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1. 发明申请

US20080258669A1 Walking Robot by Using Passive Changes in Joint Angles and Control Method Thereof 有权
标题翻译：通过使用被动角度的被动变化的步行机器人及其控制方法
公开(公告)号：US20080258669A1
公开(公告)日：2008-10-23
申请号：US11662780
申请日：2005-09-13
申请人： Toshio Fukuda , Yasuhisa Hasegawa , Masahiro Doi , Keisuke Suga , Yoshimi Kajitani
发明人： Toshio Fukuda , Yasuhisa Hasegawa , Masahiro Doi , Keisuke Suga , Yoshimi Kajitani
IPC分类号： B25J9/10
CPC分类号： B62D57/032
摘要： In a robot with two or more leg links having ankle joint respectively and pivotably linked to a torso, the robot walks naturally by making the ankle joint of a grounded leg link rotate freely by using passive movement. A controller executes controlling operation of calculating target joint angles of remaining joints other than the ankle joint of the grounded leg link based upon the measured joint angles of the ankle joint of the grounded leg link in the lateral and forward direction. The target joint angles of the remaining joints are calculated so as to satisfy the following condition that a tilting angle of the torso matches a target tilting angle determined based upon the measured joint angle of the ankle joint of the grounded leg link in the forward direction, a cycle period of the idle leg link from lifting to grounding, and a target stride of the idle leg link.
摘要翻译：在具有分别具有踝关节和可枢转地连接到躯干的两个或更多个腿部连接的机器人上的情况下，机器人通过使被动的运动使接地的腿部连杆的踝关节自由旋转而自然地行进。控制器基于在侧向和前进方向上测量的接地腿连杆的踝关节的测量的关节角度来执行计算接地腿连杆的踝关节以外的剩余关节的目标关节角度的控制操作。计算剩余关节的目标关节角度，以满足以下条件：躯体的倾斜角度与基于接地腿连杆的踝关节在向前方向的测量的关节角确定的目标倾斜角度匹配，空转腿的循环周期从提升到接地，以及空闲腿部连杆的目标步幅。

2. 发明授权

US07663332B2 Walking robot by using passive changes in joint angles and control method thereof 有权
标题翻译：通过使用被动变化的关节角度的行走机器人及其控制方法
公开(公告)号：US07663332B2
公开(公告)日：2010-02-16
申请号：US11662780
申请日：2005-09-13
申请人： Toshio Fukuda , Yasuhisa Hasegawa , Masahiro Doi , Keisuke Suga , Yoshimi Kajitani
发明人： Toshio Fukuda , Yasuhisa Hasegawa , Masahiro Doi , Keisuke Suga , Yoshimi Kajitani
IPC分类号： B25J9/10
CPC分类号： B62D57/032
摘要： In a robot with two or more leg links having ankle joint respectively and pivotably linked to a torso, the robot walks naturally by making the ankle joint of a grounded leg link rotate freely by using passive movement. A controller executes controlling operation of calculating target joint angles of remaining joints other than the ankle joint of the grounded leg link based upon the measured joint angles of the ankle joint of the grounded leg link in the lateral and forward direction. The target joint angles of the remaining joints are calculated so as to satisfy the following condition that a tilting angle of the torso matches a target tilting angle determined based upon the measured joint angle of the ankle joint of the grounded leg link in the forward direction, a cycle period of the idle leg link from lifting to grounding, and a target stride of the idle leg link.
摘要翻译：在具有分别具有踝关节和可枢转地连接到躯干的两个或更多个腿部连接的机器人上的情况下，机器人通过使被动的运动使接地的腿部连杆的踝关节自由旋转而自然地行进。控制器基于在侧向和前进方向上测量的接地腿连杆的踝关节的测量的关节角度来执行计算接地腿连杆的踝关节以外的剩余关节的目标关节角度的控制操作。计算剩余关节的目标关节角度，以满足以下条件：躯体的倾斜角度与基于接地腿连杆的踝关节在向前方向的测量的关节角确定的目标倾斜角度匹配，空转腿的循环周期从提升到接地，以及空闲腿部连杆的目标步幅。

3. 发明授权

US06339967B1 Vibration dampening hypoid gear structure 有权
标题翻译：振动减振准双曲面齿轮结构
公开(公告)号：US06339967B1
公开(公告)日：2002-01-22
申请号：US09703843
申请日：2000-11-02
申请人： Hiroaki Tanaka , Osamu Ogawa , Yoshimi Kajitani , Kei Takakuwa , Toshiki Ohshima , Katsutoshi Mizuno , Naohito Ino , Shigeo Ishihara
发明人： Hiroaki Tanaka , Osamu Ogawa , Yoshimi Kajitani , Kei Takakuwa , Toshiki Ohshima , Katsutoshi Mizuno , Naohito Ino , Shigeo Ishihara
IPC分类号： F16H5518
CPC分类号： F16H55/20 , B62D5/0409 , Y10T74/19623 , Y10T74/19907
摘要： The invention concerns a hypoid gear structure which includes a hypoid ring gear disposed coaxially with a rotation axis and a hypoid pinion gear provided with a rotation axis of an electric motor and engaging with the hypoid ring gear. The hypoid gear includes a first toothed portion disposed on the inner side and a second toothed portion disposed on the outer side, and one of the first toothed portion and the second toothed portion is urged by a spring to press the hypoid pinion gear.
摘要翻译：本发明涉及一种准双曲面齿轮结构，其包括与旋转轴同轴设置的准双曲面齿圈和设置有电动机的旋转轴并与准双曲面齿圈啮合的准双曲面小齿轮。准双曲面齿轮包括设置在内侧的第一齿形部分和设置在外侧上的第二齿形部分，并且第一齿形部分和第二齿形部分中的一个被弹簧推动以按压准双曲面小齿轮。

4. 发明授权

US4945685A Honing apparatus having electrically operated actuator for relative reciprocating movement between honing head and workpiece 失效
标题翻译：珩磨装置具有用于珩磨头和工件之间的相对往复运动的电动执行器
公开(公告)号：US4945685A
公开(公告)日：1990-08-07
申请号：US246118
申请日：1988-09-16
申请人： Yoshimi Kajitani , Michiaki Ohta , Takao Miyatani
发明人： Yoshimi Kajitani , Michiaki Ohta , Takao Miyatani
IPC分类号： B23Q15/007 , B24B33/02 , B24B33/06 , B24B33/08
CPC分类号： B23Q15/0075 , B24B33/06
摘要： A honing apparatus for honing a cylindrical surface of a workpiece, including a honing head supporting honing stones, a first drive device having an electrically operated bidirectional actuator for effecting a relative reciprocating movement between the honing head and the workpiece in an axial direction of the cylindrical surface, a second drive device for effecting a relative rotating movement between the honing head and the workpiece, a diameter measuring device for measuring a diameter of the cylindrical surface of the workpiece, and a reciprocation control device connected to the diameter measuring device and the electrically operated actuator. The control device is adapted to operate based on a measurement of the diameter by the diameter measuring device, to determine at least one of a range of the relative reciprocating movement, and a speed distribution of the relative reciprocating movement over a range of the relative reciprocating movement. The control device controls the electrically operated bidirectional actuator based on the determined range and/or speed distribution of the relative reciprocating movement.
摘要翻译：一种珩磨装置，用于珩磨包括珩磨头的珩磨头的工件的圆柱形表面的珩磨装置，具有电动双向致动器的第一驱动装置，用于在珩磨头和工件之间沿圆柱形的轴向方向进行相对往复运动表面，用于实现珩磨头和工件之间的相对旋转运动的第二驱动装置，用于测量工件的圆柱形表面的直径的直径测量装置，以及连接到直径测量装置和电连接的往复运动控制装置操作执行器。控制装置适于基于直径测量装置对直径的测量来操作，以确定相对往复运动的范围和相对往复运动的相对往复运动的速度分布中的至少一个在相对往复运动的范围运动。控制装置基于确定的相对往复运动的范围和/或速度分布来控制电动双向致动器。

5. 发明授权

US06408707B1 Bevel gear mechanism and electric power steering system using it 失效
标题翻译：锥齿轮机构和电动助力转向系统使用它
公开(公告)号：US06408707B1
公开(公告)日：2002-06-25
申请号：US09709719
申请日：2000-11-13
申请人： Yukihide Kimura , Hideo Osanai , Kei Takakuwa , Yoshikazu Kameda , Norihiro Yoshida , Yoshimi Kajitani , Naohito Ino , Katsutoshi Mizuno , Takatomo Kutsuna
发明人： Yukihide Kimura , Hideo Osanai , Kei Takakuwa , Yoshikazu Kameda , Norihiro Yoshida , Yoshimi Kajitani , Naohito Ino , Katsutoshi Mizuno , Takatomo Kutsuna
IPC分类号： F16H5518
CPC分类号： B62D5/0409 , F16H55/20 , Y10T74/19623 , Y10T74/19674
摘要： A plate spring body (support member) elastically supports an inner gear (second bevel gear) relative to an outer gear (first bevel gear). Ring springs (fluctuation suppressing member) are further provided to reinforce the elastic support, so as to suppress fluctuation of the inner gear along a direction nearly perpendicular to an axis connecting the center of rotation of the outer gear and contact part with a hypoid pinion gear (third bevel gear).
摘要翻译：平板弹簧体（支撑构件）相对于外齿轮（第一锥齿轮）弹性地支撑内齿轮（第二锥齿轮）。进一步设置环形弹簧（波动抑制构件），以加强弹性支撑件，以便抑制内齿轮沿着与外齿轮和接触部分的旋转中心几乎垂直的方向的波动，（第三锥齿轮）。

6. 发明授权

US06170349B2 Vibration dampening hypoid gear structure 有权
标题翻译：振动减振准双曲面齿轮结构
公开(公告)号：US06170349B2
公开(公告)日：2001-01-09
申请号：US09168942
申请日：1998-10-09
申请人： Hiroaki Tanaka , Osamu Ogawa , Yoshimi Kajitani , Kei Takakuwa , Toshiki Ohshima , Katsutoshi Mizuno , Naohito Ino , Shigeo Ishihara
发明人： Hiroaki Tanaka , Osamu Ogawa , Yoshimi Kajitani , Kei Takakuwa , Toshiki Ohshima , Katsutoshi Mizuno , Naohito Ino , Shigeo Ishihara
IPC分类号： F16H5518
CPC分类号： F16H55/20 , B62D5/0409 , Y10T74/19623 , Y10T74/19907
摘要： A hypoid gear structure which includes a hypoid ring gear disposed coaxially with a rotation axis, and a hypoid pinion gear provided with a rotation axis of an electric motor and engaging with the hypoid ring gear. The hypoid ring gear includes a first toothed portion disposed on the inner side and a second toothed portion disposed on the outer side, and one of the first toothed portion and the second toothed portion is urged by a spring to press the hypoid pinion gear.
摘要翻译：一种准双曲面齿轮结构，其包括与旋转轴同轴设置的准双曲面齿圈，以及配有电动机的旋转轴并与准双曲面齿圈啮合的准双曲面小齿轮。准双曲面齿圈包括设置在内侧的第一齿形部分和设置在外侧上的第二齿形部分，并且第一齿形部分和第二齿形部分中的一个被弹簧推动以按压准双曲面小齿轮。

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