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1. 发明授权

US5255753A Foot structure for legged walking robot 失效
标题翻译：腿式步行机器人脚部结构
公开(公告)号：US5255753A
公开(公告)日：1993-10-26
申请号：US887240
申请日：1992-05-19
申请人： Masao Nishikawa , Tomoharu Kumagai , Shoei Abe , Masato Hirose , Mitsuaki Hirakawa , Hiroshi Gomi
发明人： Masao Nishikawa , Tomoharu Kumagai , Shoei Abe , Masato Hirose , Mitsuaki Hirakawa , Hiroshi Gomi
IPC分类号： B62D57/02 , B62D57/032
CPC分类号： B62D57/02
摘要： A legged walking robot such as a two-legged walking robot has a plurality of movable legs and a plurality of foot soles mounted respectively on distal ends of the movable legs by respective foot joints. Each of the foot soles has a curved surface disposed on at least a portion of a peripheral edge thereof. The curved surface is shaped such that the foot joint follows a predetermined curved path along a forward direction in which the legged walking robot walks. The foot sole also includes at least one projection on one or each of leading and trailing ends of the foot sole in the forward direction. The projection is movable into and out of a projecting position from the foot sole, but is normally urged into the projecting position to support the foot sole stably on the terrain.
摘要翻译：诸如双腿行走机器人的腿式步行机器人具有多个可移动的腿和分别通过各自的脚关节安装在可动腿的远端上的多个脚底。每个脚底具有设置在其周缘的至少一部分上的曲面。弯曲表面被成形为使得脚部接合沿着腿式步行机器人行走的向前方向沿着预定的弯曲路径。足底还包括在脚前沿的前后方向的前端和后端的一个或每个上的至少一个突起。突起可以从脚底移动进出突出位置，但是通常被推入突出位置以稳定地支撑脚踏板在地形上。

2. 发明授权

US08339010B2 Dual rotor electric machine having a field-controlling rotor 有权
标题翻译：具有现场控制转子的双转子电机
公开(公告)号：US08339010B2
公开(公告)日：2012-12-25
申请号：US12158533
申请日：2006-10-12
申请人： Hirofumi Atarashi , Shoei Abe , Tamotsu Kawamura , Hiromitsu Sato
发明人： Hirofumi Atarashi , Shoei Abe , Tamotsu Kawamura , Hiromitsu Sato
IPC分类号： H02K1/22 , H02K15/00 , H02K51/00 , H02K49/00 , B65D5/50
CPC分类号： H02K21/029 , H02K7/116 , H02K16/02
摘要： An electric motor (10) is constructed with an inner circumference side rotor (11) and an outer circumference side rotor (12) which are coaxially arranged; and planetary gear mechanism which rotates at least one of the inner circumference side rotor (11) and the outer circumference side rotor (12) around an rotary shaft O. Long sides of substantially plate-like inner circumference side permanent magnets (11a) of the inner circumference side rotor (11) and those of substantially plate-like outer circumference side permanent magnets (12a) of the outer circumference side rotor (12) are arranged so as to face each other by the rotation of at least one of the inner circumference side rotor (11) and the outer circumference side rotor (12) in a cross section perpendicular to the rotary shaft O with the planetary gear mechanism.
摘要翻译：电动机（10）由同轴布置的内周侧转子（11）和外周侧转子（12）构成，以及围绕旋转轴O旋转内周侧转子（11）和外周侧转子（12）中的至少一个的行星齿轮机构。该大致板状的内周侧永久磁铁（11a）的长边内周侧转子（11）的内周侧转子（11）和外周侧转子（12）的大致板状的外周侧永久磁铁（12a）的内周侧转子（11）的内周侧的至少一方的旋转相对配置，侧转子（11）和外周侧转子（12），与行星齿轮机构垂直于旋转轴O的截面。

3. 发明申请

US20100320858A1 AXIAL GAP TYPE MOTOR AND METHOD OF MANUFACTURING ROTOR OF MOTOR 有权
标题翻译：轴向齿条电机及制造电机转子的方法
公开(公告)号：US20100320858A1
公开(公告)日：2010-12-23
申请号：US12918638
申请日：2009-10-29
申请人： Satoshi Ishikawa , Keiichi Yamamoto , Shoei Abe
发明人： Satoshi Ishikawa , Keiichi Yamamoto , Shoei Abe
IPC分类号： H02K21/24 , H02K15/03 , H02K1/28
CPC分类号： H02K1/30 , H02K1/2793 , H02K15/02 , H02K15/03 , H02K21/24 , Y10T29/49012
摘要： The rotor 11 of an axial gap type motor 10 is provided with a plurality of main magnets 41 respectively magnetized in an axial direction of a rotational axis and disposed at predetermined intervals in a peripheral direction, a plurality of yokes 42 structured by a laminated member 71 produced by winding a tape-shaped electromagnetic steel plate 60 and respectively disposed on both sides of the main magnets 41 in the axial direction, and a rotor frame 30 made of a die-cast alloy and including a plurality of ribs 31 respectively interposed between the main magnets 41 adjoining each other in the peripheral direction and extending in the radial direction, and an inner cylindrical portion 32 and an outer cylindrical portion 33 respectively formed on the radially inner side of the ribs 31 and on the radially outer side of the ribs 31. According to this structure, the yokes structured by the wound laminated member and the rotor frame can be firmly unified with each other, thereby being able to secure such rigidity that can withstand a centrifugal force generated due to the rotation of the rotor and a magnetic suction force given from the stator.
摘要翻译：轴向间隙型电动机10的转子11具有分别沿旋转轴的轴向磁化并沿周向以规定间隔设置的多个主磁体41，由层叠部件71构成的多个磁轭42 通过缠绕分别设置在主磁体41的轴向两侧的带状电磁钢板60和由压铸合金制成的转子架30制成，转子架30分别插入在压铸合金中主磁体41在圆周方向上彼此邻接并沿径向延伸，以及分别形成在肋31的径向内侧上和肋31的径向外侧上的内圆柱形部分32和外圆柱形部分33 根据该结构，由缠绕层叠构件和转子架构成的轭可以彼此牢固地一体化，从而能够 o确保能够承受由于转子的旋转产生的离心力和从定子给出的磁吸力的刚性。

4. 发明申请

US20080246429A1 CONTROLLER OF ELECTRIC MOTOR 失效
标题翻译：电动马达控制器
公开(公告)号：US20080246429A1
公开(公告)日：2008-10-09
申请号：US12058944
申请日：2008-03-31
申请人： Hirofumi ATARASHI , Shoei Abe , Keiichi Yamamoto , Shigeru Tajima
发明人： Hirofumi ATARASHI , Shoei Abe , Keiichi Yamamoto , Shigeru Tajima
IPC分类号： H02P25/16
CPC分类号： H02P21/0003 , B60L11/14 , B60L15/007 , B60L15/025 , B60L15/20 , B60L2220/14 , B60L2220/16 , B60L2220/50 , B60L2220/58 , B60L2240/421 , B60L2240/423 , H02P21/02 , Y02T10/641 , Y02T10/643 , Y02T10/70 , Y02T10/7077 , Y02T10/72 , Y02T10/7275
摘要： A controller of an electric motor for improving operation efficiency in performing electric conducting control of the electric motor of an axial air-gap type is provided.Therefore, the controller of the electric motor (3) of the axial air-gap type including a rotor (11) having a permanent magnet, a first stator (12a) and a second stator (12b) oppositely arranged through the rotor (11) in a rotation axis direction of the rotor (11), and armature windings (13a, 13b) mounted to the first stator (12a) and the second stator (12b) has an electric current command determining section (30) for switching between a both-side stator driving mode for conducting a driving electric current to both the armature winding (13a) of the first stator (12a) and the armature winding (13b) of the second stator (12b), and a one-side stator driving mode for conducting the driving electric current to only the armature winding (13a) of the first stator (12a) in accordance with a request value Tr_c of output torque of the electric motor (3).
摘要翻译：提供了一种用于提高对轴向气隙型电动机进行导电控制的操作效率的电动机的控制器。因此，包括具有永久磁体的转子（11）和通过转子相对布置的第一定子（12a）和第二定子（12b）的轴向气隙型电动机（3）的控制器 11），并且安装到第一定子（12a）和第二定子（12b）上的电枢绕组（13a，13b）具有电流指令确定部（30）），用于在用于将驱动电流传导到第一定子（12a）的电枢绕组（13a）和第二定子（12b）的电枢绕组（13b））的两侧定子驱动模式之间切换，，以及单向定子驱动模式，用于根据电动机（3）的输出转矩的请求值Tr_c，将驱动电流仅传导到第一定子（12a）的电枢绕组（13a）。

5. 发明授权

US08040008B2 Axial gap motor 有权
标题翻译：轴向间隙电机
公开(公告)号：US08040008B2
公开(公告)日：2011-10-18
申请号：US12680841
申请日：2008-10-02
申请人： Tamotsu Kawamura , Keiichi Yamamoto , Hirofumi Atarashi , Shoei Abe , Shigeru Tajima
发明人： Tamotsu Kawamura , Keiichi Yamamoto , Hirofumi Atarashi , Shoei Abe , Shigeru Tajima
IPC分类号： H02K1/30 , H02K23/54
CPC分类号： H02K1/2793 , Y02P80/30
摘要： The axial gap motor includes the rotor having: a rotor frame including a plurality of ribs extending in a radial direction, an inner circumferential side annular shaft, and an outer circumferential side annular rim, which are integrally coupled to each other through the ribs; the shaft has shaft side rib mounting holes through which the ribs are mounted, the rim has rim side rib mounting holes through which the ribs are mounted, the ribs have radial inner ends mounted and fixed into the shaft side rib mounting holes and radial outer ends mounted and fixed into the rim side rib mounting holes, and in the rotor frame, the main magnets and the sub magnets are alternately disposed in the circumferential direction, between the shaft and the rim.
摘要翻译：所述轴向间隙马达包括转子，所述转子具有：转子架，所述转子架包括沿径向延伸的多个肋，内周侧环形轴和外周侧环形凸缘，所述凸缘通过所述肋彼此一体地联接; 轴具有安装肋的轴侧肋安装孔，边缘具有肋安装的边缘侧肋安装孔，肋具有安装并固定到轴侧肋安装孔和径向外端的径向内端安装并固定在轮辋侧肋安装孔中，在转子架中，主磁铁和副磁体在轴与轮辋之间沿圆周方向交替设置。

6. 发明授权

US08030816B2 Motor and motor control device 有权
标题翻译：电机和电机控制装置
公开(公告)号：US08030816B2
公开(公告)日：2011-10-04
申请号：US12303505
申请日：2007-03-23
申请人： Hirofumi Atarashi , Keiichi Yamamoto , Shoei Abe , Shigeru Tajima
发明人： Hirofumi Atarashi , Keiichi Yamamoto , Shoei Abe , Shigeru Tajima
IPC分类号： H02K1/27
CPC分类号： H02K7/12 , B60L2240/421 , B60L2240/423 , H02K1/2793 , H02K21/24 , H02P6/16 , Y02T10/641 , Y02T10/642
摘要： A rotor (11) is provided with: a main permanent magnet mounting layer (21) having a plurality of main permanent magnets (21a) mounted thereon; a first sub permanent magnet mounting layer (22) having a plurality of first sub permanent magnets (22a) mounted thereon; a second sub permanent magnet mounting layer (23) having a plurality of second sub permanent magnets (23a) mounted thereon; and a phase change mechanism capable, by turning at least either one of the first sub permanent magnet mounting layer (22) and the second permanent magnet mounting layer (23), and the main permanent magnet mounting layer (21) about the rotational axis, of changing the relative phase between the first sub permanent magnet mounting layer (22) and the second permanent magnet mounting layer (23), and the main permanent magnet mounting layer (21).
摘要翻译：转子（11）具有：主永磁体安装层（21），其上安装有多个主永磁体（21a）; 具有安装在其上的多个第一副永磁体（22a）的第一副永磁体安装层（22）具有安装在其上的多个第二副永磁体（23a）的第二副永久磁铁安装层（23）以及相变机构，其能够通过使所述第一副永久磁铁安装层（22）和所述第二永久磁铁安装层（23）中的至少任一个和所述主永磁体安装层（21）绕所述旋转轴线转动，改变第一副永久磁铁安装层（22）和第二永久磁铁安装层（23）之间的相对相位以及主永磁体安装层（21）。

7. 发明授权

US07683520B2 Electric motor and rotating device that changes relative phase of rotors 失效
标题翻译：改变转子相对相位的电动机和旋转装置
公开(公告)号：US07683520B2
公开(公告)日：2010-03-23
申请号：US11713718
申请日：2007-03-05
申请人： Tamotsu Kawamura , Hirofumi Atarashi , Masaaki Kaizuka , Shoei Abe , Kazuyuki Iwata , Masato Fujioka
发明人： Tamotsu Kawamura , Hirofumi Atarashi , Masaaki Kaizuka , Shoei Abe , Kazuyuki Iwata , Masato Fujioka
IPC分类号： H02K1/22
CPC分类号： H02K21/029
摘要： This electric motor is provided with an inner periphery side rotor, an outer periphery side rotor, and a rotating device that can change a relative phase between these rotors by rotating at least one of them about a rotational axis thereof. The rotating device is provided with a first member integrally and rotatably provided to the outer periphery side rotor, and a second member integrally fixed on an inside of the inner periphery side rotor which together with the first member defines a pressure chamber on the inside of the inner periphery side rotor. The rotating device changes a relative phase between the inner periphery side rotor and the outer periphery side rotor by supplying a hydraulic fluid to the pressure chamber. The rotating device is further provided with a linking passage that leaks the hydraulic fluid supplied to the pressure chamber to an outside of the pressure chamber.
摘要翻译：该电动机设置有内周侧转子，外周侧转子和旋转装置，其可以通过使其中的至少一个绕其旋转轴线旋转来改变这些转子之间的相对相位。旋转装置设置有一体地可旋转地设置在外周侧转子上的第一构件，以及一体地固定在内周侧转子内侧的第二构件，与第一构件一起形成在内侧侧转子的内侧的压力室内周侧转子。旋转装置通过向压力室供给液压流体来改变内周侧转子和外周侧转子之间的相对相位。旋转装置还设置有将供应到压力室的液压流体泄漏到压力室外部的连接通道。

8. 发明申请

US20090295245A1 Axial gap motor 失效
标题翻译：轴向间隙电机
公开(公告)号：US20090295245A1
公开(公告)日：2009-12-03
申请号：US12457106
申请日：2009-06-01
申请人： Shoei Abe , Manabu Sakurada , Keiichi Yamamoto
发明人： Shoei Abe , Manabu Sakurada , Keiichi Yamamoto
IPC分类号： H02K21/24
CPC分类号： H02K1/2793
摘要： An axial gap motor includes a rotor and a stator, and the rotor includes within a rotor frame a plurality of main magnet pieces which are disposed in a circumferential direction in such a manner that their magnetized direction is in a rotational axis direction and magnetic members which are disposed on surfaces of at least one sides in the rotational axis direction of the main magnet pieces. The magnetic member has a fitting portion on one end face in a radial direction of the rotor thereof which is adapted to fit in the rotor frame.
摘要翻译：轴向间隙电动机包括转子和定子，并且转子在转子架内包括多个主磁体片，它们沿圆周方向设置成使其磁化方向为旋转轴线方向，磁性构件设置在主磁铁片的旋转轴方向的至少一侧的表面上。磁性构件在其转子的径向的一个端面上具有适于装配在转子框架中的配合部分。

9. 发明授权

US07977843B2 Axial gap type motor 失效
标题翻译：轴向间隙式电机
公开(公告)号：US07977843B2
公开(公告)日：2011-07-12
申请号：US12244448
申请日：2008-10-02
申请人： Hirofumi Atarashi , Shoei Abe , Keiichi Yamamoto
发明人： Hirofumi Atarashi , Shoei Abe , Keiichi Yamamoto
IPC分类号： H02K1/27 , H02K21/24
CPC分类号： H02K21/24 , H02K1/165 , H02K29/03
摘要： The axial gap type motor according to the present invention is provided with: a rotor and a first stator and a second stator, wherein the first and second stators includes an annular back yoke and a plurality of teeth which is provided on the annular back yoke at predetermined intervals in a peripheral direction so as to protrude toward the rotor in the direction of the rotation axis; the peripheral pitch of the plurality of teeth of the first and second stators are equal to each other; and in a case where the first stator and the second stator which sandwich the rotor therebetween in the direction of the rotation axis are seen from one side in the direction of the rotation axis, facing surfaces of the teeth of the first and second stators which face to the rotor are formed so as not to overlap completely each other.
摘要翻译：根据本发明的轴向间隙型电动机设置有：转子和第一定子以及第二定子，其中第一和第二定子包括一个环形后轭和多个齿，其设置在环形后轭上沿圆周方向的预定间隔沿着旋转轴线的方向朝向转子突出; 所述第一和第二定子的所述多个齿的周边间距彼此相等; 并且在从旋转轴线方向的一侧看到沿着旋转轴线的方向夹着转子的第一定子和第二定子的情况下，从面向第一和第二定子的齿的相对表面看，形成为不完全重叠的转子。

10. 发明授权

US07898200B2 Controller of electric motor 失效
标题翻译：电动机控制器
公开(公告)号：US07898200B2
公开(公告)日：2011-03-01
申请号：US12062207
申请日：2008-04-03
申请人： Hirofumi Atarashi , Shoei Abe , Keiichi Yamamoto
发明人： Hirofumi Atarashi , Shoei Abe , Keiichi Yamamoto
IPC分类号： H02P7/00
CPC分类号： H02P21/0003 , B60L11/1814 , B60L11/1862 , B60L15/025 , B60L2220/54 , B60L2240/423 , B60L2240/547 , B60L2240/549 , B60W20/00 , H02P21/02 , Y02T10/641 , Y02T10/643 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/7072 , Y02T90/127 , Y02T90/14
摘要： A controller able to efficiently operate an electric motor of an axial air-gap type as an electric motor and an electricity generator is provided.The controller of the electric motor (3) of the axial air-gap type has a rotor (11) having a permanent magnet, and a first stator (12a) and a second stator (12b) oppositely arranged through the rotor (11) in a rotation axis direction of the rotor (11); wherein the controller includes a first electric current command determining section (30) for supplying a driving electric current from a first power source (38a) to an armature winding (13a) of the first stator (12a), and rotating the rotor (11); a first electric current control section (40a); a second electric current command determining section (37) for charging a second power source (39) by electric power generated in an armature winding (13b) of the second stator (12b) when the rotor (11) is rotated by the supply of the driving electric current to the armature winding (13a) of the first stator (12a); and a second electric current control section (40b).
摘要翻译：提供一种能够有效地操作作为电动机和发电机的轴向气隙型电动机的控制器。轴向气隙型电动机（3）的控制器具有具有永久磁铁的转子（11），以及通过转子（11）相对配置的第一定子（12a）和第二定子（12b）转子（11）的旋转轴线方向; 其特征在于，所述控制器包括用于将来自第一电源（38a）的驱动电流提供给所述第一定子（12a）的电枢绕组（13a）的第一电流指令确定部（30），并且使所述转子（11）旋转， ; 第一电流控制部（40a）; 第二电流指令确定部（37），用于当转子（11）通过供给第二定子（12b）的电源旋转而旋转时，通过在第二定子（12b）的电枢绕组（13b）中产生的电力对第二电源（39）驱动电流到第一定子（12a）的电枢绕组（13a）; 和第二电流控制部（40b）。

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