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1. 发明授权

US06922610B2 Robot having offset rotary joints 失效
标题翻译：机器人偏移旋转接头
公开(公告)号：US06922610B2
公开(公告)日：2005-07-26
申请号：US10424711
申请日：2003-04-29
申请人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Isao Yamaguchi , Heihachiro Kamimura , Kotaro Matsumoto , Sachiko Wakabayashi , Shuichi Sasa
发明人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Isao Yamaguchi , Heihachiro Kamimura , Kotaro Matsumoto , Sachiko Wakabayashi , Shuichi Sasa
IPC分类号： B25J5/00 , B25J9/06 , B25J13/08 , B25J17/02 , B62D57/028 , B64G1/16 , B64G1/62 , G06F19/00
CPC分类号： B62D57/028 , B25J9/06 , B25J17/025 , B64G1/16 , B64G1/62
摘要： A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. A robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.
摘要翻译：获得具有对于行星式着陆车辆，极限作战机器人等要求的各种功能的机器人，特别是提供一种用于机器人的腿部结构，其能够在翻倒时自身起床，便于起飞和着陆在不均匀地面，具有行走功能，具有能够进行三维操作的手功能。机器人包括主机器人体和安装在该主体上的至少三个腿，用于使主机器人体的三维运动，例如自立行动或行走动作; 每个腿由具有连接在一起的多个所述偏移旋转接头的多关节臂构成，并且具有安装在臂的前端的接地构件，使得每个腿能够独立控制三维运动，驾驶。

2. 发明授权

US08657043B2 Crawler type travelling device 有权
标题翻译：履带式行走装置
公开(公告)号：US08657043B2
公开(公告)日：2014-02-25
申请号：US12810509
申请日：2008-12-24
申请人： Shin-ichiro Nishida , Sachiko Wakabayashi
发明人： Shin-ichiro Nishida , Sachiko Wakabayashi
IPC分类号： B62D55/253
CPC分类号： B62D55/253
摘要： To provide a crawler type traveling device with few rotating wheel mechanisms and equalizing the pressure contacting the ground. A crawler type traveling device comprises a driving wheel driven by a driving axis; idler wheels having axes parallel to that of the driving wheel; and a crawler belt which is spooled around the driving wheel and the idler wheels and travels around the driving wheel and the idler wheels. The crawler belt comprises an inner crawler belt having an engaging structure engaging with the driving wheel, the inner crawler belt being driven by the driving wheel; an outer crawler belt encircling circumferentially the outside of the inner crawler belt; a plurality of elastic members connecting the inner crawler belt to the outer crawler belt; and a plurality of crawler plates mounted to the outer crawler belt, and having lag for engaging with the ground.
摘要翻译：提供具有少量旋转轮机构的履带式行走装置，并使接触地面的压力相等。履带式行驶装置包括由驱动轴驱动的驱动轮; 惰轮具有与驱动轮平行的轴; 以及履带，其围绕驱动轮和惰轮缠绕并围绕驱动轮和惰轮行进。履带包括具有与驱动轮接合的接合结构的内履带，内履带由驱动轮驱动; 外履带，其周向地包围所述内履带的外侧; 将所述内侧履带与所述外侧履带连接的多个弹性部件; 以及安装在外履带上的多个履板，并且具有与地面接合的滞后。

3. 发明申请

US20100282526A1 CRAWLER TYPE TRAVELLING DEVICE 有权
标题翻译： CRAWLER类型旅行装置
公开(公告)号：US20100282526A1
公开(公告)日：2010-11-11
申请号：US12810509
申请日：2008-12-24
申请人： Shin-ichiro Nishida , Sachiko Wakabayashi
发明人： Shin-ichiro Nishida , Sachiko Wakabayashi
IPC分类号： B62D55/18 , B62D55/06 , B62D55/26
CPC分类号： B62D55/253
摘要： To provide a crawler belt with no movable portion connected by pins etc., and to provide a crawler type traveling device with few rotating wheel mechanisms and equalizing the pressure contacting the ground.A crawler type traveling device comprising: a driving wheel (12) driven by a driving axis (11); idler wheels (13) having axes parallel to that of the driving wheel; and a crawler belt which is spooled around the driving wheel and the idler wheels and travels around the driving wheel and the idler wheels.The crawler belt comprising: an inner crawler belt (18) having an engaging structure engaging with the driving wheel, the inner crawler belt being driven by the driving wheel; an outer crawler belt (19) encircling circumferentially the outside of the inner crawler belt; a plurality of elastic members (20) connecting the inner crawler belt to the outer crawler belt; and a plurality of crawler plates (21) mounted to the outer crawler belt, and having lag for engaging with the ground.
摘要翻译：为了提供没有通过销等连接的可动部分的履带，并且提供具有少量旋转轮机构的履带式行走装置并且使接触地面的压力相等。一种履带式行驶装置，包括：由驱动轴（11）驱动的驱动轮（12）; 惰轮（13）具有与驱动轮平行的轴线; 以及履带，其围绕驱动轮和惰轮缠绕并围绕驱动轮和惰轮行进。所述履带包括：具有与所述驱动轮接合的接合结构的内履带（18），所述内履带由所述驱动轮驱动; 外履带（19），其周向地包围所述内履带的外侧; 将内履带与外履带连接的多个弹性部件（20）以及安装在所述外履带上的多个履带板（21），并且与所述地面接合滞后。

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