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1. 发明申请

US20120172169A1 FRICTION DRIVE DEVICE AND INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：摩擦驱动装置和倒车型车辆
公开(公告)号：US20120172169A1
公开(公告)日：2012-07-05
申请号：US13496515
申请日：2009-09-18
申请人： Hiroshi Gomi , Kazushi Hamaya
发明人： Hiroshi Gomi , Kazushi Hamaya
IPC分类号： F16H13/08
CPC分类号： B62J1/005 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02 , B62K2207/04
摘要： The frictional relationship between the drive rollers of a pair of drive disks and the driven rollers of a main wheel is prevented from changing.A connecting mechanism (cross roller bearing) connects the two drive disks to each other so as to be rotatable to each other while restricting at least one of a radial displacement and an axial displacement between the two drive disks.
摘要翻译：一对驱动盘的驱动辊与主轮的从动辊之间的摩擦关系被阻止变化。连接机构（交叉滚子轴承）将两个驱动盘彼此连接，以便可以彼此旋转，同时限制两个驱动盘之间的径向位移和轴向位移中的至少一个。

2. 发明申请

US20110068738A1 RECHARGING SYSTEM FOR A RECHARGEABLE BATTERY OF AN INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆可充电电池的充电系统
公开(公告)号：US20110068738A1
公开(公告)日：2011-03-24
申请号：US12884724
申请日：2010-09-17
申请人： Hiroshi GOMI , Kazushi HAMAYA , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi GOMI , Kazushi HAMAYA , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： H02J7/16 , H02J7/00
CPC分类号： B62J25/00 , B62J1/005 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02
摘要： A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.
摘要翻译：用于倒立摆式车辆（1）的可再充电电池（281）的充电系统包括：支架（86），其用于通过使用与规定部分接合的支撑构件（91,96）将车辆保持在基本上直立的姿势所述车辆，所述支架上设置有供电装置（95,152），以及设置在所述车辆上的动力取出装置（88,151）。当车辆的规定部分被支架的支撑构件接合时，动力装置被定位成与供电装置联接。支架允许车辆以直立姿态放置，简单地将车辆靠在支撑构件的一部分上，并且可以同时建立车辆的可再充电电池与电源之间的电连接，而不需要任何额外的努力

3. 发明申请

US20110067937A1 FRICTIONAL DRIVE DEVICE AND INVERTED PENDULUM TYPE VEHICLE USING THE SAME 有权
标题翻译：惯性驱动装置和使用相同的倒车型车辆
公开(公告)号：US20110067937A1
公开(公告)日：2011-03-24
申请号：US12884738
申请日：2010-09-17
申请人： Hiroshi GOMI , Shinichiro KOBASHI , Toru TAKENAKA , Kazushi Akimoto , Yuichi Uebayashi , Kazushi HAMAYA , Wataru YADA , Hironori Waita
发明人： Hiroshi GOMI , Shinichiro KOBASHI , Toru TAKENAKA , Kazushi Akimoto , Yuichi Uebayashi , Kazushi HAMAYA , Wataru YADA , Hironori Waita
IPC分类号： B62K11/00 , F16H13/04 , F16H37/02 , 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。

4. 发明申请

US20070193789A1 Legged mobile robot and control system thereof 失效
标题翻译：有腿的移动机器人及其控制系统
公开(公告)号：US20070193789A1
公开(公告)日：2007-08-23
申请号：US10593493
申请日：2005-02-18
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： B62D51/06
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板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部起飞时间，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。

5. 发明授权

US06377014B1 Legged walking robot 有权
标题翻译：有腿行走机器人
公开(公告)号：US06377014B1
公开(公告)日：2002-04-23
申请号：US09636750
申请日：2000-08-11
申请人： Hiroshi Gomi , Kazushi Hamaya
发明人： Hiroshi Gomi , Kazushi Hamaya
IPC分类号： B25J500
CPC分类号： B62D57/032
摘要： In a biped walking robot having a body and two articulated legs each connected to the body and each having a foot at its free end such that the robot is controlled to walk by landing a heel of the foot first on a floor. The heel of the foot has projections and packings charged in gaps. The projections are constituted to have high rigidity against forces acting in the direction of the gravity axis and low rigidity, which is lower than the first rigidity, against forces acting in other directions, when the heel is landed, thereby enabling to achieve an optimum balance between absorption/mitigation of shock at footfall and attitude stabilization after footfall.
摘要翻译：在具有主体和两个铰接腿的双足步行机器人中，每个腿都连接到身体，并且每个脚都在其自由端处具有脚，使得机器人被控制以首先将足部的脚跟落在地板上。足部脚跟在间隙中装有突起和填料。突起被构造成当脚跟着落时，相对于在重力轴线方向上作用的力和低于第一刚度的低刚性抵抗其它方向作用的力而具有高刚性，从而能够实现最佳平衡吸引/减轻脚步冲击和脚步后的姿态稳定。

6. 发明授权

US09224993B2 Battery pack encasing structure and walking assistance device using same 有权
标题翻译：电池组包装结构和使用相同的行走辅助装置
公开(公告)号：US09224993B2
公开(公告)日：2015-12-29
申请号：US13488898
申请日：2012-06-05
申请人： Kazushi Hamaya , Masaya Nakano
发明人： Kazushi Hamaya , Masaya Nakano
IPC分类号： H01M2/10 , A61H1/02 , A61H3/00
CPC分类号： H01M2/1005 , A61H1/0244 , A61H3/00 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/5069 , H01M2/10 , H01M2/1066 , H01M2/1094
摘要： A connector provided in a lower middle part of a battery pack, is protected from moisture in a reliable manner while simplifying the installing and removing of the battery pack. A vertical wall of the battery pack is formed with an arch-shaped ridge having a higher middle part and a pair of lower lateral end parts. A battery pack receiving recess is provided with a vertical wall opposing the vertical wall of the battery pack, and a pair of through holes on either lower end thereof. The vertical wall of the battery pack receiving recess is formed with an arch-shaped groove configured to receive the arch-shaped ridge of the battery pack. Moisture that may be deposited on the vertical wall surfaces is trapped by a water channel defined by the groove and the ridge, and drained from the battery pack receiving recess via the through holes.
摘要翻译：设置在电池组的下部中间部分的连接器能够以可靠的方式防止湿气，同时简化了电池组的安装和拆卸。电池组的垂直壁形成有具有较高中间部分和一对下侧端部的拱形脊。电池组接收凹部具有与电池组的垂直壁相对的垂直壁和在其下端的一对通孔。电池组接收凹部的垂直壁形成有拱形槽，其构造成接收电池组的拱形脊。可能沉积在垂直壁表面上的水分被由槽和脊限定的水通道捕获，并且经由通孔从电池组接收凹槽排出。

7. 发明授权

US08499865B2 Friction drive device and omni-directional vehicle using the same 有权
标题翻译：摩擦驱动装置和全方位车辆使用
公开(公告)号：US08499865B2
公开(公告)日：2013-08-06
申请号：US13319586
申请日：2010-04-09
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi , Hiroshi Gomi , Masao Sasaki , Kazushi Hamaya
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi , Hiroshi Gomi , Masao Sasaki , Kazushi Hamaya
IPC分类号： B60B19/12 , B60K17/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60K7/0007 , B60K17/00 , B60L3/0061 , B60L2200/14 , B60L2220/42 , B60L2220/44 , B60L2220/50 , B60L2240/421 , B60L2240/423 , B60L2240/425 , B62K11/007 , Y02T10/641 , Y02T10/646
摘要： Heat generated by a drive source of a friction drive device such as an electric motor is allowed to efficiently dissipate to the atmosphere, and the friction drive device and an omni-directional vehicle using the same is designed in a highly compact manner. Left and right electric drive devices are placed on a central axial line of left and right rotatable drive members, and external teeth members serving as output members of the electric drive devices are directly connected to the respective rotatable drive members in a torque transmitting and heat transmitting relationship.
摘要翻译：允许由诸如电动机的摩擦驱动装置的驱动源产生的热量有效地散发到大气中，并且以高度紧凑的方式设计摩擦驱动装置和使用其的全向车辆。左右电动驱动装置配置在左右旋转驱动部件的中心轴线上，作为电动驱动装置的输出部件的外齿部件以扭矩传递和热传递方式直接连接于各旋转驱动部件关系。

8. 发明授权

US08403084B2 Friction drive device and inverted pendulum type vehicle 有权
标题翻译：摩擦驱动装置和倒立摆式车辆
公开(公告)号：US08403084B2
公开(公告)日：2013-03-26
申请号：US13496515
申请日：2009-09-18
申请人： Hiroshi Gomi , Kazushi Hamaya
发明人： Hiroshi Gomi , Kazushi Hamaya
IPC分类号： B62D61/00
CPC分类号： B62J1/005 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02 , B62K2207/04
摘要： The frictional relationship between the drive rollers of a pair of drive disks and the driven rollers of a main wheel is prevented from changing. A connecting mechanism (cross roller bearing) connects the two drive disks to each other so as to be rotatable to each other while restricting at least one of a radial displacement and an axial displacement between the two drive disks.
摘要翻译：一对驱动盘的驱动辊与主轮的从动辊之间的摩擦关系被阻止变化。连接机构（交叉滚子轴承）将两个驱动盘彼此连接，以便可以彼此旋转，同时限制两个驱动盘之间的径向位移和轴向位移中的至少一个。

9. 发明申请

US20120175176A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120175176A1
公开(公告)日：2012-07-12
申请号：US13496487
申请日：2009-09-18
申请人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
发明人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
IPC分类号： B62D61/00
CPC分类号： B62K1/00 , B60L11/1805 , B62J1/005 , B62J25/00 , B62K11/007 , B62K15/008 , Y02T10/7005
摘要： An inverted pendulum type vehicle (1) includes a lower frame incorporated with load sensor having an input portion 60 for receiving an external force and an upper frame (3) provided with a saddle 11 for supporting a load of a rider or a cargo and a grip handle (31) for enabling a user not riding the vehicle to support the vehicle (1), the upper frame being connected to the lower frame via the input portion of the load sensor. Therefore, in the vehicle including the lower frame supporting a propelling unit for the vehicle and the upper frame detachably attached to the lower frame, by using a single force sensor, not only the force acting on a load support portion of the upper frame can be detected in an accurate manner, but also the force acting on the load support portion when the user is transporting the vehicle can be detected.
摘要翻译：倒立摆式车辆（1）包括具有负载传感器的下框架，该负载传感器具有用于接收外力的输入部分60和设置有用于支撑乘员或货物的负载的鞍座11的上框架（3）握持手柄（31），用于使得不骑车的用户能够支撑车辆（1），上框架经由负载传感器的输入部分连接到下框架。因此，通过使用单个力传感器，在包括支撑车辆用推进单元的下框架和可拆卸地安装于下框架的上框架的车辆中，不仅作用在上框架的负载支撑部上的力可以可以检测出准确的方式，而且可以检测到当用户正在运送车辆时作用在负载支撑部分上的力。

10. 发明授权

US07600591B2 Leg type mobile robot 有权
标题翻译：腿式移动机器人
公开(公告)号：US07600591B2
公开(公告)日：2009-10-13
申请号：US10544305
申请日：2005-04-28
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： B25J5/00
CPC分类号： F16F1/44 , B25J19/0091 , B62D57/032 , F16F3/12
摘要： A leg type mobile robot (R) including an body (R2), legs (R1) each connected to the body (R2) via a first joint (12, 13), and foots (R17) each connected to an end part of the leg part (R1) via a second joint (15, 16), the foot (17) including a foot portion (61) having a lower end part having a ground area (64, 66) grounded on a floor surface, the foot portion (61) including a plate spring part (62) supporting empty weight while bending at the time of being grounded.
摘要翻译：一种腿型移动机器人（R），其包括主体（R2），经由第一接头（12,13）连接到主体（R2）的腿部（R1）和每个连接到主体的端部的脚部，腿部（R1）经由第二接头（15,16），脚部（17）包括脚部（61），脚部（61）具有接地区域（64,66）的下端部，（61）包括在接地时弯曲时支撑空重的板弹簧部分（62）。

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