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1. 发明专利

JP2011214654A Slider 有权
标题翻译：滑块
公开(公告)号：JP2011214654A
公开(公告)日：2011-10-27
申请号：JP2010082944
申请日：2010-03-31
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ICHIHASHI SATOSHI , MATSUOKA YOSHIHISA
IPC分类号： F16C29/04 , F16C23/08
CPC分类号： B25J9/0006 , A61H1/0255 , A61H3/00 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1664 , A61H2201/1676 , F16C13/04 , F16C19/507 , Y10T403/32245
摘要： PROBLEM TO BE SOLVED: To suppress wear of rotating bodies and an arc-shaped rail.SOLUTION: This slider 32 slides on the arc-shaped rail 31 having an arc-shaped inner peripheral wall 311, an arc-shaped outer peripheral wall 312, a pair of sidewalls 313 coupling both the peripheral walls, and a slit 314 formed in the outer peripheral wall 312, and formed by bending a metal plate-like member. The slider 32 includes: an insertion portion 321 inserted into the arc-shaped rail 31 through the slit 314; first rotating bodies 342 rolling on the outer peripheral wall 312; and second rotating bodies 341 rolling on the inner peripheral wall 311. The second rotating bodies 341 are provided with a pair of lateral rotating bodies 411 disposed at both ends in a width direction, and central rotating bodies 412 disposed in a central portion in the width direction and disposed to be displaced in a sliding direction with respect to the lateral rotating bodies 411. The lateral rotating bodies 411 and central rotating bodies 412 are pivotally supported by pivot members 51 swingably provided in the sliding direction in the insertion portion 321.
摘要翻译：要解决的问题：抑制旋转体和弧形导轨的磨损。解决方案：该滑块32在具有弧形内周壁311，弧形外周壁312的弧形轨道31上滑动，连接两个周壁的一对侧壁313和形成在外周壁312中的狭缝314，并且通过弯曲金属板状构件而形成。滑块32包括：通过狭缝314插入到弧形轨道31中的插入部分321; 在外周壁312上滚动的第一旋转体342; 以及在内周壁311上滚动的第二旋转体341.第二旋转体341设置有沿宽度方向设置在两端的一对侧向旋转体411，以及设置在宽度方向的中央部的中心旋转体412 并且被设置成相对于侧面旋转体411沿滑动方向移位。侧向旋转体411和中心旋转体412由在滑动方向上可摆动地设置在插入部分321中的枢转构件51枢转地支撑。

2. 发明专利

JP2011185328A Linear actuator, and robot provided with the same 审中-公开
标题翻译：线性执行机构和机器人提供
公开(公告)号：JP2011185328A
公开(公告)日：2011-09-22
申请号：JP2010049307
申请日：2010-03-05
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TAKENAKA KENJI , ICHIHASHI SATOSHI
IPC分类号： F16H25/20 , B25J5/00 , B25J19/00 , F16H21/40 , H02K7/06
摘要： PROBLEM TO BE SOLVED: To provide a linear actuator and a robot provided with the same, which achieve miniaturization, a reduction in weight and a reduction in a dead zone area.
SOLUTION: This linear actuator 11 includes: a nut member 15 fixedly connected to the hollow inner rotor 14 of a hollow electric motor 13; a linear output shaft 17 having a peripheral surface formed with a screw groove 17a screwed into the nut member 15 through a ball 16 retained by the nut member 15 and inserted through a through-hole 14a formed in the hollow inner rotor 14; a pair of angular bearings 19a, 19b provided separately from each other in the axial direction of the nut member 15and supporting the nut member with a housing 18; and an outer collar 28 interposed between the outer rings of the angular bearings 19a, 19b. The nut member 15 functions as an inner collar interposed between the inner rings of the angular bearings 19a, 19b.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种线性致动器和具有该致动器的机器人，其实现了小型化，减轻了重量并减小了死区面积。解决方案：该线性致动器11包括：固定地连接到中空电动机13的中空内转子14的螺母构件15; 线性输出轴17，其具有形成有通过螺母构件15保持并通过形成在中空内转子14中的通孔14a插入的球16螺纹连接到螺母构件15中的螺纹槽17a的圆周表面; 一对在螺母构件15的轴向上彼此分开设置并且将螺母构件与壳体18支撑的角轴承19a，19b; 以及插入在角轴承19a，19b的外圈之间的外轴环28。螺母构件15用作插入在有角轴承19a，19b的内圈之间的内圈。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2011041995A Robot, bipedal walking robots and method for controlling the same 审中-公开
标题翻译：机器人，BIPEDAL WALKING ROBOTS及其控制方法
公开(公告)号：JP2011041995A
公开(公告)日：2011-03-03
申请号：JP2009190317
申请日：2009-08-19
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ICHIHASHI SATOSHI , SHIBATA TAKUMI
IPC分类号： B25J19/00 , B25J5/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a robot capable of solving a problem that attitude becomes unstable due to the existence of backlash.
SOLUTION: A bipedal walking robot 1 includes a direct-acting actuator 11 coupled with a thigh link 6 and a lower link 8 through a knee joint part 7 and swinging the lower link 8 to the thigh link 6 and an MR damper 12 for applying a damping force to the action of the lower link 8. The damping force is generated at the MR damper 12, when direction of a force acting on the lower link 8 is changed during the swing action of the lower link 8 by the direct-acting actuator 11.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够解决由于存在间隙而导致姿态变得不稳定的问题的机器人。双足步行机器人1包括通过膝关节部分7连接大腿连杆6和下连杆8并将下连杆8摆动到大腿连杆6和MR阻尼器12的直动作动器11 用于对下连杆8的作用施加阻尼力。当在下连杆8的摆动动作期间作用在下连杆8上的力的方向被直接转动时，阻尼力在MR阻尼器12处产生执行器11.版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2003029614A Method and device for setting obstacle for travel simulator 有权
标题翻译：用于设置行驶模拟器的障碍物的方法和装置
公开(公告)号：JP2003029614A
公开(公告)日：2003-01-31
申请号：JP2001212627
申请日：2001-07-12
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： NEGISHI KUNIKAZU , ICHIHASHI SATOSHI , MASAKI TAKESHI , OKAMURA RYUICHI
IPC分类号： A63F13/10 , G09B9/05 , G06T17/40
摘要： PROBLEM TO BE SOLVED: To enable an obstacle stetting operation to be carried out easily and in a short time with a simple process and constitution. SOLUTION: The obstacle setting device is provided with a training scenario database 62 to store scenario data concerning an operation environment of a simulated vehicle body 14, an obstacle setting section 76 which sets whether or not the obstacle included in an obstacle pattern in the scenario data is to be placed and which can set the position of the obstacle at an optional position within an arranging range specified by the obstacle pattern, and an video generating section 64 to generate the video of the scenario data based on the information of the set obstacle.
摘要翻译：要解决的问题：通过简单的处理和结构，能够容易且短时间地进行障碍物印刷操作。解决方案：障碍物设置装置设置有训练场景数据库62，用于存储关于模拟车体14的操作环境的脚本数据，障碍物设置部76，其设置障碍物图案中包含的障碍物在场景数据中并且可以将障碍物的位置设置在由障碍物图案指定的布置范围内的可选位置处;以及视频生成部64，用于根据设定的障碍物的信息生成场景数据的视频。

5. 发明专利

JP2014017926A Apparatus and method for assembling rotor 有权
标题翻译：装配和组装转子的方法
公开(公告)号：JP2014017926A
公开(公告)日：2014-01-30
申请号：JP2012152407
申请日：2012-07-06
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： IURA TAKESHI , KOBAYASHI SHINOBU , ICHIHASHI SATOSHI , TAKAHASHI TORU , NODA TATSUYA
IPC分类号： H02K15/16
摘要： PROBLEM TO BE SOLVED: To avoid damaging a rotor and a stator by preventing an inclined central axis and an offset centering position of the rotor relative to the stator when assembling the rotor into the stator.SOLUTION: A rotor assembly mechanism 18 is suspended from above by a wire 16 on a suspension mechanism 14. The rotor assembly mechanism 18 includes case abutting parts 58 protruding from a first board 56 in an arrangement corresponding to predetermined positions of a case 20, and positioning members 60 having positioning pins 60a adapted to fit in predetermined bolt holes 20d formed in the case 20. While the position of the rotor assembly mechanism 18 is adjusted, the positioning pins 60a are fitted in the bolt holes 20d to hold a rotor 24 and a stator 22 coaxial for integration.
摘要翻译：要解决的问题：为了避免在将转子组装到定子中时通过防止转子相对于定子的倾斜中心轴和偏心对中位置来损坏转子和定子。解决方案：转子组件机构18从上方悬挂通过悬挂机构14上的线16将转子组件机构18包括在对应于壳体20的预定位置的布置中的从第一板56突出的壳体抵接部58，以及具有适于安装在其中的定位销60a的定位构件60 在壳体20中形成预定的螺栓孔20d。当转子组件机构18的位置被调节时，定位销60a装配在螺栓孔20d中，以保持同轴的转子24和定子22。

6. 发明专利

JP2009101456A Bipedal walking robot 有权
标题翻译： BIPEDAL WALKING ROBOT
公开(公告)号：JP2009101456A
公开(公告)日：2009-05-14
申请号：JP2007274846
申请日：2007-10-23
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： MATSUOKA YOSHIHISA , TAKENAKA KENJI , ICHIHASHI SATOSHI
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To improve motion performance by lessening inertia moment of a thigh link and a lower limb link in a bipedal walking robot having a linear motion actuator for driving a lower limb for connecting the left and right thigh links and the lower limb link at a location separated from a knee joint section and a linear motion actuator driving a flat foot for connecting the lower limb link and a flat foot section at a location separated from a foot neck joint section.
SOLUTION: Respective linear motion actuators 12
3 , 12
4 for driving a lower limb and a flat foot are formed by a ball screw mechanism consisting of a drive unit 15 having an electric motor 13 and a nut member rotatably driven by the electric motor 13, and a screw shaft 16 engaged with the nut member. Connecting axes Y3a, X3a against the thigh link and the lower limb link of the drive unit 15 of respective linear motion actuators 12
3 , 12
4 are orthogonal to the center axis of the nut member.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过减轻具有用于驱动下肢的直线运动致动器的双足行走机器人中的大腿连杆和下肢连杆的惯性矩来改善运动性能，用于连接左右大腿连杆和在与膝关节部分分离的位置处的下肢连接件和驱动平脚的直线运动致动器，用于连接下肢连杆和在与脚颈接合部分分离的位置处的平脚部。解决方案：用于驱动下肢和平脚的相应的直线运动致动器12S SB 3，12 SB SB 4由SBB组成的滚珠丝杠机构形成，驱动单元15 具有电动机13和由电动机13可旋转地驱动的螺母构件以及与螺母构件接合的螺纹轴16。连接轴Y3a，X3a与各直线运动致动器12S SB 4，SB SB 4的驱动单元15的大腿连接件和下肢连接件正交于中心轴线螺母成员。版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2008206334A Molding device and molding method of rotating machine coil 有权
标题翻译：旋转机器的成型装置和成型方法
公开(公告)号：JP2008206334A
公开(公告)日：2008-09-04
申请号：JP2007040711
申请日：2007-02-21
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： SHIINA HIROSHI , ICHIHASHI SATOSHI
IPC分类号： H02K15/06
摘要： PROBLEM TO BE SOLVED: To install at least a part of bearings in a state where they are inserted into a coil by adapting a shape of a jumper wire part of a rotating machine coil to a shape of a bearing adjacent to an axial direction of the rotating machine coil.
SOLUTION: A molding device 51 of the rotating machine coil includes struts 53 and 54 fixing a core 15 of a center side of the coil 16, an inner shape molding implement 71 abutting an inner peripheral side so as to mold inner shapes of the jumper wire parts 17 and 18, an outer shape pushing implement 72 pushing an outer peripheral side of the jumper wire parts 17 and 18 and molding an outer shape and an axis end pushing implement 73 pushing an axis end side of the jumper wire parts 17 and 18 and molding an end part shape. Thus, the jumper wire parts 17 and 18 can precisely be molded in desired shapes.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：通过将旋转机器线圈的跨接线部分的形状适配成与轴向相邻的轴承的形状，将至少一部分轴承安装在其插入线圈的状态下旋转机器线圈的方向。解决方案：旋转机器线圈的成型装置51包括固定线圈16的中心侧的芯15的支柱53和54，与内周侧邻接的内部成型工具71，以便模制内部形状跨接线部分17和18，推动跨接线部分17和18的外周侧并成型外形的外形推动装置72和推动跨接线部分17的轴端侧的轴端推动工具73 并且模制端部形状。因此，跨接线部分17和18可以精确地模制成所需的形状。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2010091382A Collision-testing device 审中-公开
标题翻译：碰撞测试装置
公开(公告)号：JP2010091382A
公开(公告)日：2010-04-22
申请号：JP2008260951
申请日：2008-10-07
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KIKUCHI MISA , ICHIHASHI SATOSHI
IPC分类号： G01M7/08
摘要： PROBLEM TO BE SOLVED: To provide a collision-testing device, capable of reproducing in a simulating manner drop of a robot arm having a comparatively heavy load with a simple constitution, and of performing easily a high-accuracy collision test.
SOLUTION: This device includes a rocking arm 10 rockably connected to the upper side of a base 15; a weight member 12 held by the rocking arm; a skin member 11 for a test formed of the same material species as a skin member, coating the robot arm and detachably and movably held by the rocking arm along the longitudinal direction of the rocking arm; a fixing means for releasably fixing the skin member 11 for the test to a prescribed position along the rocking arm 10; a drop-starting means 27 for tilting and dropping the rocking arm 10; a support table 13 for supporting a colliding object 14, at a position where the skin member 11 for the test collides, when the rocking arm 10 is tilted and dropped; and an impact-load measuring means 37 for measuring the impact load applied to the colliding object 14.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种碰撞检测装置，其能够以简单的结构以模拟方式再现具有相对较重的负载的机器人臂的下降，并且可以容易地执行高精度的碰撞试验。解决方案：该装置包括可摆动地连接到基座15的上侧的摇臂10; 由摆臂保持的配重构件12; 用于由与皮肤构件相同的材料种类形成的测试用皮肤构件11，涂覆机器人手臂，并且可沿摇摆臂的纵向方向由摇臂可拆卸地和可移动地保持; 用于将试验用皮肤部件11可拆卸地固定到沿着摇臂10的规定位置的固定装置; 用于使摇臂10倾斜和下降的下落起始装置27; 支撑台13，用于在摆动臂10倾斜下落时，在被测试的皮肤构件11碰撞的位置处支撑碰撞物体14; 以及用于测量施加到碰撞物体14的冲击载荷的冲击载荷测量装置37.权利要求：（C）2010，JPO＆INPIT

9. 发明专利

JP2009103204A Linear movement actuator 有权
标题翻译：线性运动执行器
公开(公告)号：JP2009103204A
公开(公告)日：2009-05-14
申请号：JP2007274847
申请日：2007-10-23
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： MATSUOKA YOSHIHISA , TAKENAKA KENJI , ICHIHASHI SATOSHI
IPC分类号： F16H25/20
摘要： PROBLEM TO BE SOLVED: To provide a linear movement actuator which includes a nut member 14 driven in rotation by an electric motor 13 and a screw shaft 16 screwed to the nut member through a ball 14a, supports the nut member within a cylindrical nut casing 18 through a pair of angular bearings 19, and can realize miniaturization and weight-reduction by reducing the diameter of the nut casing.
SOLUTION: The nut member 14 includes shaft sections 142, 143 of both ends in the axial direction smaller in outer diameter than a nut body section 141 holding the ball 14a, and both shaft sections are supported axially by a pair of angular bearings 19. Furthermore, a first collar 20 is arranged between inner rings 19a of both angular bearings 19. Additionally, the first collar 20 includes a cylindrical section 20a externally inserted to the nut body section 141, and a pair of annular plate sections 20b contacting with the inner ring 19a of each angular bearing 19 arranged in both ends in the axial direction of the cylindrical section.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种线性运动致动器，其包括由电动机13旋转驱动的螺母构件14和通过球14a螺合到螺母构件的螺杆轴16，将螺母构件支撑在圆柱形螺母外壳18通过一对角度轴承19，并且可以通过减小螺母外壳的直径来实现小型化和减重。解决方案：螺母构件14包括轴向两端的轴部142,143，其外径比保持球14a的螺母主体部分141小，并且两个轴部分由一对角轴承此外，第一轴环20布置在两个角轴承19的内环19a之间。另外，第一轴环20包括外部插入螺母本体部分141的圆柱形部分20a和一对环形板部分20b，每个角轴承19的内环19a布置在圆柱形部分的轴向两端。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2009101455A Bipedal walking robot 有权
标题翻译： BIPEDAL WALKING ROBOT
公开(公告)号：JP2009101455A
公开(公告)日：2009-05-14
申请号：JP2007274845
申请日：2007-10-23
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TAKENAKA KENJI , MATSUOKA YOSHIHISA , ICHIHASHI SATOSHI
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a bipedal walking robot, in which lower leg links 9 and flat foot portions 11 of leg portions 2 are connected at positions distant from ankle joints 10 by a stretching movement of linear motion actuators 12
4 in such a manner as to oscillate the foot portions around the ankle joints with respect to the lower leg links, thus applying a predetermined moment required for stiar walking to the flat foot portions without increasing the size of the linear motion actuators.
SOLUTION: The linear motion actuators 12
4 are located such that a stretching force thereof can be applied to backward slanted lines L2 with respect to connection lines L1 which connect knee joint portions 8 and the ankle joint portions 10. Preferably, coupling portions Y3a of the linear motion actuators 12
4 with respect to the lower leg links 9 are located at the rear of the connection lines L1, and coupling portions Y3b of the linear motion actuators 12
4 with respect to the foot flat portions 11 are located at the front of the connection lines L1.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种双足步行机器人，其中脚部2的小腿连杆9和平脚部11通过直线运动致动器12的伸展运动而连接在远离踝关节10的位置处 > 4 ，以使脚部相对于小腿连接部围绕脚踝关节振荡，从而在不增加直线运动的尺寸的情况下施加用于走向平脚部所需的预定力矩执行器。解决方案：线性运动致动器12S4 定位成使得其相对于连接膝关节部分8和踝关节的连接线L1向后倾斜线L2施加拉伸力优选地，相对于小腿连杆9，线性运动致动器12S的连接部分Y3a位于连接线L1的后部，并且线性运动致动器的联接部分Y3b 相对于脚部平坦部11，相对于连接线L1的前方设置有12 4 。版权所有（C）2009，JPO＆INPIT

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