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1. 发明申请

WO2017070426A1 ROBOT AND ROBOT CONTROL SYSTEM 审中-公开
标题翻译：机器人和机器人控制系统
公开(公告)号：WO2017070426A1
公开(公告)日：2017-04-27
申请号：PCT/US2016/058039
申请日：2016-10-21
申请人： SRI INTERNATIONAL , YAMAHA HATSUDOKI KABUSHIKI KAISHA
发明人： LOW, Thomas , DE CANDIA, Thomas , YUN, Seungkook , EGAN, Thomas , CHAVEZ, Bryan , KERNBAUM, Alexander , SHEAR, Riley , GERARD, Leonard , MORFEY, Stephen , MAHONEY, Richard , VINCENT, Regis , BIRKMEYER, Paul, Michael , MORITA, Hiroyuki , MURAMATSU, Hirokatsu , NISHIMURA, Keiji , SAIJOU, Hiroshi , SATOU, Akira , UCHIYAMA, Toshifumi , WANATABE, Hitoshi , WATANABE, Shirou
IPC分类号： B25J11/00 , B25J9/04 , B25J9/10 , B25J19/02 , B25J13/00
CPC分类号： B25J19/023 , B25J9/104 , B25J11/008 , B25J13/08
摘要： An example system includes a vehicle, a robot, and a controller. The vehicle may include an accelerator operator and a steering operator. The robot may include as accelerator actuator configured to operate the accelerator operator, and a steering actuator configured to operate- the steering operator. The controller is configured to: in response to an accelerator command, send a first signal to the accelerator actuator to operate the accelerator operator of the vehicle, and in response to a steering command, send a second, signal to the steering actuator to steer the vehicle.
摘要翻译：示例系统包括车辆，机器人和控制器。车辆可以包括加速器操作器和转向操作器。机器人可以包括被配置成操作加速器操作器的加速器致动器和被构造成操作转向操作器的转向致动器。控制器被配置为：响应于加速器命令，向加速器致动器发送第一信号以操作车辆的加速器操作器，并且响应于转向命令向控制致动器发送第二信号以操控车辆。

2. 发明申请

WO2014084393A2 ENGINE UNIT AND VEHICLE 审中-公开
标题翻译：发动机单元和车辆
公开(公告)号：WO2014084393A2
公开(公告)日：2014-06-05
申请号：PCT/JP2013/082302
申请日：2013-11-21
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA
发明人： NISHIKAWA, Takahiro , HINO, Haruyoshi , FURUTA, Hideki
IPC分类号： H02K7/00
CPC分类号： H02K29/03 , F02N11/04 , H02K7/006 , H02K7/02 , H02K21/222 , H02K2213/03 , H02P25/188
摘要： Provided is an engine unit that achieves improvement in both engine startability and vehicle mountability without use of a swing-back function and a decompression function, and, when used in combination with the swing-back function and/or the decompression function, achieves further improvement in the engine startability and the vehicle mountability. An engine unit mounted to a vehicle includes a starter motor. A flywheel provided in the starter motor includes magnetic pole faces that are provided on inner circumferential surfaces of permanent magnet parts with respect to a radial direction of the starter motor. The magnetic pole faces are arranged side by side in a circumferential direction of the starter motor. The number of the magnetic pole faces is more than 2/3 of the number of slots. At least at a time of starting a four-stroke engine body, a control device changes a current supplied to a winding of each phase, to thereby enable the flywheel to rotate with overcoming of a high-load region.
摘要翻译：提供一种在不使用回转功能和减压功能的情况下实现发动机起动性和车辆安装性的改善的发动机单元，并且当与回转功能和/或减压功能组合使用时，实现进一步的改进在发动机起动性和车辆安装性方面。安装到车辆的发动机单元包括起动电动机。设置在起动电动机中的飞轮包括相对于起动电动机的径向设置在永磁体部分的内周面上的磁极面。磁极面在起动电动机的圆周方向上并排配置。磁极面的数量大于槽数的2/3。至少在起动四冲程发动机机体时，控制装置改变供给每相的绕组的电流，从而使飞轮能够克服高负载区域而旋转。

3. 发明申请

WO2012070223A1 TWO-WHEELED ELECTRIC VEHICLE 审中-公开
标题翻译：双轮电动车
公开(公告)号：WO2012070223A1
公开(公告)日：2012-05-31
申请号：PCT/JP2011/006473
申请日：2011-11-21
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA , TERADA, Junji , SOUMA, Yousuke
发明人： TERADA, Junji , SOUMA, Yousuke
IPC分类号： B62K25/28 , B62K11/10
CPC分类号： B62K25/283 , B60L11/1879 , B60L2200/12 , B62K11/10 , B62K2204/00 , B62K2208/00 , Y02T10/7005 , Y02T10/705
摘要： A battery (6) supported by a vehicle body frame (2) is disposed in a posture inclined rearwardly obliquely upwardly between a pair of second frame parts (22) below a seat (37). A lower end (6t) of the battery (6) is disposed below an upper end (34b) of a feet-putting part (34). A part of a battery supporting part (130) that supports the battery (6) from below is disposed below the upper end (34b) of the feet-putting part (34). At least one part of the battery supporting part (130) is disposed in a first region (F1) surrounded by a first vertical plane (V1), by a first horizontal plane (H1), and by the battery (6) in a side view. A first pivot shaft (74) is disposed in a second region (F2) surrounded by the first horizontal plane (H1), by a second vertical plane (V2), and by the battery (6) in a side view.
摘要翻译：由车体框架（2）支撑的电池（6）以座椅（37）下方的一对第二框架部件（22）向后倾斜地倾斜的姿势设置。电池（6）的下端（6t）设置在脚放部（34）的上端（34b）的下方。从脚下部支撑电池（6）的电池支撑部（130）的一部分设置在脚放部（34）的上端（34b）的下方。电池支撑部件（130）的至少一部分设置在由第一垂直平面（V1），第一水平面（H1）和电池（6）侧面包围的第一区域（F1）中视图。第一枢轴（74）设置在由第一水平面（H1）围绕的第二区域（F2）中，第二垂直平面（V2）和电池（6）的侧视图中。

4. 发明申请

WO2010013482A1 SCOOTER TYPE VEHICLE 审中-公开
标题翻译：车尾型车
公开(公告)号：WO2010013482A1
公开(公告)日：2010-02-04
申请号：PCT/JP2009/003626
申请日：2009-07-30
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA , WANG, Hsing-yang , OOHIRA, Masaru , MOCHIZUKI, Kan
发明人： WANG, Hsing-yang , OOHIRA, Masaru , MOCHIZUKI, Kan
IPC分类号： B62K11/10 , B62K19/06
CPC分类号： B62K11/10 , B62K19/06 , B62K2202/00
摘要： In a scooter type vehicle, a front frame (4) partially includes a linear portion. The front frame (4) extends downward while a top end thereof is joined to a head pipe (3). A length (L1) of the front frame (4) in the longitudinal direction of the vehicle is less than a length (L2) of the head pipe (3) in the longitudinal direction of the vehicle. In a side view of the vehicle body, an intersection (X) between an axis of the head pipe (3) and an extension of an axis of the linear portion of the front frame (4) is positioned higher than a vertical center (M) of the head pipe (3). Rear frames (5, 6) are extended rearward in the vehicle body while front ends thereof are joined to a bottom part of the front frame (4). Joining parts (7, 8) join the rear frames (5, 6) to the front frame (4). The joining parts (7, 8) are at least partially positioned forward of a rear end of the head pipe (3).
摘要翻译：在踏板型车辆中，前框架（4）部分地包括直线部分。前框架（4）向下延伸，而其顶端连接到头管（3）。前框架（4）在车辆纵向上的长度（L1）小于头管（3）在车辆纵向方向上的长度（L2）。在车体的侧视图中，头管3的轴线与前框架（4）的直线部分的轴线的延伸线之间的交叉点（X）位于比垂直中心（M ）头管（3）。后框架（5,6）在车体的后方向后延伸，同时其前端连接到前框架（4）的底部。接合部件（7,8）将后框架（5,6）连接到前框架（4）。接合部分（7,8）至少部分地位于头管（3）的后端的前方。

5. 发明申请

WO2008081964A1 INTERNAL COMBUSTION ENGINE COMPONENT AND METHOD FOR PRODUCING THE SAME 审中-公开
标题翻译：内燃机组件及其制造方法
公开(公告)号：WO2008081964A1
公开(公告)日：2008-07-10
申请号：PCT/JP2007/075362
申请日：2007-12-25
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA , IWASAKI, Shinya , YAMAGATA, Hiroshi , KURITA, Hirotaka
发明人： IWASAKI, Shinya , YAMAGATA, Hiroshi , KURITA, Hirotaka
IPC分类号： F02F1/20
CPC分类号： F02F1/20 , Y10T29/4927 , Y10T428/1216
摘要： An internal combustion engine component is composed of an aluminum alloy containing silicon, and includes a plurality- of silicon crystal grains located on a slide surface. The slide surface has a ten point-average roughness Rzjis of about 0.54 μ m or more, and a load length ratio Rmr(30) at a cut level of about 30% of the slide surface is about 20% or more.
摘要翻译：内燃机部件由含硅的铝合金构成，并且包括位于滑动面上的多个硅晶粒。滑动表面的十点平均粗糙度Rzjis为约0.54μm或更大，并且在滑动表面的约30％的切割水平处的载荷长度比Rmr（30）为约20％或更大。

6. 发明申请

WO2007066786A1 CONTROL DEVICE AND CONTROL METHOD FOR SPARK-IGNITION DIRECT-INJECTION INTERNAL COMBUSTION ENGINE 审中-公开
标题翻译：火花点火直喷式内燃机的控制装置及控制方法
公开(公告)号：WO2007066786A1
公开(公告)日：2007-06-14
申请号：PCT/JP2006/324613
申请日：2006-12-04
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , YAMAHA HATSUDOKI KABUSHIKI KAISHA , HIROWATARI, Seiji , TERAOKA, Masahiko , MAEMURA, Jun , FUJIKI, Toshitaka
发明人： HIROWATARI, Seiji , TERAOKA, Masahiko , MAEMURA, Jun , FUJIKI, Toshitaka
IPC分类号： F02D41/40
CPC分类号： F02D41/402 , F02D41/26 , F02D41/3011 , F02D2041/389 , Y02T10/44
摘要： If two-split injection logic has been adopted (YES in S10), an engine ECU executes a program including the steps of calculating first injection start timing of the two-split injection logic (S100), calculating second injection start timing of the two-split injection logic (S110), calculating a first injection permitted time period A of the two-split injection logic (S120), calculating a first injection required time period B of the two-split injection logic (S130), and adopting single injection logic instead of the two-split injection logic (S150) if the first injection start timing A of the two-split injection logic is shorter than the first injection required time period B of the two-split injection logic (YES in S140).
摘要翻译：如果采用二分割喷射逻辑（S10中为“是”），则发动机ECU执行包括以下步骤的程序：计算二分割喷射逻辑的第一喷射开始定时（S100），计算二分割喷射逻辑的第二喷射开始定时，分割喷射逻辑（S110），计算双分割喷射逻辑的第一喷射允许时间段A（S120），计算二分割喷射逻辑的第一喷射所需时间段B（S130），并采用单次喷射逻辑如果双分割喷射逻辑的第一喷射开始定时A比双分离喷射逻辑的第一喷射要求时间段B短（S140中为“是”），则代替双分割喷射逻辑（S150）。

7. 发明申请

WO2005050769A2 FUEL CELL SYSTEM AND TRANSPORTING EQUIPMENT INCLUDING THE SAME 审中-公开
标题翻译：燃料电池系统和运输设备，包括相同
公开(公告)号：WO2005050769A2
公开(公告)日：2005-06-02
申请号：PCT/JP2004/016187
申请日：2004-10-25
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA , MURAMATSU, Yasuyuki? , KOHDA, Hideo?
发明人： MURAMATSU, Yasuyuki? , KOHDA, Hideo?
IPC分类号： H01M8/10
CPC分类号： H01M8/1011 , B62K2202/00 , B62M7/12 , H01M8/04014 , H01M8/04089 , H01M8/04164 , H01M8/04186 , H01M8/04194 , H01M8/04201 , H01M8/04208 , H01M8/04291 , H01M8/04313 , H01M8/04328 , H01M8/04447 , H01M8/04753 , H01M8/0668 , H01M8/0687 , H01M16/006 , H01M2250/20 , Y02E60/523 , Y02T90/32
摘要： A fuel cell system 70 includes a fuel tank 75 which stores a methanol fuel, an aqueous solution tank 77 which stores a methanol aqueous solution having a concentration less than that of the methanol fuel, a fuel pump 85 which supplies the methanol fuel stored in the fuel tank 75 to the aqueous solution tank 77, a fuel cell stack 73 which is supplied with the methanol aqueous solution from the aqueous solution tank 77 for generating electric energy through electrochemical reactions, a water tank 123 which stores water to be supplied to the aqueous solution tank 77, a water pump 127 for supplying water stored in the water tank 123 to the aqueous solution tank 77, a concentration sensor 105 which detects the concentration of the methanol aqueous solution supplied to the fuel cell stack 73, a fluid surface detection sensor 173 which detects a fluid surface height of the methanol aqueous solution in the aqueous solution tank 77, and a controller 63 which controls a supply operation of the fuel pump 85 and the water pump 127 based on an output from the concentration sensor 105, and a supply operation of the fuel pump 85 and the water pump 127 based on an output from the fluid surface detection sensor 173.
摘要翻译：燃料电池系统70包括储存甲醇燃料的燃料箱75，储存浓度小于甲醇燃料浓度的甲醇水溶液的水溶液箱77，燃料泵85 其将储存在燃料箱75中的甲醇燃料供应到水溶液箱77;燃料电池堆73，其从水溶液箱77供应甲醇水溶液，用于通过电化学反应产生电能;水箱123，储存要供应到水溶液罐77的水，用于将储存在水罐123中的水供应到水溶液罐77的水泵127，检测供应到燃料电池的甲醇水溶液的浓度的浓度传感器105 堆73，检测水溶液罐77中的甲醇水溶液的流体表面高度的流体表面检测传感器173以及控制供给操作的控制器63 基于来自浓度传感器105的输出以及基于来自流体表面检测传感器173的输出的燃料泵85和水泵127的供给操作，燃料泵85和水泵127的供给操作。

8. 发明申请

WO2003048612A2 CONTINUOUSLY VARIABLE TRANSMISSION AND METHOD OF CONTROLLING IT 审中-公开
标题翻译：连续可变传输及其控制方法
公开(公告)号：WO2003048612A2
公开(公告)日：2003-06-12
申请号：PCT/JP2002/012693
申请日：2002-12-04
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA , UNNO, Toshio , HINO, Haruyoshi , TAKEBE, Mitsukazu
发明人： UNNO, Toshio , HINO, Haruyoshi , TAKEBE, Mitsukazu
IPC分类号： F16H61/00
CPC分类号： F16H63/062 , F16H61/66254 , F16H63/067 , F16H2061/283
摘要： To provide a continuously variable transmission and a control method thereof, allowing for control of the axial position of a movable sheave without a sensor for measuring the axial position of the movable sheave on a rotational shaft and for stable control with the movable sheave being held in position, without the increase in the size of mechanisms and power consumption.A continuously variable transmission in which, on a rotational shaft 1 thereof are mounted a fixed sheave 2 positioned in the axial direction and a movable sheave 3 slidable axially, so as to face each other, a motor is provided for driving the movable sheave, and a slide driving means 16 is provided for sliding the movable sheave 3 axially by the rotation of the motor, characterized in that: the motor is a step motor 6, and the step motor 6 and the slide drive means 16 are mounted coaxially with the rotational shaft 1.
摘要翻译：为了提供无级变速器及其控制方法，允许控制可动滑轮的轴向位置，而不需要传感器来测量可旋转滑轮在旋转轴上的轴向位置，并且通过可动滑轮保持稳定的控制位置，而不增加机构尺寸和功率消耗。一种无级变速器，其中，在其旋转轴1上安装有沿轴向定位的固定滑轮2和可轴向滑动的可动滑轮3，以便面对彼此设置有用于驱动可动滑轮的电动机，并且设置滑动驱动装置16，用于通过电动机的旋转使可动滑轮3轴向滑动，其特征在于：电动机是步进电动机6，并且步骤马达6和滑动驱动装置16与旋转轴1同轴地安装。

9. 发明申请

WO1996020529A1 CONTROLLER FOR DC MOTOR 审中-公开
标题翻译：直流电机控制器
公开(公告)号：WO1996020529A1
公开(公告)日：1996-07-04
申请号：PCT/JP1995002651
申请日：1995-12-25
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA , HARA, Nobuo , OGATA, Hiroaki , SUENARI, Masaya
发明人： YAMAHA HATSUDOKI KABUSHIKI KAISHA
IPC分类号： H02P07/06
CPC分类号： B62M6/45 , H02P7/29 , H02P2205/01 , H03K17/0822
摘要： A controller for DC motor is provided with an FET (206) which is connected between one end of a motor (201) and the positive electrode of a battery EB, a diode (203) through which the electric current having flown through the motor (201) is passed when the switch (220) of the battery EB is turned off, a means for measuring the current flowing through the motor (201) which comprises a shunt resistor (203a), a differential amplifier (203b), and a low-pass filter (203c), and a controller (250) which PWM-controls the turn-on/off of the FET (206) so that the measured value of the current flowing through the motor (201) is coincident with a target value. The controller (250) sets a very small value as the target value when the switch (220) of the battery EB is turned off and supplies the very small current to the motor (201). Therefore, the FET which drives the motor of a bicycle with auxiliary motor is protected at a low cost without adding any extra component.
摘要翻译：用于直流电动机的控制器设置有连接在电动机（201）的一端和电池EB的正极之间的FET（206），流过电动机的电流（203） 201）在电池EB的开关（220）关闭时通过，用于测量流过马达（201）的电流的装置，该装置包括分流电阻（203a），差分放大器（203b）和低电平通过滤波器（203c）以及PWM控制FET（206）的接通/断开的控制器（250），使得流过马达（201）的电流的测量值与目标值一致。当电池EB的开关（220）关闭并且将非常小的电流提供给电动机（201）时，控制器（250）将非常小的值设置为目标值。因此，驱动具有辅助电动机的自行车的电动机的FET以低成本被保护，而不增加任何额外的部件。

10. 发明申请

WO2015001715A1 ENGINE SYSTEM AND SADDLE-STRADDLING TYPE MOTOR VEHICLE 审中-公开
标题翻译：发动机系统和踩踏式电机
公开(公告)号：WO2015001715A1
公开(公告)日：2015-01-08
申请号：PCT/JP2014/003040
申请日：2014-06-06
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA
发明人： MAEBASHI, Kosei , NISHIMURA, Tetsuhiko
IPC分类号： F02D41/00 , F02D41/06 , F02N11/08 , F02N19/00 , F02D13/02
CPC分类号： F02D13/0276 , B62M7/12 , F02D41/009 , F02D41/062 , F02D41/065 , F02D41/221 , F02D2041/0092 , F02D2400/08 , F02N11/0814 , F02N11/0825 , F02N19/004 , F02N19/005 , F02N2019/008 , F02N2200/021 , F02P7/061 , Y02T10/18 , Y02T10/40 , Y02T10/48
摘要： An engine includes a decompression mechanism. The decompression mechanism is configured to be switchable between an operation state in which a gas in a cylinder is exhausted, so that a pressure in the cylinder is reduced, and a non-operation state in which the gas in the cylinder is not exhausted. The engine is controlled in a normal mode in which the ignition of a fuel-air mixture by an ignition device is performed, and in an idle stop mode in which the ignition of the fuel-air mixture by the ignition device is not performed. In the idle stop mode, the decompression mechanism is controlled in a state of being kept in the non-operation state such that the rotation of a crank shaft is stopped.
摘要翻译：发动机包括减压机构。减压机构被配置为可以在气缸中的气体排出的运转状态和气缸内的压力降低的不动作状态下进行切换。发动机被控制在通过点火装置进行燃料 - 空气混合物的点火的正常模式中，并且在不执行点火装置点燃燃料 - 空气混合物的怠速停止模式中。在怠速停止模式中，减压机构被控制在保持在非操作状态的状态，使得曲柄轴的旋转停止。

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