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1. 发明申请

US20050166687A1 Method and device for detecting low rigidity 审中-公开
标题翻译：检测低刚性的方法和装置
公开(公告)号：US20050166687A1
公开(公告)日：2005-08-04
申请号：US10500853
申请日：2003-01-17
申请人： Kenji Kaneko , Kazuhito Yokoi , Shuuji Kajita , Fumio Kanehiro , Kiyoshi Fujiwara , Hirohisa Hirukawa , Shigehiko Ota , Toshikazu Kawasaki , Kazuhiko Akachi , Takakatsu Isozumi
发明人： Kenji Kaneko , Kazuhito Yokoi , Shuuji Kajita , Fumio Kanehiro , Kiyoshi Fujiwara , Hirohisa Hirukawa , Shigehiko Ota , Toshikazu Kawasaki , Kazuhiko Akachi , Takakatsu Isozumi
IPC分类号： B25J19/02 , G01G23/00 , G01L1/02 , G01L1/26
CPC分类号： G01G23/005 , G01L1/26
摘要： A method for detecting a low rigid force and a device therefor are provided in that even a large impact force is applied, by integrating an impact absorbing unit with the force detection mechanism, a force detection mechanism may not be damaged. To that end, between a pair of substrates 2a and 2b opposing each other and undergoing displacement in a direction changing the space between them by an impact force applied thereto, at least one absorption detection mechanism 3 integrally including an impact absorbing unit 4 and a force detecting unit 5 is interposed, so that a force applied between both the substrates 2a and 2b is detected by the force detecting unit 5 while an impact force applied between both the substrates 2a and 2b being absorbed by an elastic force of the impact absorbing unit 4.
摘要翻译：提供了一种用于检测低刚性力的方法及其装置，其特征在于，即使施加较大的冲击力，通过将冲击吸收单元与力检测机构相集成，力检测机构也不会被损坏。为此，在一对彼此相对的基板2a和2b之间，通过施加到其上的冲击力沿着改变它们之间的空间的方向发生位移;至少一个吸收检测机构3，其一体地包括冲击吸收单元4和插入力检测单元5，使得通过力检测单元5检测施加在两个基板2a和2b之间的力，同时施加在两个基板2a和2b之间的冲击力被弹性力吸收的冲击吸收单元4。

2. 发明授权

US3962612A Control device for electric vehicle 失效
标题翻译：电动车控制装置
公开(公告)号：US3962612A
公开(公告)日：1976-06-08
申请号：US513130
申请日：1974-10-08
申请人： Toshikazu Kawasaki
发明人： Toshikazu Kawasaki
IPC分类号： H02P7/298 , H02P7/14
CPC分类号： H02P7/2985 , Y10S388/916
摘要： A control device is disclosed for an electric car employing a DC shunt motor, the armature, of which, is connected to a storage battery through a first relay contact and two series resistors shunted by second and third relay contacts second and third relays are energized in turn depending upon a degree of depression of an accelerator pedal, so that an armature terminal voltage is controlled to a plurality of values which are dependent upon the degree of pedal depression, the shunt field coil is connected through a field current control circuit for continuously controlling the field current depending upon a degree of depression of the accelerator pedal. In a preferred embodiment transistors are connected in series with the relays such that transistors are controlled by threshold values of rotational speed of the armature and/or an armature current. Therefore, the energization of the relays and thus of the switching control of the armature terminal voltage is conditioned by an armature rotational speed and/or an armature current. In another preferred embodiment of the present invention, the abovementioned continuous control of the field current is conditioned by a threshold value of armature rotational speed and/or an armature current. In a further preferred embodiment, the abovementioned switching control of the armature voltage and the abovementioned continuous control of the field current are both conditioned by a threshold value of armature rotational speed and/or an armature current.
摘要翻译：公开了一种使用直流并联电动机的电动汽车的控制装置，其电枢通过第一继电器触点连接到蓄电池，并且由第二和第三继电器触点分流的两个串联电阻器通过第二和第三继电器通电根据加速器踏板的下压程度而转动，使得电枢端子电压被控制为取决于踏板踩踏程度的多个值，分流励磁线圈通过励磁电流控制电路连接以连续控制励磁电流取决于加速踏板的压下程度。在优选实施例中，晶体管与继电器串联连接，使得晶体管由电枢的旋转速度和/或电枢电流的阈值控制。因此，继电器的通电以及电枢端子电压的开关控制由电枢转速和/或电枢电流调节。在本发明的另一优选实施例中，上述的励磁电流的连续控制由电枢转速和/或电枢电流的阈值调节。在另一优选实施例中，上述电枢电压的切换控制和上述的励磁电流的连续控制均由电枢转速和/或电枢电流的阈值调节。

3. 发明申请

US20060237241A1 Impact absorbing mechanism of walking robot 有权
标题翻译：步行机器人的冲击吸收机理
公开(公告)号：US20060237241A1
公开(公告)日：2006-10-26
申请号：US10527728
申请日：2003-09-10
申请人： Shigehiko Ohta , Toshikazu Kawasaki , Takakatsu Isozumi
发明人： Shigehiko Ohta , Toshikazu Kawasaki , Takakatsu Isozumi
IPC分类号： G06F19/00 , B62D51/06
CPC分类号： B25J19/0091 , Y10T74/20354
摘要： An impact absorbing mechanism, provided to a foot 5 of an extremity of each of two movable legs 2 of a bipedal walking robot 1 having the two movable legs 2, includes: an upper base plate 5-a joined to a foot joint 4 of each of the movable legs 2; a lower base plate 5b positioned below the upper base plate, and being opposite to the upper base plate; and three elastic members 6 anisotropic in terms of elasticity, which are arranged at equal intervals in the circumferential direction about the yaw axis YA extending in a direction perpendicular to the upper base plate 5a, between the upper base plate 5a and the lower base plate 5b, each of which allows the lower base plate 5b to make elastic displacement relative to the upper base plate 5a in the same direction as axis YA extends, while each of which inhibits the lower base plate 5b from making elastic displacement relative to the upper base plate 5a in directions orthogonal to the yaw axis direction, and which join the upper base plate 5a and the lower base plate 5b elastically. This can simplify a calculation by a CPU concerning control of the walking of the walking robot. This can prevent disturbance, which would otherwise occur due to the friction resistance stemming from the physical interference by the rigid members. In addition, this can prevent the 6-axis force sensor from being broken, and can also prevent an equivalent to the breakage.
摘要翻译：设置有具有两个可动支脚2的双足步行机器人1的两个可动腿部2的末端的脚部5的冲击吸收机构包括：上基板5，其连接到每个脚踏接头4 的可动腿2; 位于上基板下方并与上基板相对的下基板5b; 和三个弹性构件6在弹性方面各向异性，这些弹性构件在围绕在垂直于上基板5a的方向延伸的偏转轴线YA的圆周方向上以等间隔布置在上基板5a和下基座每一个都允许下基板5b相对于上基板5a在与YA延伸方向相同的方向上产生弹性位移，而每个板限制下基板5b产生弹性位移相对于上基板5a在与偏转轴方向正交的方向上弹性地接合上基板5a和下基板5b。这可以简化CPU关于步行机器人步行控制的计算。这可以防止由于刚性构件的物理干扰引起的摩擦阻力而引起的干扰。另外，这样可以防止6轴力传感器破损，也可以防止相当于破损。

4. 发明授权

US07525275B2 Impact absorbing mechanism of walking robot 有权
标题翻译：步行机器人的冲击吸收机理
公开(公告)号：US07525275B2
公开(公告)日：2009-04-28
申请号：US10527728
申请日：2003-09-10
申请人： Shigehiko Ohta , Toshikazu Kawasaki , Takakatsu Isozumi
发明人： Shigehiko Ohta , Toshikazu Kawasaki , Takakatsu Isozumi
IPC分类号： B25J5/00 , G06F19/00
CPC分类号： B25J19/0091 , Y10T74/20354
摘要： An impact absorbing mechanism, provided to a foot 5 of an extremity of each of two movable legs 2 of a bipedal walking robot 1 having the two movable legs 2, includes: an upper base plate 5-a joined to a foot joint 4 of each of the movable legs 2; a lower base plate 5b positioned below the upper base plate, and being opposite to the upper base plate; and three elastic members 6 anisotropic in terms of elasticity, which are arranged at equal intervals in the circumferential direction about the yaw axis YA extending in a direction perpendicular to the upper base plate 5a, between the upper base plate 5a and the lower base plate 5b, each of which allows the lower base plate 5b to make elastic displacement relative to the upper base plate 5a in the same direction as axis YA extends, while each of which inhibits the lower base plate 5b from making elastic displacement relative to the upper base plate 5a in directions orthogonal to the yaw axis direction, and which join the upper base plate 5a and the lower base plate 5b elastically. This can simplify a calculation by a CPU concerning control of the walking of the walking robot. This can prevent disturbance, which would otherwise occur due to the friction resistance stemming from the physical interference by the rigid members. In addition, this can prevent the 6-axis force sensor from being broken, and can also prevent an equivalent to the breakage.
摘要翻译：设置有具有两个可动支脚2的双足步行机器人1的两个可动腿部2的末端的脚部5的冲击吸收机构包括：上基板5-a，其连接到每个脚踏接头4 的可动腿2; 位于上基板下方并与上基板相对的下基板5b; 三个弹性构件6在弹性方面各向异性，沿着与上基板5a垂直的方向延伸的偏转轴线YA在周向上等间隔配置在上基板5a和下基板5b之间每个允许下基板5b相对于上基板5a沿与轴线YA延伸的相同方向进行弹性位移，同时每个都抑制下基板5b相对于上基板的弹性位移 5a在与偏转轴方向正交的方向上弹性地接合上基板5a和下基板5b。这可以简化CPU关于步行机器人步行控制的计算。这可以防止由于刚性构件的物理干扰引起的摩擦阻力而引起的干扰。另外，这样可以防止6轴力传感器破损，也可以防止相当于破损。

5. 发明授权

US4495484A Alarming apparatus of vehicle 失效
标题翻译：车辆报警装置
公开(公告)号：US4495484A
公开(公告)日：1985-01-22
申请号：US337833
申请日：1982-01-07
申请人： Shiro Kawakatsu , Toshikazu Kawasaki
发明人： Shiro Kawakatsu , Toshikazu Kawasaki
IPC分类号： B60Q9/00 , B60Q1/00
CPC分类号： B60Q9/001 , Y10T70/5889
摘要： A vehicle such as an automobile includes various auxiliary devices for implementing auxiliary functions such as electrical equipment, windows, doors, a parking brake, a transmission and the like, in addition to a principal scheme for a running operation of the vehicle. The vehicle also includes two alarms, one being provided for raising an alarm inside the vehicle and the other being provided for raising an alarm outside the vehicle. When a driver leaves the vehicle after he ends the drive, a predetermined undesired state of various auxiliary devices, such as a switch for the circuit of electrical equipment being kept turned on, the window or door being not fully closed, the parking brake being not put on and so on is detected, when the key switch is turned off. Upon detection of such undesired state, first the inside alarm is energized and after a predetermined time period the outside alarm is energized. As a result, it is ensured that a driver does not quit the vehicle with various devices in an undesired state.
摘要翻译：车辆如汽车还包括用于实现诸如电气设备，窗户，门，驻车制动器，变速器等辅助功能的各种辅助装置，以及用于车辆行驶操作的主要方案。车辆还包括两个报警器，一个用于在车辆内部发出报警，另一个用于在车辆外引起警报。当驾驶员在驾驶结束后离开车辆时，各种辅助装置（例如用于电气设备的电路的开关）保持打开的预定的不期望的状态，窗口或门未完全关闭，驻车制动器不是当钥匙开关关闭时，检测到放上等等。在检测到这种不期望的状态时，首先内部报警器通电，并且在预定时间段之后，外部报警器通电。结果，确保驾驶员不会在不期望状态的各种装置退出车辆。

6. 发明授权

US4353055A Alarming apparatus of vehicle 失效
标题翻译：车辆报警装置
公开(公告)号：US4353055A
公开(公告)日：1982-10-05
申请号：US149717
申请日：1980-05-14
申请人： Shiro Kawakatsu , Toshikazu Kawasaki
发明人： Shiro Kawakatsu , Toshikazu Kawasaki
IPC分类号： B60Q9/00 , G08B29/00
CPC分类号： B60Q9/001
摘要： A vehicle such as an automobile comprises various auxiliary devices for implementing auxiliary functions such as electrical equipment, windows, doors, a parking brake, a transmission and the like, in addition to a principal scheme for a running operation of the vehicle. The vehicle also comprises two alarms, one being provided for raising an alarm inside the vehicle and the other being provided for raising an alarm outside the vehicle. When a driver leaves the vehicle after he ends the drive, a predetermined undesired state of various auxiliary devices, such as a switch for the circuit of electrical equipment being kept turned on, the window or door being not fully closed, the parking brake being not put on and so on is detected, when the key switch is turned off. Upon detection of such undesired state, first the inside alarm is energized and after a predetermined time period the outside alarm is energized. As a result, it is ensured that a driver does not quit the vehicle with various devices in an undesired state.
摘要翻译：除了用于车辆的行驶操作的主要方案之外，诸如汽车的车辆还包括用于实现电气设备，窗户，门，驻车制动器，变速器等辅助功能的各种辅助装置。车辆还包括两个警报器，一个用于在车辆内部发出报警，另一个用于在车辆外部引起警报。当驾驶员在驾驶结束后离开车辆时，各种辅助装置（例如用于电气设备的电路的开关）保持打开的预定的不期望的状态，窗口或门未完全关闭，驻车制动器不是当钥匙开关关闭时，检测到放上等等。在检测到这种不期望的状态时，首先内部报警器通电，并且在预定时间段之后，外部报警器通电。结果，确保驾驶员不会在不期望状态的各种装置退出车辆。

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