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1. 发明申请

US20060161220A1 Wear-type joint drive device 失效
标题翻译：磨损式联合驱动装置
公开(公告)号：US20060161220A1
公开(公告)日：2006-07-20
申请号：US10543403
申请日：2004-03-18
申请人： Hiroshi Kobayashi , Yutaka Sato , Kazuaki Hiramatsu , Makoto Konami , Taisuke Matsushita , Masaaki Muromachi , Akitaka Uchimura
发明人： Hiroshi Kobayashi , Yutaka Sato , Kazuaki Hiramatsu , Makoto Konami , Taisuke Matsushita , Masaaki Muromachi , Akitaka Uchimura
IPC分类号： A61H1/02 , A61N1/08 , A61H1/00 , A61N1/10
CPC分类号： A61H1/0277 , A61F5/0102 , A61H1/0281 , A61H23/04 , A61H2201/165 , B25J9/0006 , B25J9/142 , F15B15/103
摘要： Provided is a wearable joint driving device in which a plurality of frame members are attached to a wearing body so as to be in contact with the outer surface of the wearing body. Between the frame members, there is mounted a fluid pressure type actuator. The fluid pressure type actuator has an expansion/contraction member and a net-like covering member covering the outer periphery of the expansion/contraction member. The fluid pressure type actuator undergoes a reduction in length through expansion of the expansion/contraction member to thereby generate a driving force. The frame members have a predetermined level of rigidity.
摘要翻译：本发明提供一种可佩带接头驱动装置，其中多个框架构件附接到磨损体以与磨损体的外表面接触。在框架构件之间，安装有流体压力型致动器。流体压力式致动器具有膨胀/收缩构件和覆盖膨胀/收缩构件的外周的网状覆盖构件。流体压力型致动器通过膨胀/收缩构件的膨胀而经历长度减小，从而产生驱动力。框架构件具有预定的刚性水平。

2. 发明申请

US20090149993A1 ROBOT 审中-公开
标题翻译：机器人
公开(公告)号：US20090149993A1
公开(公告)日：2009-06-11
申请号：US12329113
申请日：2008-12-05
申请人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
发明人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
IPC分类号： G06F19/00
CPC分类号： B25J19/005 , B62D57/032
摘要： A robot, capable of appropriately adjusting position and/or posture on a current spot to execute a designated task involving interaction with a target object.The Robot is configured to enable adjustment of the position and/or posture by controlling movement of at least a hip joint mechanism, and a knee joint mechanism in the spot while the robot is allowing each foot to keep its floor-arriving state. Accordingly, when the position and/or posture is inappropriate to execute the designated task while the robot is at a standstill in a second designated area for executing the designated task, the robot can execute the designated task after the position and/or posture has been corrected in the second designated area.
摘要翻译：一种机器人，其能够适当地调整当前位置上的位置和/或姿势，以执行涉及与目标对象相互作用的指定任务。机器人构造成能够通过在机器人允许每只脚保持其地板到达状态的同时控制至少髋关节机构和膝部关节机构中的位置和/或姿势的调节。因此，当机器人在用于执行指定任务的第二指定区域中处于静止状态时，当位置和/或姿势不适合执行指定任务时，机器人可以在位置和/或姿势已经被执行之后执行指定的任务在第二指定区域进行了修正。

3. 发明授权

US07413554B2 Wearable joint driving device 失效
标题翻译：可佩戴接头驱动装置
公开(公告)号：US07413554B2
公开(公告)日：2008-08-19
申请号：US10543403
申请日：2004-03-18
申请人： Hiroshi Kobayashi , Yutaka Sato , Kazuaki Hiramatsu , Makoto Konami , Taisuke Matsushita , Masaaki Muromachi , Akitaka Uchimura
发明人： Hiroshi Kobayashi , Yutaka Sato , Kazuaki Hiramatsu , Makoto Konami , Taisuke Matsushita , Masaaki Muromachi , Akitaka Uchimura
IPC分类号： A61F5/00
CPC分类号： A61H1/0277 , A61F5/0102 , A61H1/0281 , A61H23/04 , A61H2201/165 , B25J9/0006 , B25J9/142 , F15B15/103
摘要： Provided is a wearable joint driving device in which a plurality of frame members are attached to a wearing body so as to be in contact with the outer surface of the wearing body. Between the frame members, there is mounted a fluid pressure type actuator. The fluid pressure type actuator has an expansion/contraction member and a net-like covering member covering the outer periphery of the expansion/contraction member. The fluid pressure type actuator undergoes a reduction in length through expansion of the expansion/contraction member to thereby generate a driving force. The frame members have a predetermined level of rigidity.
摘要翻译：本发明提供一种可佩带接头驱动装置，其中多个框架构件附接到磨损体以与磨损体的外表面接触。在框架构件之间，安装有流体压力型致动器。流体压力式致动器具有膨胀/收缩构件和覆盖膨胀/收缩构件的外周的网状覆盖构件。流体压力型致动器通过膨胀/收缩构件的膨胀而经历长度减小，从而产生驱动力。框架构件具有预定的刚性水平。

4. 发明授权

US08098042B2 Charging system for walking robot and charging method therefor 有权
标题翻译：步行机器人充电系统及其充电方法
公开(公告)号：US08098042B2
公开(公告)日：2012-01-17
申请号：US12267011
申请日：2008-11-07
申请人： Takashi Nakayama , Koji Okazaki , Masaaki Muromachi
发明人： Takashi Nakayama , Koji Okazaki , Masaaki Muromachi
IPC分类号： H02J7/00
CPC分类号： B25J19/005 , H01R13/6315 , H01R43/26
摘要： A charging system for a walking robot which charges a battery mounted on the walking robot by connecting a power supplying connector provided in a charging station to a power receiving connector in the walking robot, wherein the walking robot is capable of moving without significant restrictions during charging. The charging system includes a lock mechanism for locking the power supplying connector to the power receiving connector. A connector holder holds the power supplying connector detachably, an advancing/retracting mechanism advances and retracts the connector holder in the anteroposterior direction, and a lock operation mechanism performs a lock operation and an unlock operation of the lock mechanism via the connector holder. After an advance of the connector holder, the lock mechanism performs the lock operation to lock the power supplying connector to the power receiving connector. Thereafter, the connector holder is retracted out of the power supplying connector.
摘要翻译：一种用于步行机器人的充电系统，其通过将设置在充电站中的供电连接器连接到步行机器人中的受电连接器而对安装在步行机器人上的电池进行充电，其中，步行机器人能够在充电期间能够移动而没有显着的限制。充电系统包括用于将电力供应连接器锁定到电力接收连接器的锁定机构。连接器保持器可拆卸地保持供电连接器，前进/后退机构在前后方向前进和后退连接器保持器，并且锁定操作机构经由连接器保持器执行锁定机构的锁定操作和解锁操作。在连接器保持器的前进之后，锁定机构执行锁定操作以将供电连接器锁定到电力接收连接器。此后，连接器支架从电源连接器中退出。

5. 发明申请

US20070216347A1 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：US20070216347A1
公开(公告)日：2007-09-20
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： H02J7/00
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，设置在充电站20上的滑动机构23，基板25，充电电源26等。机器人1在基板25上执行预定的定位，然后将重心向后移动，以将电力接收连接器4连接到供电连接器22。在该步骤中，当机器人1的后盖3被保持器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。

6. 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。

7. 发明申请

US20090121673A1 CHARGING SYSTEM FOR WALKING ROBOT AND CHARGING METHOD THEREFOR 有权
标题翻译：用于运动机器人的充电系统及其充电方法
公开(公告)号：US20090121673A1
公开(公告)日：2009-05-14
申请号：US12267011
申请日：2008-11-07
申请人： Takashi Nakayama , Koji Okazaki , Masaaki Muromachi
发明人： Takashi Nakayama , Koji Okazaki , Masaaki Muromachi
IPC分类号： H02J7/00
CPC分类号： B25J19/005 , H01R13/6315 , H01R43/26
摘要： A charging system for a walking robot which charges a battery mounted on the walking robot by connecting a power supplying connector provided in a charging station to a power receiving connector in the walking robot, wherein the walking robot is capable of moving without significant restrictions during charging. The charging system includes a lock mechanism for locking the power supplying connector to the power receiving connector. A connector holder holds the power supplying connector detachably, an advancing/retracting mechanism advances and retracts the connector holder in the anteroposterior direction, and a lock operation mechanism performs a lock operation and an unlock operation of the lock mechanism via the connector holder. After an advance of the connector holder, the lock mechanism performs the lock operation to lock the power supplying connector to the power receiving connector. Thereafter, the connector holder is retracted out of the power supplying connector.
摘要翻译：一种用于步行机器人的充电系统，其通过将设置在充电站中的供电连接器连接到步行机器人中的受电连接器而对安装在步行机器人上的电池进行充电，其中，步行机器人能够在充电期间能够移动而没有显着的限制。充电系统包括用于将电力供应连接器锁定到电力接收连接器的锁定机构。连接器保持器可拆卸地保持供电连接器，前进/后退机构在前后方向前进和后退连接器保持器，并且锁定操作机构经由连接器保持器执行锁定机构的锁定操作和解锁操作。在连接器保持器的前进之后，锁定机构执行锁定操作以将供电连接器锁定到电力接收连接器。此后，连接器支架从电源连接器中退出。

8. 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。

9. 发明授权

US08380348B2 Robot 有权
标题翻译：机器人
公开(公告)号：US08380348B2
公开(公告)日：2013-02-19
申请号：US12812189
申请日：2009-01-13
申请人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
发明人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
IPC分类号： G06F19/00
CPC分类号： B25J19/005 , G05D1/0891 , H01M2/1022 , H01M10/42 , H01M10/46 , H02J7/0045
摘要： Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.
摘要翻译：考虑到执行涉及与目标对象的交互的指定任务，能够适当地调整主体的位置等的机器人。当根据第二目标路径控制主体（10）的位置和姿势时，机器人（1）从第一指定区域移动到第二指定区域并且站在那里。在该状态下，确定第二位置偏差（=主体与第二目标路径的位置的偏差）和第二姿势偏差（=主体的姿势与第二目标姿态的偏差）。根据确定结果，校正第二目标路径，使得随后的位置偏差等可以更小。

10. 发明申请

US20100286823A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：US20100286823A1
公开(公告)日：2010-11-11
申请号：US12812189
申请日：2009-01-13
申请人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
发明人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
IPC分类号： G06F19/00
CPC分类号： B25J19/005 , G05D1/0891 , H01M2/1022 , H01M10/42 , H01M10/46 , H02J7/0045
摘要： Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.
摘要翻译：考虑到执行涉及与目标对象的交互的指定任务，能够适当地调整主体的位置等的机器人。当根据第二目标路径控制主体（10）的位置和姿势时，机器人（1）从第一指定区域移动到第二指定区域并且站在那里。在该状态下，确定第二位置偏差（=主体与第二目标路径的位置的偏差）和第二姿势偏差（=主体的姿势与第二目标姿态的偏差）。根据确定结果，校正第二目标路径，使得随后的位置偏差等可以更小。

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