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1. 发明授权

EP1798006B1 ROBOT 有权
标题翻译：机器人
公开(公告)号：EP1798006B1
公开(公告)日：2011-04-06
申请号：EP05767320.4
申请日：2005-07-22
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： TSUSAKA, Yuji, TOYOTA JIDOSHA K. K.
IPC分类号： B25J5/00 , A63H3/36 , A63H11/00 , A63H11/18 , B25J17/00
CPC分类号： B25J9/1045 , A63H11/18 , A63H2200/00 , B62D57/032
摘要： A robot, wherein the operating amounts of first and second actuators are adjusted according to a torque necessary for maintaining a body member and an end member at specified angles in a mechanism in which the body member (361) and the end member (363) are rotatably connected to each other and first and second wires (366) connected to the end member are advanced and retreated by the first and second actuators (368).
摘要翻译：一种机器人，其中，第一致动器和第二致动器的操作量根据用于在主体构件（361）和端部构件（363）为主体的机构中将主体构件和端部构件保持在特定角度所需的扭矩通过第一致动器368和第二致动器368使第一导线366和第二导线366连接到端部构件而前进和后退。

2. 发明公开

EP2123336A1 PREMIUM GETTING GAME MACHINE AND HUMANOID BIPEDAL WALKING ROBOT 审中-公开
标题翻译：人力资源管理人员ZWEIFÜSSIGERSCHREITROBOTER
公开(公告)号：EP2123336A1
公开(公告)日：2009-11-25
申请号：EP07850381.0
申请日：2007-12-11
申请人： Robo Catcher Partners Co., Ltd.
发明人： NAGASATO, Soichi
IPC分类号： A63F9/30 , A63F9/00
CPC分类号： A63F9/30 , A63F2250/52 , A63H11/18 , A63H30/00 , G07F17/32 , G07F17/3295
摘要： The present invention provides a premium getting game machine capable of making a bipedal walking robot (concretely, humanoid bipedal walking robot) whose control is complicated walk for getting a premium. The premium getting game machine 1 makes a humanoid bipedal walking robot 2 walk by an operation of a user to get a premium disposed therein. The premium getting game machine 1 includes a walking-control unit of the humanoid bipedal walking robot 2 in response to the operation of the user, and a holding-control unit which controls the holding action allowing the bipedal walking robot 2 to hold the premium in response to the operation of the user. The premium held by the humanoid bipedal walking robot 2 is dropped into an input opening 15 by the user's operation of an operation button of an operating unit 19, and the premium is output from an output opening 17.
摘要翻译：本发明提供了一种能够制造控制复杂的双足行走机器人（具体地，人形双足行走机器人）的优质游戏机，以获得高价。优质游戏机1使人形双足行走机器人2通过用户的操作行走以获得其中设置的优质物品。优质游戏机1响应于用户的操作而包括人形双足行走机器人2的步行控制单元，以及控制单元，其控制允许双足步行机器人2保持溢价的保持动作响应用户的操作。由人形双足步行机器人2保持的保险费通过用户操作操作单元19的操作按钮而落入输入口15，并且从输出开口17输出溢价。

3. 发明授权

EP1514776B1 ACTUATOR FOR A WORKING ELEMENT, PARTICULARLY A WALKING ROBOT, AND THE METHOD OF CONTROLLING SAID ACTUATOR 有权
标题翻译：操动机构的工作元件，尤其是控制致动器尖叫机器人和方法
公开(公告)号：EP1514776B1
公开(公告)日：2008-12-31
申请号：EP03725223.6
申请日：2003-05-23
申请人： CONSEJO SUPERIOR DE INVESTIGACIONES CIENTIFICAS
发明人： AKINFIEV, Theodore , ARMADA RODRIGUEZ, Manuel , FERNANDEZ SAAVEDRA, Roemi Emilia
IPC分类号： B62D57/02 , F16H21/18 , A63H11/18 , A63H31/08
CPC分类号： A63H31/08 , A63H11/18 , F16H21/14 , F16H21/42 , Y10T74/18216 , Y10T292/1082
摘要： The invention relates to an actuator which is characterised in that the kinematic connection between the motor and the working element of the robot comprises a mobile link which is pivot fixed to the base of the actuator, a runner which is mounted to the mobile link and which can slide radially along the length thereof and a lever arm which is kinematically connected to the motor and which is hinge-connected to the runner by means of a pin. In this way, the rotation axes of the mobile link, the lever arm and the pin are parallel and said mobile link is kinematically connected to the working element. The distance between the lines that run alongside the rotation axis of the mobile link and the rotation axis of the lever arm may be greater or smaller than the length of the lever arm.

4. 发明公开

EP1005886A1 A mechanism for moving the lower limbs of a toy figure 有权
标题翻译： Mechanismus zur Bewegung der unteren Gliedmassen einers Spielfigur
公开(公告)号：EP1005886A1
公开(公告)日：2000-06-07
申请号：EP98204123.8
申请日：1998-12-04
申请人： Giochi Preziosi Lussemburgo S.A.
发明人： Migliorati, Sostene, Giochi Preziosi LussemburgoS
IPC分类号： A63H11/18
CPC分类号： A63H11/18
摘要： In a mechanism for moving the lower limbs connected to the body (15) of a toy figure (1) to enable the toy figure to walk over a support surface (P) in a similar manner to a human being, each of the limbs includes a thigh-shaped portion (4d, 4s), a lower-leg-shaped portion (5d, 5s) connected to the adjacent end of the thigh-shaped portion by a knee joint (7), and a foot-shaped portion (6d, 6s) connected to the lower-leg-shaped portion (5d, 5s) by an ankle joint (8), and a drive means (32, 34, 35d, 35s, 28d, 28s), housed in a compartment (31) of the body (15) of the toy figure, is connected to the thigh-shaped portion (4d, 4s) in order to impart thereto a pivoting movement in a vertical plane parallel to the direction in which the figure is made to walk, and a rectilinear translational movement in the direction of the longitudinal axis of the thigh-shaped portion between a lower dead-point position and an upper dead-point and vice versa, the movements relating to one limb being out of phase by 180° with the homologous movements of the other limb and the toy figure having means (2, 3) for counterbalancing the reaction torque generated by the drive means during the movement of the thigh-shaped portion (4d, 4s).
The mechanism comprises a rod-shaped element (20) extending along the thigh-shaped portion (4d, 4s), the rod-shaped element (20) having one end (21) connected to a point (22) of the lower-leg-shaped portion (5d, 5s) situated towards the hollow (23) of the knee, relative to the axis (10) of the knee joint (7), and the opposite end (24) fitted for sliding freely in a recess (25) with a closed end (25a) formed in the body (15) of the toy figure, as well as a resilient member (26) fitted between a point (27) along the length of the rod-shaped element (20) and a point (16) fixed relative to the thigh-shaped portion (4d, 4s), the resilient member (26) acting on the rod-shaped element (20) to urge the free end (24) thereof towards the end (25a) of the axial recess (25).
摘要翻译：在用于移动连接到玩具人物（1）的身体（15）的下肢的机构中，以使玩具人物以与人类似的方式在支撑表面（P）上行走，每个肢体包括大腿形部分（4d，4s），通过膝关节（7）连接到大腿部分的相邻端部的下腿部分（5d，5s）和脚形部分（6d），6s），以及安装在隔室（31）内的驱动装置（32,34,35d，35s，28d，28s），通过踝关节（8）连接到小腿部部分（5d，5s）玩具图形的身体（15）连接到大腿形部分（4d，4s），以便在平行于图形行进方向的垂直平面中赋予其枢转运动;以及在下死点位置和上死点之间的大腿部分的纵向方向上的直线平移运动，反之亦然，与一个肢体不相关的运动与其他肢体的同源运动和具有装置（2,3）的180度相差，用于在大腿形部分（4d，4s）移动期间平衡由驱动装置产生的反作用力矩。所述机构包括沿所述大腿部分（4d，4s）延伸的杆状元件（20），所述杆状元件（20）具有连接到所述小腿部的点（22）的一端（21）相对于膝关节（7）的轴线（10）位于膝盖的中空部（23）的相对的部分（5d，5s）和相对的端部（24），其适于在凹部（25 ），其具有形成在玩具图形的主体（15）中的封闭端（25a）以及装配在沿着杆状元件（20）的长度的点（27）之间的弹性构件（26）和点（16）相对于大腿形部分（4d，4s）固定，弹性构件（26）作用在杆状元件（20）上以将其自由端（24）推向端部（25a）的端部轴向凹部（25）。

5. 发明公开

EP0743083A3 Movement mechanism particularly for toys 失效
标题翻译：运动机构尤其是玩具
公开(公告)号：EP0743083A3
公开(公告)日：1997-01-08
申请号：EP96107358.2
申请日：1996-05-09
申请人： Nuova Ceppi Ratti S.p.A.
发明人： Roman, Tania
IPC分类号： A63H11/00
CPC分类号： A63H31/02 , A63H11/18
摘要： A movement mechanism for toys, particularly to move the legs of a doll or a puppet with an alternating angular movement similar to walking, comprises a body (12) revolving around a first axis ( a ) and comprising a worm wheel (18) having integral eccentric side pulleys, angularly offset from each other. A control rod (24, 26) is constrained to each pulley by having an end revolving on the periphery of the pulley, an extension of the rod sliding within a slot or fulcrum (30, 32). Rotation of the worm wheel sets the rods in motion with an angular movement offset angularly for one rod and the other. Each rod is advantageously made of metal wire, which at the end constrained to the pulley forms a loop or ring sliding freely around the pulley.

6. 发明授权

EP2588209B1 ROBOT HUMANOIDE JOUEUR, METHODE ET SYSTEME D'UTILISATION DUDIT ROBOT 有权
标题翻译：演奏人形机器人，方法和系统使用这种机器人
公开(公告)号：EP2588209B1
公开(公告)日：2015-09-23
申请号：EP11729960.2
申请日：2011-06-27
申请人： Aldebaran Robotics
发明人： MONCEAUX, Jérôme , BOUDIER, Céline
IPC分类号： A63F9/18 , A63H11/18 , B25J9/00 , A63F9/24
CPC分类号： B25J9/0006 , A63F9/183 , A63F2009/243 , A63F2009/2433 , A63F2009/2476 , A63H11/18 , A63H2200/00 , G06N3/008

7. 发明公开

EP2123336A4 PREMIUM GETTING GAME MACHINE AND HUMANOID BIPEDAL WALKING ROBOT 审中-公开
标题翻译： PRÄMIENHOLSPIELAUTOMAT和人形双足行走机器人
公开(公告)号：EP2123336A4
公开(公告)日：2010-07-28
申请号：EP07850381
申请日：2007-12-11
申请人： ROBO CATCHER PARTNERS CO LTD
发明人： NAGASATO SOICHI
IPC分类号： A63F9/30 , A63F9/00
CPC分类号： A63F9/30 , A63F2250/52 , A63H11/18 , A63H30/00 , G07F17/32 , G07F17/3295

8. 发明公开

EP1938877A1 Robot toy and assembling method thereof 有权
标题翻译： Spielzeugroboter und Montageverfahrendafür
公开(公告)号：EP1938877A1
公开(公告)日：2008-07-02
申请号：EP07122348.1
申请日：2007-12-05
申请人： Tomy Company, Ltd.
发明人： Yoneda, Yosuke
IPC分类号： A63H11/18 , A63H30/04
CPC分类号： A63H11/18 , A63H30/04 , A63H2200/00 , B25J9/08 , Y10T29/53978
摘要： A robot toy (1) including one block to which a servo (3) is installed, another block joined to the one block by fitting an output shaft (34) of the servo (3) to a shaft hole (50a), and a shaft hole diameter adjustment member (50c) to change a diameter of the shaft hole (50a) so as to be in a condition where the shaft hole (50a) is loosely fitted to the output shaft (34) or a condition where the shaft hole is tightly fitted to the output shaft (34).
摘要翻译：一种机器人玩具（1），其包括安装有伺服机构（3）的一个程序段，通过将所述伺服机构（3）的输出轴（34）装配到轴孔（50a）而连接到所述一个程序段的另一个程序段，以及轴孔直径调节构件（50c），以改变轴孔（50a）的直径，使其处于轴孔（50a）松动地装配到输出轴（34）的状态或轴孔紧密地安装在输出轴（34）上。

9. 发明公开

EP1011833A1 WALKING MECHANISM FOR TOYS 失效
标题翻译：运动装置的玩具
公开(公告)号：EP1011833A1
公开(公告)日：2000-06-28
申请号：EP98906131.2
申请日：1998-02-06
申请人： BRESLOW, MORRISON, TERZIAN & ASSOCIATES, INC.
发明人： TERZIAN, Rouben, T. , KURALT, R., Blake
IPC分类号： A63H7/00 , A63H3/20 , A63H11/18
CPC分类号： A63H7/00 , A63H11/18
摘要： A walking mechanism for a toy doll or character (10) having at least one pair of legs (20, 21). Each leg has a hip end (22, 23) and a foot end (24, 25). A pair of elliptical idler gears (90, 91) are mounted for rotation about a common shaft (60), 180 degrees out-of-phase. A second pair of elliptical gears (92, 93), each in driving relationship with a respective one of the elliptical idler gears (90, 91) are also 180 degrees out-of-phase. The hip end (22, 23) of each leg is mounted for movement with a stub shaft (118, 119) that is in a driven relationship with a respective one of the 180 degrees out-of-phase elliptical driving gears (92, 93) to produce a varying speed, generally elliptical orbital movement of the legs to simulate walking.

10. 发明授权

EP0743083B1 Movement mechanism particularly for toys 失效
标题翻译：运动机构尤其是玩具
公开(公告)号：EP0743083B1
公开(公告)日：2000-04-12
申请号：EP96107358.2
申请日：1996-05-09
申请人： Nuova Ceppi Ratti S.p.A.
发明人： Roman, Tania
IPC分类号： A63H11/00 , A63H11/18
CPC分类号： A63H31/02 , A63H11/18

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