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    • 2. 发明申请
    • FLUID PRESSURE TRANSMISSION DEVICE AND ROBOT HAND DEVICE
    • 流体压力传动装置和机器手动装置
    • US20120169081A1
    • 2012-07-05
    • US13496119
    • 2010-09-03
    • Toru TakenakaHironori Waita
    • Toru TakenakaHironori Waita
    • B25J15/08B25J15/10F15B11/16
    • B25J15/0009B25J9/144F15B7/00
    • A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 371, 372, a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23a, 24a thereof being communicated with cylinder chambers 3711, 3712 of the main driving fluid pressure cylinders 371, 372 via fluid pressure transmission pipes 381, 382, and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41a, 41b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 371, 372 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 3711, 3712 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 381, 382 and the cylinder chambers 41a, 41b of the sub driving fluid pressure cylinder are connected via connecting pipes 421, 422.
    • 液压传动装置配备有多个驱动流体压力缸371,372,多个从动流体压力缸23,24,其缸室23a,24a与主驱动流体压力的气缸室3711,3712连通 通过流体压力传递管381,382和通过活塞412分成两个气缸室41a,41b的副驱动流体压力缸41和由主驱动流体压力缸371产生的流体压力的气缸371,372, 372被传递到从动流体压力缸23,24.活塞3711,3712由主电动机40驱动,活塞412由辅助电动机43驱动。流体压力传递管381,382和气缸室41a ,41b的副驱动液压缸通过连接管421,422连接。
    • 3. 发明授权
    • Fluid pressure transmission device and robot hand device
    • 流体压力传动装置和机器人手动装置
    • US08469424B2
    • 2013-06-25
    • US13496119
    • 2010-09-03
    • Toru TakenakaHironori Waita
    • Toru TakenakaHironori Waita
    • B25J15/08
    • B25J15/0009B25J9/144F15B7/00
    • A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 371, 372, a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23a, 24a thereof being communicated with cylinder chambers 3711, 3712 of the main driving fluid pressure cylinders 371, 372 via fluid pressure transmission pipes 381, 382, and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41a, 41b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 371, 372 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 3711, 3712 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 381, 382 and the cylinder chambers 41a, 41b of the sub driving fluid pressure cylinder are connected via connecting pipes 421, 422.
    • 液压传动装置配备有多个驱动流体压力缸371,372,多个从动流体压力缸23,24,其缸室23a,24a与主驱动流体压力的气缸室3711,3712连通 通过流体压力传递管381,382和通过活塞412分成两个气缸室41a,41b的副驱动流体压力缸41和由主驱动流体压力缸371产生的流体压力的气缸371,372, 372被传递到从动流体压力缸23,24.活塞3711,3712由主电动机40驱动,活塞412由辅助电动机43驱动。流体压力传递管381,382和气缸室41a ,41b的副驱动液压缸通过连接管421,422连接。
    • 4. 发明授权
    • Electric vehicle
    • 电动车
    • US08583302B2
    • 2013-11-12
    • US12889667
    • 2010-09-24
    • Kazushi AkimotoToru TakenakaHiroshi GomiShinichiro Kobashi
    • Kazushi AkimotoToru TakenakaHiroshi GomiShinichiro Kobashi
    • B62D61/02B60K17/30B62D6/00B60L11/00
    • B60L15/20B60L2200/12B60L2200/22B60L2200/34B60L2260/34B62K11/06B62K11/10B62K2204/00Y02T10/645Y02T10/72Y02T10/7275
    • An electric vehicle includes a base; a front wheel that can be driven omnidirectionally; a rear wheel that is mounted on the base so that a symmetry axis is parallel with a symmetry axis of the front wheel; a seat member that is mounted so that a straight line connecting a wheel center of the front wheel and a wheel center of the rear wheel specifies a fore-and-aft direction; an controller that detects an acceleration and deceleration command and a turning command; an inclination sensor that detects inclination of the base; and a control unit that controls acceleration and deceleration of the base based on the acceleration and deceleration command detected by the controller, that controls turning of the base based on the turning command detected by the controller, and that controls translational motion of the base based on inclination of the base detected by the inclination sensor.
    • 电动车辆包括底座; 可以全方位驱动的前轮; 后轮,其安装在所述基座上,使得对称轴线与所述前轮的对称轴线平行; 座椅构件,其安装成使得连接前轮的车轮中心和后轮的车轮中心的直线指定前后方向; 检测加速和减速命令和转弯指令的控制器; 检测基座的倾斜度的倾斜传感器; 以及控制单元,其基于由所述控制器检测到的所述加速和减速命令来控制所述基座的加速和减速,所述加速和减速命令基于由所述控制器检测到的转动命令来控制所述基座的转动,并且基于所述基座的平移运动,基于 基座由倾斜传感器检测到的倾斜度。
    • 5. 发明授权
    • Frictional drive device and inverted pendulum type vehicle using the same
    • 摩擦驱动装置和倒立摆式车辆使用它
    • US08460154B2
    • 2013-06-11
    • US12884328
    • 2010-09-17
    • Hiroshi GomiToru TakenakaKazuya Kuwabara
    • Hiroshi GomiToru TakenakaKazuya Kuwabara
    • F16H13/10
    • B60B19/125B60B9/06B60B9/10B60B19/003B60B2200/47B60B2310/305B60B2310/56B60B2360/10B60B2360/50B60B2380/12B60B2900/131B60L11/1805Y02T10/646Y02T10/7005
    • In a frictional drive device comprising a pair of drive disks (48) rotatably supported by a frame (10) around a central axial line (A) in a mutually opposing relationship, a pair of motors (64) supported by the frame for individually rotatively actuating the drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk at a regular interval and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (84, 110) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86, 111) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member, a resiliency is incorporated either in the main wheel or in the drive rollers so that a relatively large number of driven rollers can be simultaneously engaged by the drive rollers and, hence, a relative high drive efficiency can be maintained even when the axial center of the annular member and the axial center of the drive disks are offset from each other.
    • 在一种摩擦驱动装置中,包括一对以相互相对的关系围绕中心轴线(A)由框架(10)可旋转地支撑的一对驱动盘(48),一对电动机(64)由框架支撑以单独地旋转 致动驱动盘,多个驱动辊(56),其沿着每个驱动盘的外周排列成规则间隔,并且每个驱动辊具有旋转中心线,以便能够沿着不平行于或不垂直于中心的平面旋转 轴线和环形主轮(84,110),其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合,所述主轮包括环形构件(86,111)和多个 驱动辊(92)沿着​​环形构件被支撑以能够围绕环形构件的切线旋转,弹性被并入主轮或驱动辊中,使得相对大的数量 从动辊可以同时被驱动辊接合,因此即使当环形构件的轴向中心和驱动盘的轴向中心彼此偏移时,也能够维持相对高的驱动效率。
    • 7. 发明授权
    • Omnidirectional vehicle
    • 全方位车
    • US08267213B2
    • 2012-09-18
    • US12882688
    • 2010-09-15
    • Toru Takenaka
    • Toru Takenaka
    • B62M13/00
    • B62K1/00B62K11/007
    • An inverted pendulum type omnidirectional vehicle includes: a pair of wheels; a drive mechanism; a control apparatus; an auxiliary wheel; and a vehicle body. Each of the wheels includes: a rotation member capable of rotating about the wheel axis; a plurality of free rollers which are disposed all around an outer circumference of the rotation member, and each of which is brought into contact with a road surface at a lowest position of the rotation member and is rotatable about a rotation axis diagonal with respect to the wheel axis. The free rollers on both sides in contact with the road surface at ground contact portions each have the rotation axis extending in parallel with the road surface, and are arranged in an orientation in which a distance between the rotation axes of the free rollers is shorter toward a side of the auxiliary wheel.
    • 倒立摆型全方位车辆包括:一对车轮; 驱动机构; 控制装置; 辅助轮 和车体。 每个车轮包括:能够围绕车轮轴线旋转的旋转构件; 多个自由辊,其设置在所述旋转构件的外周周围,并且每个自由辊与所述旋转构件的最低位置处的路面接触,并且能够围绕相对于所述旋转构件的旋转轴对角线旋转 轮轴。 与地面接触部分的路面接触的两侧的自由滚轮各自具有与路面平行延伸的旋转轴线,并且配置成使自由辊的旋转轴线之间的距离朝向 辅助轮的一侧。
    • 8. 发明授权
    • Inverted pendulum mobile vehicle
    • 倒立摆移动车
    • US08225891B2
    • 2012-07-24
    • US12454394
    • 2009-05-18
    • Toru TakenakaMakoto HiranoHideharu IzumiKazuya KuwabaraTaiji KoyamaShinichiro Kobashi
    • Toru TakenakaMakoto HiranoHideharu IzumiKazuya KuwabaraTaiji KoyamaShinichiro Kobashi
    • B62D61/00
    • B62K11/007B60L2200/16B60L2240/22B60L2260/34
    • Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame (12), a body frame (12) supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo and a body coupler (52, 78, 70) that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship. Thereby, even when the wheel supporting frame undergoes a rapid yaw movement either while traveling in a fore-and-aft direction or remaining stationary, the body frame that carries a vehicle occupant or a cargo is allowed to follow the yaw movement of the wheel supporting frame at a slower angular speed and/or acceleration/deceleration so that the vehicle occupant is prevented from experiencing discomfort and the cargo is prevented from shifting on the body frame or falling off from the vehicle.
    • 提供了一种倒立摆移动车辆,例如单乘客同轴二轮车辆,其能够以小的转动半径转动而不会引起乘客或车辆乘员的不适,或使车辆上的货物等移动 或从车辆脱落。 车辆包括车轮支撑框架(12),由车轮支撑框架支撑的主体框架(12),以便能够围绕垂直轴线旋转并且携带乘客和/或货物和车身联接器(52,78) 70),其以预定的动态位置关系相对于车轮支撑框架联接车体框架。 因此,即使当车轮支撑框架在前后方向上行进或保持静止时经历快速偏航运动时,允许携带车辆乘员或货物的车身框架跟随车轮支撑的偏航运动 框架以较慢的角速度和/或加速/减速,使得车辆乘员被防止体验不适,并且防止货物在车身框架上移动或从车辆脱落。