the first connector being driven backward unconditionally.
摘要翻译：提供一种能够对安装在机器人上的电池进行充电的装置，同时允许机器人保持稳定地处于其腿部的状态。在与第二连接器连接的同时向后驱动第一连接器将导致机器人的主体倾斜，如同被第一连接器拉动一样。然而，通过利用第一信号端子和第二信号端子的连接状态保持在该状态的事实，可以防止机器人的姿势变得不稳定。当充电控制单元能够经由第一信号端子和第二信号端子与控制系统通信时，第一连接器的反向驱动受到限制。这防止了由于第一连接器无条件地向后驱动而使机器人的姿势变得不稳定的不期望的事件。

36. 发明申请

US20070152619A1 Autonomous mobile robot and goods carrying method of using the same 有权
标题翻译：自主移动机器人和货物携带方法使用相同
公开(公告)号：US20070152619A1
公开(公告)日：2007-07-05
申请号：US11636597
申请日：2006-12-11
申请人： Kenichiro Sugiyama , Taro Yokohama , Takeshi Koshiishi , Hiroyuki Makino
发明人： Kenichiro Sugiyama , Taro Yokohama , Takeshi Koshiishi , Hiroyuki Makino
IPC分类号： G06F19/00 , B25J5/00
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： The autonomous mobile robot having an openable and closable gripper for gripping goods, cameras, an autonomous mobile means, and a control means for making the robot carry the goods to a destination from an acquisition source, the control means comprising: a grip position recognition means configured to recognize a predetermined position suitable for gripping a carrier container of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras; a grip control means configured to drive the gripper to the predetermined position of the carrier container and to control gripping the predetermined position; and a grip-success-or-not determination means configured to determine whether or not the gripping is successful, based on an external force acting on the gripper.
摘要翻译：自主移动机器人具有用于夹持货物的可开闭的夹具，照相机，自主移动装置和用于使机器人将货物从采集源运送到目的地的控制装置，所述控制装置包括：握持位置识别装置被配置为基于由所述摄像机拍摄的所述采集源的图像来识别适合于抓住具有预定规格的载体容器的预定位置，所述预定规格被配置为放置所述货物以携带; 夹持控制装置，其构造成将夹持器驱动到载体容器的预定位置并控制夹持预定位置; 以及构造成基于作用在所述夹持器上的外力来确定所述夹持是否成功的抓握成功或不确定装置。

37. 发明申请

US20050254965A1 Expansion machine 审中-公开
标题翻译：膨胀机
公开(公告)号：US20050254965A1
公开(公告)日：2005-11-17
申请号：US10516883
申请日：2003-06-20
申请人： Hiroyuki Makino , Kohei Oosono
发明人： Hiroyuki Makino , Kohei Oosono
IPC分类号： F01B3/02 , F01B3/00 , F04B17/00 , F04B35/00
CPC分类号： F01B3/0017
摘要： An expander is provided in which spherical projections (61a) formed at the forward end of pistons (42) of an axial piston cylinder group abut against spherical depressions (31a) formed in a swash plate (31), and an elliptical contact point locus (T) of contact points (p) between the spherical depressions (31a) and the spherical projections (61a) is offset toward the expansion stroke side of the axial piston cylinder group. As a result, in a middle region of the expansion stroke where the speed of the piston (42) is high and the surface pressure of the contact point (p) is high, the position of the contact point (p) can be made as close as possible to an axis (L3) of the spherical depression (31a) and an axis (L2) of the piston (42), thus reducing a bending moment and a radially biased load exerted on the piston (42) and minimizing any increase in sliding resistance and any occurrence of abnormal wear.
摘要翻译：提供一种膨胀机，其中形成在轴向活塞气缸组的活塞（42）的前端处的球形突起（61a）抵靠形成在斜盘（31）中的球形凹部（31a）和椭圆接触点球形凹部（31a）和球形突起（61a）之间的接触点（p）的轨迹（T）朝向轴向活塞气缸组的膨胀行程侧偏移。结果，在活塞（42）的转速高，接触点（p）的表面压力高的膨胀冲程的中间区域中，接触点（p）的位置可以做成尽可能地关闭球形凹部（31a）的轴线（L 3）和活塞（42）的轴线（L 2），从而减小施加在活塞（42）上的弯矩和径向偏压的载荷，最小化滑动阻力的任何增加和任何异常磨损的发生。

38. 发明申请

US20050158181A1 Expansion engine 审中-公开
标题翻译：扩展引擎
公开(公告)号：US20050158181A1
公开(公告)日：2005-07-21
申请号：US10501521
申请日：2003-01-21
申请人： Hiroyuki Makino , Makoto Uda
发明人： Hiroyuki Makino , Makoto Uda
IPC分类号： F01B3/02 , F01B3/00 , F04B1/12 , F04B23/00
CPC分类号： F01B3/0032
摘要： An expander is provided in which a rotor (22) is rotated by supplying high-temperature, high-pressure steam to an expansion chamber (43) defined between a piston (42) and a cylinder sleeve (41) so that the piston (42) pushes a swash plate (31). Since an annular heat-insulating space (70) is formed in a rotor head (38) facing the expansion chamber (43), it is possible to suppress the escape, to the rotor (22), of the heat of high-temperature, high-pressure steam supplied to the expansion chamber (43), thereby preventing the heat efficiency from deteriorating. Moreover, since the expansion chamber (43) is sealed by interposing a metal gasket (36) between the end face of the cylinder sleeve (41) and the end face of the rotor head (38), in comparison with a case in which the expansion chamber (43) is sealed via a thick annular seal, unnecessary volume around the seal can be reduced, thus ensuring that the expander has a large volume ratio (expansion ratio) and thereby improving the thermal efficiency, which enables the output to be increased.
摘要翻译：提供了一种膨胀器，其中通过向限定在活塞（42）和气缸套（41）之间的膨胀室（43）供应高温高压蒸汽使转子（22）旋转，使得活塞（42））推动斜盘（31）。由于在与膨胀室（43）相对的转子头（38）中形成有环状的绝热空间（70），所以能够抑制高温的热量向转子（22）的逸出，提供给膨胀室（43）的高压蒸汽，从而防止热效率降低。此外，由于通过在气缸套（41）的端面和转子头（38）的端面之间插入金属垫圈（36）来密封膨胀室（43），所以与膨胀室（43）通过厚的环形密封件密封，可以减少密封件周围的不必要的体积，从而确保膨胀机具有大的体积比（膨胀比），从而提高热效率，从而使输出增加。

39. 发明授权

US06319559B1 Adhesive applying method in forming a seat 失效
标题翻译：在形成座椅时的粘合剂施加方法
公开(公告)号：US06319559B1
公开(公告)日：2001-11-20
申请号：US09570132
申请日：2000-05-12
申请人： Hiroyuki Makino
发明人： Hiroyuki Makino
IPC分类号： B05D134
CPC分类号： B05B7/1693 , B05B7/0807 , B05B7/1613 , B05B7/1673 , B05D1/02 , B05D1/34 , B05D5/10 , B60N2/5875
摘要： Method and system for applying an adhesive agent to a covering material in the process of bonding the covering material to a foam cushion member to produce a bonded unit forming a seat. As a base material of the adhesive agent, only a primary component material and secondary curing agent are used, without any organic solvent added in the primary component material. Heat of a predetermined temperature is continuously applied to the primary component material by heating elements so as to retain its lowered viscosity through a whole fluid passage from a storage point to a spray gun, so that the heated primary component material in a fluid state may be injected from the spray gun, while being mixed with the curing agent in the air at the same time, thereby applying a properly atomized state of the mixture, as an adhesive agent, to the covering material.
摘要翻译：在将覆盖材料粘合到泡沫缓冲构件的过程中将粘合剂施加到覆盖材料以产生形成座位的粘合单元的方法和系统。作为粘合剂的基材，仅使用主要组分材料和二次固化剂，而不在主要组分材料中加入任何有机溶剂。通过加热元件将预定温度的热量连续地施加到主要成分材料，以便通过从储存点到喷枪的整个流体通道保持其降低的粘度，使得处于流体状态的被加热的主要成分材料可以是同时在空气中与固化剂混合的同时从喷枪喷射，从而将作为粘合剂的混合物的适当雾化状态施加到覆盖材料上。

40. 发明授权

US4764241A Apparatus for manufacturing a seat 失效
标题翻译：用于制造座椅的装置
公开(公告)号：US4764241A
公开(公告)日：1988-08-16
申请号：US30230
申请日：1987-03-26
申请人： Hiroyuki Makino
发明人： Hiroyuki Makino
IPC分类号： A47C7/18 , B29C51/00 , B29C51/22 , B29C63/02 , B68G15/00 , B32B31/20
CPC分类号： B68G15/00 , B29C51/00 , B29C51/22 , B29C63/025 , B29L2031/771
摘要： Disclosed is an apparatus for manufacturing a seat by bonding together a top cover member and a foam cushion member of a seat for automobiles, in which there are provided a turntable rotatable intermittently at 90 degrees in a circular direction, four lower dies arranged at the respective four areas which are equally defined in a circular direction on the turn table, each of the four lower dies being adapted to form one seat. In this apparatus, there are also provided a supply station for supplying the top cover member to the lower dies, a heating mechanism for applying a heat to the top cover member affixed to the lower dies, a forming mechanism for forming the top cover member into a predetermined uneven shape, and a pressure bonding mechanism for pressure bonding the top cover member to the foam cushion member. Upon 360-degree rotation of the lower dies permits production of a complete unit of seats for one automobile.
摘要翻译：公开了一种用于制造座椅的装置，该装置通过将汽车用座椅的顶盖构件和泡沫缓冲构件接合在一起，其中设置有以圆周方向以90度间歇旋转的转盘，四个下模设置在相应的位置在转台上在圆周方向上同样限定的四个区域，四个下模具中的每一个适于形成一个座椅。在该装置中，还设置有用于将顶盖构件供给到下模具的供给站，用于向固定到下模具的顶盖构件施加热量的加热机构，用于形成顶盖构件的成形机构预定的不均匀形状，以及用于将顶盖构件压接到泡沫缓冲构件上的压接机构。在下模的360度旋转下允许生产一个汽车的完整的座椅单元。

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