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    • 4. 发明授权
    • Legged mobile robot
    • 有腿的移动机器人
    • US08387726B2
    • 2013-03-05
    • US13152724
    • 2011-06-03
    • Susumu Miyazaki
    • Susumu Miyazaki
    • B62D57/032
    • A63H11/00B25J9/106B62D57/032
    • A robot 1 is equipped with a leg 2 including a knee joint 16 connecting a thigh link 32 and a crus link 34. The knee joint 16 is equipped with a connecting rod 44, one end of which is connected so as to be freely rotatable with respect to an axis 40 of the crus link 34 and the other end of which is connected so as to be freely rotatable to an axis 42 of the thigh link 32, and a distance varying mechanism 50 which changes the distance between an axis 60 of the crus link 34 and an axis 56 of the thigh link 32 by a driving force of an electric motor 40. When a bending angle of the knee joint 16 is 0 degree, a sum of the distance between the axis 40 and axis 42 and the distance between the axis 60 and the axis 56, is smaller than the distance between the axis 40 and the axis 56.
    • 机器人1配备有包括连接大腿连杆32和十字连杆34的膝关节16的腿部2.膝关节16配备有连杆44,连杆44的一端连接成可自由转动, 相对于十字连杆34的轴线40并且其另一端连接成能够自由旋转到大腿连杆32的轴线42;以及距离变化机构50,其改变了轴线60之间的距离 通过电动机40的驱动力,大腿连杆32的轴线56和轴56.当膝关节16的弯曲角度为0度时,轴线40与轴42之间的距离和距离 在轴线60和轴线56之间的距离小于轴线40和轴线56之间的距离。
    • 6. 发明授权
    • Legged mobile robot
    • 有腿的移动机器人
    • US07826925B2
    • 2010-11-02
    • US11578180
    • 2005-02-18
    • Makoto ShishidoSusumu MiyazakiHiroyuki Kaneko
    • Makoto ShishidoSusumu MiyazakiHiroyuki Kaneko
    • G06F19/00
    • B25J19/0091
    • In a legged mobile robot having a body and legs connected to the body, a seating aid is provided at its body so as to enable to sit on a seat. With this, the space occupied by the robot can be decreased to reduce space during storage and transport, and also enhance safety in the course of transport. In addition, maintenance work is simplified because immobilization in the seated condition is possible. Still further, the range of works is expanded to enable deskwork and the like. Further, the seating aid is provided at a location that is rearward of a center of gravity of the robot when the robot is seated. With this, the moment acting on the robot about the center of gravity during seating does not operate to tilt the robot rearward and, therefore, the robot can be enabled to keep a stable posture from before to after sitting down.
    • 在具有连接到身体的身体和腿部的腿式移动机器人中,在其身体处设置座椅辅助件,以便能够坐在座椅上。 由此,可以减少机器人占用的空间,以减少储存和运输过程中的空间,并提高运输过程中的安全性。 另外,维护工作简化了,因为固定在就座状态是可能的。 此外,扩展了作品的范围以实现书桌等。 此外,当机器人就座时,座椅辅助装置设置在机器人的重心后方的位置。 因此,在座椅期间作用于机器人关于重心的时刻不会使机器人向后倾斜,因此机器人能够在坐下之后保持稳定的姿势。
    • 8. 发明授权
    • Method for manufacturing bonded wafer and outer-peripheral grinding machine of bonded wafer
    • 接合晶片的制造方法以及接合晶片的外周磨削机的制造方法
    • US07727860B2
    • 2010-06-01
    • US11920761
    • 2006-05-18
    • Susumu MiyazakiTokio TakeiKeiichi Okabe
    • Susumu MiyazakiTokio TakeiKeiichi Okabe
    • H01L21/00
    • H01L21/304H01L21/2007H01L21/76256
    • The present invention provides a method for manufacturing a bonded wafer, which includes at least the steps of bonding a bond wafer and a base wafer, grinding an outer peripheral portion of the bonded bond wafer, etching off an unbonded portion of the ground bond wafer, and then reducing a thickness of the bond wafer, wherein, in the step of grinding the outer peripheral portion, the bonded bond wafer is ground so as to form a groove along the outer peripheral portion of the bond wafer to form an outer edge portion outside the groove; and in the subsequent step of etching, the outer edge portion is removed together with the groove portion of the bond wafer to form a terrace portion where the base wafer is exposed at the outer peripheral portion of the bonded wafer. Thus, it is possible to provide a method for manufacturing a bonded wafer, which can reduce the number of dimples formed in a terrace portion of a base wafer upon removing an outer peripheral portion of a bonded bond wafer.
    • 本发明提供一种接合晶片的制造方法,其至少包括接合晶片和基底晶片的接合步骤,研磨接合接合晶片的外周部分,蚀刻接地晶片的未结合部分, 然后减小接合晶片的厚度,其中,在研磨外周部分的步骤中,接合的接合晶片被研磨以沿着接合晶片的外周部分形成凹槽以形成外部边缘部分 凹槽 并且在随后的蚀刻步骤中,外边缘部分与接合晶片的沟槽部分一起被去除,以形成露台部分,其中基底晶片在接合晶片的外周部分露出。 因此,可以提供一种用于制造接合晶片的方法,其可以在去除接合的接合晶片的外周部分时减少形成在基底晶片的台阶部分中的凹坑的数量。
    • 9. 发明授权
    • Legged mobile robot leg structure
    • 有腿的移动机器人腿结构
    • US07240747B2
    • 2007-07-10
    • US10416900
    • 2001-11-16
    • Susumu MiyazakiHideaki Takahashi
    • Susumu MiyazakiHideaki Takahashi
    • B62D51/06
    • B25J13/085B25J17/0275
    • A legged mobile robot leg structure is provided in which a lower leg part (24) is connected to the lower end of an upper leg part (23) through a knee joint (27), a foot part (25) having a six-axis force sensor (60) is connected to the lower end of the lower leg part (24) through an ankle joint (28), and the ankle joint (28) supports the foot part (25) so that the foot part (25) can pitch around a lateral axis (Ly) and roll around a fore-and-aft axis (Lx) relative to the lower leg part (24). A pitch motor (34) for making the foot part (25) pitch around the lateral axis (Ly) is supported on the lower leg part (24) at a position above the ankle joint (28), and a roll motor (35) for making the foot part (25) roll around the fore-and-aft axis (Lx) is supported on the lower leg part (24) at a position above the ankle joint (28). The driving force for driving the lower leg part (24) can thereby be reduced by decreasing the moment of inertia around the knee joint (27), and the influence of noise of the motors (34, 35) on the six-axis force sensor (60) provided on the foot part (25) can be minimized.
    • 提供了一种腿式移动式机器人脚结构,其中小腿部分(24)通过膝关节(27)连接到大腿部分(23)的下端,具有六轴的脚部(25) 力传感器(60)通过踝关节(28)连接到小腿部(24)的下端,踝关节(28)支撑脚部(25),使得脚部(25)能够 围绕横向轴线(Ly)倾斜并相对于小腿部部分(24)围绕前后轴线(Lx)卷绕。 用于使脚部(25)围绕横轴(Ly)的间距的俯仰马达(34)在踝关节(28)上方的位置处支撑在小腿部(24)上,并且辊马达(35) 用于使所述脚部(25)围绕所述前后轴线(Lx)卷绕在所述踝关节(28)上方的位置处支撑在所述小腿部(24)上。 因此,可以通过减小膝关节(27)周围的惯性矩来减小用于驱动小腿部(24)的驱动力,并且可以减小电动机(34,35)的噪声对六轴力传感器 设置在脚部(25)上的(60)可以最小化。