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1. 发明专利

JP2007029113A Assist apparatus 有权
标题翻译：辅助装置
公开(公告)号：JP2007029113A
公开(公告)日：2007-02-08
申请号：JP2005212073
申请日：2005-07-22
申请人： Toyota Macs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社トヨタマックス
发明人： MURAYAMA HIDEYUKI , TSUSAKA YUJI , MURATA NAOYA
IPC分类号： A61F2/58 , A61F2/64 , A61F2/68 , A61H3/00 , A63B23/04 , A63B23/14
摘要： PROBLEM TO BE SOLVED: To provide a mounting type power assist apparatus which can be mounted on the body without making a user have the feeling of incompatibility in use. SOLUTION: The assist apparatus 10 comprises a proximal side mounting part 12 to be mounted on the upper arm 100 which is the proximal side body of an elbow joint 104, a distal side mounting part 14 to be mounted on the forearm 102 which is the distal side body of the elbow joint 104, a connecting mechanism 16 for respectively connecting the proximal side mounting part 12 and the distal side mounting part 14, and a motor 18, etc. The motor 18 is offset from the rotating axis L of the elbow joint 104 and arranged on the back side of the upper arm 100. Thus, the projection in a body side direction of the assist apparatus is reduced. Also, the centroid G of the motor 18 is arranged so as to be positioned within the width of the upper arm 100. Thus, when the upper arm 100 is moved, twisting moment is prevented from being applied to the elbow joint 104 and the upper arm 100 by the own weight of the motor 18. Thus, the user is not made to have the feeling of incompatibility in use. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种可以安装在身体上而不使用户在使用中具有不兼容感的安装型动力辅助装置。解决方案：辅助装置10包括安装在作为肘关节104的近侧主体的上臂100上的近侧安装部12，安装在前臂102上的远端侧安装部14 是肘关节104的前端侧体，分别连接近侧安装部12和远端侧安装部14的连接机构16以及电动机18等。电动机18偏离旋转轴L 肘关节104布置在上臂100的后侧。因此，辅助装置的主体侧方向的突起减小。此外，马达18的重心G布置成位于上臂100的宽度内。因此，当上臂100移动时，扭矩被防止施加到肘关节104和上臂臂100由于电动机18的自身重量。因此，使用者在使用中不会具有不兼容的感觉。版权所有（C）2007，JPO＆INPIT

2. 发明专利

JP2011092446A Movement assisting device 审中-公开
标题翻译：运动辅助装置
公开(公告)号：JP2011092446A
公开(公告)日：2011-05-12
申请号：JP2009249653
申请日：2009-10-30
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： MURAYAMA HIDEYUKI
IPC分类号： A61G5/00
摘要： PROBLEM TO BE SOLVED: To provide a movement assisting device which permits a user to make a transferring action by a simple structure.
SOLUTION: The movement assisting device includes a frame section supporting the body of a user 2, a flat plate 13 connected to the frame section and having flatness, a lifting mechanism 15 lifting and lowering the flat plate 13 nearly vertically, and a sliding mechanism 21 sliding the flat plate 13 nearly horizontally. The flat plate 13 is displaced by the lifting mechanism 15 and the sliding mechanism 21 to the destination 3 of transfer or its vicinity and sliding the buttocks of the user 2 on the flat plate 13 by using the flatness of the flat plate 13 to make the user 2 transfer from the movement assisting device 1 to the destination 3 of transfer or from the destination 3 of transfer to the movement assisting device 1.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种运动辅助装置，其允许用户通过简单的结构进行转移动作。解决方案：运动辅助装置包括支撑使用者2的主体的框架部分，连接到框架部分并具有平坦度的平板13，几乎垂直地升高和降低平板13的提升机构15，以及滑动机构21几乎水平地滑动平板13。平板13被升降机构15和滑动机构21移动到转移目的地3或其附近，并且通过使用平板13的平坦度将使用者2的臀部滑动在平板13上，用户2从运动辅助装置1转移到转移目的地3或从转移目的地3转移到运动辅助装置1.版权所有：（C）2011，JPO＆INPIT

3. 发明专利

JP2010063306A Motor controller and motor control method 有权
标题翻译：电机控制器和电机控制方法
公开(公告)号：JP2010063306A
公开(公告)日：2010-03-18
申请号：JP2008228293
申请日：2008-09-05
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： BITO KOJI , MURAYAMA HIDEYUKI
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To improve the operability of a robot arm, in a motor controller and a motor control method for controlling a motor for driving the joint of a robot arm. SOLUTION: A motor controller 10 is equipped with a velocity detection unit for detecting a moving velocity V of an end effector 3 of a robot arm 1; a limit value setting unit 12a for setting a torque limit value τ for limiting torque T which occurs in the end effector 3; and a torque control unit 12b for controlling a motor 5 for driving the joint 4 of the robot arm 1 so that the torque T in the end effector 3 may be equal to or below the torque limit value τ set by the limit value setting unit 12a. The limit value setting unit 12a changes the torque limit value τ according to the moving velocity V of the end effector 3 which has been detected by the velocity detection unit. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提高机器人手臂的可操作性，在马达控制器中，以及用于控制用于驱动机器人手臂的关节的马达的马达控制方法。解决方案：电动机控制器10配备有用于检测机器人手臂1的末端执行器3的移动速度V的速度检测单元; 极限值设定单元12a，用于设定在端部执行器3中发生的限制转矩T的转矩极限值τ; 以及转矩控制单元12b，用于控制用于驱动机器人臂1的接头4的马达5，使得末端执行器3中的扭矩T可以等于或低于由限制值设定单元12a设置的转矩极限值τ 。极限值设定单元12a根据由速度检测单元检测到的末端执行器3的移动速度V来改变转矩极限值τ。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2010018088A Device and method for fitting window glass 有权
标题翻译：用于安装窗玻璃的装置和方法
公开(公告)号：JP2010018088A
公开(公告)日：2010-01-28
申请号：JP2008178892
申请日：2008-07-09
申请人： Araki Seisakusho:Kk , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社アラキ製作所
发明人： MURAYAMA HIDEYUKI , SHIBATA ATSUSHI , SUZUKI FUTOSHI
IPC分类号： B62D65/06 , B23P21/00
摘要： PROBLEM TO BE SOLVED: To provide a device for fitting window glass of an automobile, configured to control the fitting of window glass to a window frame of a body, while moving window glass fitting means in synchronization with the body. SOLUTION: The device is provided with: the conveying means 3 for conveying a body; the window glass fitting means 4 having an arm 12 for fitting window glass 16 to the body 2; a moving means 5 for the window glass fitting means 4; a sensor 6 installed in the moving means 5; and control means 7 for controlling the arm 12 so that the end of the window glass 16 and a stepped part B of a window frame 2b approximately match in a plane, while making the sensor detect the stepped part B of the window frame 2b of the body, moving the window glass fitting means 4 in synchronization with the conveying means 3 by the moving means 5 based on the detected signal, and making the sensor 6 detect the end of the window glass 16. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于安装汽车的窗玻璃的装置，其被配置为在与主体同步地移动窗玻璃装配装置的同时控制窗玻璃与人体的窗框的配合。
解决方案：该装置设有：用于输送身体的输送装置3; 具有用于将窗玻璃16装配到主体2的臂12的窗玻璃配合装置4; 用于窗玻璃装配装置4的移动装置5; 安装在移动装置5中的传感器6; 以及用于控制臂12的控制装置7，使得窗玻璃16的端部和窗框2b的台阶部分B在平面中大致匹配，同时使传感器检测窗框2b的台阶部分B 基于检测到的信号，通过移动装置5与输送装置3同步地移动窗玻璃装配装置4，并且使传感器6检测窗玻璃16的端部。（C）2010 ，JPO＆INPIT

5. 发明专利

JP2009202268A Power assisting device and its control method 有权
标题翻译：电力辅助装置及其控制方法
公开(公告)号：JP2009202268A
公开(公告)日：2009-09-10
申请号：JP2008046060
申请日：2008-02-27
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： MURAYAMA HIDEYUKI
IPC分类号： B25J13/08 , B23P19/04 , B23P21/00 , B66F19/00
CPC分类号： B25J9/1674 , B25J9/0018 , B25J13/085 , B66C1/0243 , B66C13/08 , G05B2219/36429
摘要： PROBLEM TO BE SOLVED: To provide a power assisting device and its control method for improving efficiency of conveyance of a workpiece while ensuring satisfactory positioning precision by the power assisting device even when conveying the workpiece by tilting it by requiring only small operation force of worker and achieving excellent operation property for letting the direction of operation desired by worker agree with the direction of actual displacement of workpiece.
SOLUTION: This power assisting device 1 is provided with a workpiece holding device 3, a handle 3c, a force sensor 3d for measuring worker's operation force acting on the handle 3c, a robot arm 2 supporting the workpiece holding device 3, and a controller 5 for controlling operation of the robot arm 2 based on the results of measurement by the force sensor 3d. The workpiece holding device 3 is provided with an angle sensor 6 for measuring an inclination angle of the workpiece holding device 3. The controller 5 controls operation of the robot arm 2 based on the results of measurement by the angle sensor 6 and the results of measurement by the force sensor 3d.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种功率辅助装置及其控制方法，用于提高工件的输送效率，同时通过仅通过仅需要较小的操作力来倾斜工件来输送工件，同时通过动力辅助装置确保令人满意的定位精度的工人，实现良好的操作性能，使工作人员期望的操作方向与工件的实际位移方向吻合。解决方案：该动力辅助装置1设置有工件保持装置3，手柄3c，用于测量作用在手柄3c上的作业者的作用力的力传感器3d，支撑工件保持装置3的机器人手臂2，以及控制器5，用于基于力传感器3d的测量结果控制机器人手臂2的操作。工件保持装置3设置有用于测量工件保持装置3的倾斜角度的角度传感器6.控制器5基于角度传感器6的测量结果和测量结果来控制机器人手臂2的操作通过力传感器3d。版权所有（C）2009，JPO＆INPIT

6. 发明专利

JP2009202251A Power assisting device and its control method 有权
标题翻译：电力辅助装置及其控制方法
公开(公告)号：JP2009202251A
公开(公告)日：2009-09-10
申请号：JP2008045010
申请日：2008-02-26
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： MURAYAMA HIDEYUKI
IPC分类号： B25J13/08 , B23P19/04 , B23P21/00 , B62D65/06 , B66F19/00
CPC分类号： B25J13/085 , B25J9/107 , B25J15/0616 , B66C1/0243 , B66C23/005 , G05B2219/36429 , G05B2219/39447
摘要： PROBLEM TO BE SOLVED: To provide a power assisting device and its control method for improving efficiency of conveyance of workpiece by the power assisting device, improving positioning precision when assembling a workpiece by using the power assisting device, stabilizing the attitude of workpiece during its conveyance, and enabling a worker to perform delicate positioning.
SOLUTION: This control method for the power assisting device comprises a first pressing force detection process for detecting pressing force Fe1-Fe4 acting on a window 10 by contact pressure sensors 3e, 3e, etc. and inputting the results of detection into a controller 5, a pressing force determining process for determining whether the detected pressing force Fe1-Fe4 exceeds the first threshold value Fc set in advance or not by the controller 5, a deadman switch determining process for determining whether deadman switches 6, 6, etc. are in a turned-on condition or not by the controller 5, and a process for determining whether the regulation for rotation of a free joint 4 is released or not based on respective results obtained in the first pressing force detection process, the pressing force determining process, and the deadman switch determining process by the controller 5.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：解决问题的方案为了提供一种通过助力装置提高工件输送效率的动力辅助装置及其控制方法，通过使用动力辅助装置来提高组装工件时的定位精度，稳定工件的姿态在运送过程中，使工作人员能够进行精细的定位。解决方案：该辅助装置的控制方法包括：第一按压力检测处理，用于检测由接触压力传感器3e，3e等作用在窗口10上的按压力Fe1-Fe4，并将检测结果输入到控制器5，用于通过控制器5确定检测到的按压力Fe1-Fe4是否超过预先设定的第一阈值Fc的按压力确定处理，用于确定死人开关6,6等的确定器开关确定处理由控制器5处于开启状态或不由开关状态进行控制，根据在第一按压力检测处理中获得的各自结果，确定自由关节4的旋转调节是否被释放的处理，按压力确定过程和控制器5的停止开关确定过程。（C）版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2007038314A Work assisting device 有权
标题翻译：工作辅助设备
公开(公告)号：JP2007038314A
公开(公告)日：2007-02-15
申请号：JP2005222561
申请日：2005-08-01
申请人： Nagoya Institute Of Technology , Toyota Motor Corp , トヨタ自動車株式会社 , 国立大学法人名古屋工業大学
发明人： SANO AKITO , MOCHIYAMA HIROMI , TAKEI NAOYUKI , KIKUUE RYO , FUJIMOTO HIDEO , MURAYAMA HIDEYUKI , MITSUDA KENICHI , YAMAOKA MASAAKI
IPC分类号： B25J13/02 , B05C21/00
摘要： PROBLEM TO BE SOLVED: To provide a device facilitating work moving an object along a target track without meandering a datum point fixed to the object in the direction of orthogonally crossing with the target track. SOLUTION: A moving mechanism 11 of this work assisting device 10 is disposed with an applicator 30 and an operation element 18, and the applicator 30 moves according to a force applied to the operation element 18. When moving the datum point P of the applicator 30 along the target track L on a work W, a controller 22 sets a virtual guide surface 40 along the target track L, and a first side 42 and a second side 44 on the virtual guide surface 40. When a projection position of the datum point P to the virtual guide surface accords with the target track L, a large operation resistance force FR from the first side 42 to the second side 44 is generated in the operation element 18. An operator operates the operation element 18 to move the datum point P along the target track L while pushing the datum point P towards the virtual guide surface 40. The datum point P can thus move along the target track l without meandering in the direction orthogonally crossing with the target track L. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种促进沿着目标轨道移动物体的工作的装置，而不会在与目标轨道正交交叉的方向上蜿蜒固定到物体的基准点。解决方案：该工作辅助装置10的移动机构11设置有施加器30和操作元件18，并且施加器30根据施加到操作元件18的力而移动。当移动基准点P 施加器30沿着工件W上的目标轨道L，控制器22沿着目标轨道L设置虚拟引导表面40，并且在虚拟引导表面40上设置第一侧42和第二侧44.当投影位置到虚拟引导面的基准点P与目标轨道L一致，在操作元件18中产生从第一侧42到第二侧44的较大的操作阻力FR.操作者操作操作元件18以使基准点P沿着目标轨迹L移动，同时将基准点P朝向虚拟引导表面40推动。因此，基准点P可以沿着目标轨道1移动，而不会在与目标轨迹L正交交叉的方向上曲折.C OPYRIGHT：（C）2007，JPO＆INPIT

8. 发明专利

JP2014181797A Belt driving device 审中-公开
标题翻译：皮带驱动装置
公开(公告)号：JP2014181797A
公开(公告)日：2014-09-29
申请号：JP2013058151
申请日：2013-03-21
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： NAKAO SHINSUKE , MURAYAMA HIDEYUKI
IPC分类号： F16H7/08 , B62D5/04
摘要： PROBLEM TO BE SOLVED: To suppress deterioration of assembly workability and to miniaturize a device in a toothed belt driving device.SOLUTION: A belt driving device includes: drive side housings 93 and 94 for storing a toothed drive pulley 31 in a rotatable manner; a driven side housing 92 for storing a toothed driven pulley 32 in a rotatable manner; and a toothed belt 33 mounted on the toothed drive pulley 31 and the toothed driven pulley 32. A rotation center O1 of the toothed drive pulley and a rotation center O2 of the toothed driven pulley are arranged in parallel. The drive side housing 93 and the driven side housing 92 are joined in a relatively movable manner at junction surfaces 93a and 92a of each other. Their junction surfaces 93a and 92b are tilted with respect to a reference surface which is between the rotation centers O1 and O2, and which includes both of the rotation centers O1 and O2. Therefore, it is configured in such a manner that a distance L1 between both rotation centers O1 and O2 can be increased/decreased by relative movement of the drive side housing 93 and the driven side housing 92 along the junction surfaces 93a and 92a.
摘要翻译：要解决的问题：为了抑制组装加工性的劣化并使齿形带驱动装置中的装置小型化。解决方案：带驱动装置包括：用于以可旋转方式存储齿形驱动皮带轮31的驱动侧壳体93和94; 从动侧壳体92，用于以可旋转的方式存储带齿的从动皮带轮32; 以及安装在带齿的驱动带轮31和带齿的从动皮带轮32上的齿形带33.齿形的驱动皮带轮的旋转中心O1和带齿的从动皮带轮的旋转中心O2平行布置。驱动侧壳体93和从动侧壳体92以相对移动的方式接合在彼此的接合面93a和92a处。它们的接合表面93a和92b相对于旋转中心O1和O2之间的参考表面倾斜，并且包括两个旋转中心O1和O2。因此，通过驱动侧壳体93和从动侧壳体92沿着接合面93a，92a的相对运动，可以使两个旋转中心O1和O2之间的距离L1增大/减小。

9. 发明专利

JP2014142046A Power transmission toothed belt and power transmission 有权
标题翻译：电力传输带状皮带和电力传输
公开(公告)号：JP2014142046A
公开(公告)日：2014-08-07
申请号：JP2013012114
申请日：2013-01-25
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： SASAKI HIDEKI , MURAYAMA HIDEYUKI
IPC分类号： F16G1/28 , B29D29/08 , B62D5/04 , F16G1/00 , F16H7/00
摘要： PROBLEM TO BE SOLVED: To make compatible reduction of an operation sound generated by a collision of a belt teeth bottom of a toothed belt and a pulley teeth tip of a toothed pulley, and securement of the tensile strength of the toothed belt.SOLUTION: A toothed belt 33 has belt tooth 331 and belt backs 332, and is embedded with core wires 333, 334 which extend along belt longitudinal directions in belt teeth-side regions of the belt backs 332. The core wires 333, 334 comprise: the first core wires 333 arranged at belt teeth sides; and the second core wires 334 are arranged at back sides of the first core wires 333, and the rigidity of the second core wires 334 is set higher than the rigidity of the first core wires 333.
摘要翻译：要解决的问题：使齿形带的带齿底部和带齿带轮的带轮齿顶部碰撞产生的操作声音的兼容性降低，并且确保齿形带的拉伸强度。解决方案：A 齿形带33具有带齿331和带背332，并且嵌入有沿着带纵向方向延伸的带芯背脊332的带齿侧区域中的芯线333,334。芯线333,334包括：第一芯部布置在皮带齿侧的电线333; 并且第二芯线334布置在第一芯线333的后侧，并且第二芯线334的刚度被设定为高于第一芯线333的刚度。

10. 发明专利

JP2013217692A Apparatus and method for measuring belt tension 审中-公开
标题翻译：测量皮带张力的装置和方法
公开(公告)号：JP2013217692A
公开(公告)日：2013-10-24
申请号：JP2012086255
申请日：2012-04-05
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： MURAYAMA HIDEYUKI
IPC分类号： G01L5/10
摘要： PROBLEM TO BE SOLVED: To easily measure belt tension without using special measuring equipment.SOLUTION: A belt tension measuring apparatus for measuring tension of a belt 13 is applied to a rotating force transmission mechanism 10 configured to transmit a rotating force of a drive pully 12 connected coaxially with a rotating shaft 11b of an electric motor 11 to a driven pully 14 via the belt 13. The rotation of the driven pully 14 is restricted by rotation restriction means (stoppers 201, 202 or the like). An inflection point of a rotation angle-related amount of the driven pully 12 is obtained by third acquiring means from a relationship between a rotating force-related amount (to be acquired by first acquiring means) generated in the electric motor and the rotation angle-related amount (to be acquired by second acquiring means) of the driven pully. On the basis of the inflection point acquired by the third acquiring means, fourth acquiring means acquires (measures) the tension of the belt. An electric control unit ECU includes the first to fourth acquiring means.
摘要翻译：要解决的问题：无需使用特殊的测量设备来轻松测量皮带张力。解决方案：用于测量皮带13的张力的皮带张力测量装置被施加到旋转力传递机构10上，旋转力传递机构10构造成传递驱动脉冲12的旋转力与电动机11的旋转轴11b同轴地经由带13与驱动的脉冲14连接。被驱动的脉冲14的旋转受到旋转限制装置（止动件201,202等）的限制。通过第三获取装置根据在电动机中产生的旋转力相关量（由第一获取装置获取）与旋转角相关量之间的关系获得从动脉冲12的旋转角度相关量的拐点，相关量（由第二获取装置获取）。基于由第三获取装置获取的拐点，第四获取装置获取（测量）带的张力。电气控制单元ECU包括第一至第四获取装置。

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