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1. 发明专利

JP2002210679A REMOTE CONTROLLER FOR BIPED ROBOT 审中-公开
公开(公告)号：JP2002210679A
公开(公告)日：2002-07-30
申请号：JP2001350096
申请日：2001-11-15
申请人： HONDA MOTOR CO LTD
发明人： SANO SHIGEO , TAKENAKA TORU , KAWAI TAKAYUKI , YOSHIDA YUICHI
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a remote controller for a biped walking robot capable of executing the remote control of the movement of the biped walking robot with a simple structure while considering the stability of the posture of the robot. SOLUTION: A controller outputs a signal indicating operating positions of operators 26, 26 corresponding to both leg bodies 2, 2 of a robot A, to a robot A side. A control unit 19 mounted on the robot A produces the motion command (target number of steps) defining the motion of the leg bodies 2, 2 by the number of steps of at least two steps or more of the walking motion of the robot A in accordance with the operating positions of the operators 26, 26 indicated by the output signal data of the controller 23, and controls the motion of the leg bodies 2, 2 on the basis of the motion command.

2. 发明专利

JP2003288825A Power breaker 审中-公开
标题翻译：断电器
公开(公告)号：JP2003288825A
公开(公告)日：2003-10-10
申请号：JP2002088955
申请日：2002-03-27
申请人： Honda Motor Co Ltd , Mitsuba Corp , 本田技研工業株式会社 , 株式会社ミツバ
发明人： SHIMANE IWAO , ABE NORIYUKI , OGAWA TAICHI , TAZAKI SATOSHI , KAWAI TAKAYUKI , MORI HIROYUKI
IPC分类号： H01H31/24 , H01H31/02
摘要： PROBLEM TO BE SOLVED: To provide a power breaker capable of preventing a human operation mistake.
SOLUTION: The power breaker is provided with a pair of terminal members 16, 18 arranged in opposition inside a cylindrical guide 23, a cylindrical slider 28 free in sliding in an axis and a peripheral directions inside the guide 23, a movable iron piece 32 fixed to the slider concentrically and free in coming in and out of contact with fixed contacts 21, 22 of the terminal members 16, 18, a guide hole 27 opened in a crank shape on a cylinder wall of the guide 23, and a knob 29 set in protrusion on the slider 28 and inserted into the guide hole 27 in free sliding. Since an operator can not change a position of the movable iron piece between the fixed contacts unless the knob is operated in a crank shape in copying the guide hole, a human operation mistake at breaking or release of same of the power breaker can surely be prevented.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供能够防止人为操作错误的断电器。解决方案：电源断路器设置有一对端子构件16,18，其相对地布置在圆柱形引导件23内，圆柱形滑动件28在引导件23内沿轴向和周向方向自由滑动，可动铁固定在滑块上的片32与端子构件16,18的固定触点21,22相接触地自由地与导向件23的气缸壁上的曲柄形状的导向孔27接触，旋钮29设置在滑块28上的突起中并以自由滑动的方式插入导向孔27中。由于操作者不能改变可动铁片在固定触点之间的位置，除非在复制引导孔时旋钮被操作成曲柄形状，否则可以可靠地防止人工操作中断电或断电的操作错误。版权所有（C）2004，JPO

3. 发明专利

JP2001062760A LEG TYPE WALKING ROBOT 失效
公开(公告)号：JP2001062760A
公开(公告)日：2001-03-13
申请号：JP24344999
申请日：1999-08-30
申请人： HONDA MOTOR CO LTD
发明人： TAKENAKA TORU , KAWAI TAKAYUKI , GOMI HIROSHI , HASEGAWA TADAAKI , MATSUMOTO TAKASHI
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032
摘要： PROBLEM TO BE SOLVED: To provide a leg type walking robot capable of easily standing up from an attitude of knee joints put on the ground and absorbing a shock to protect the knee joints and floor surface when the robot comes in contact with the floor surface from the knee joints. SOLUTION: The leg type walking robot comprises at least an upper body 3 and a plurality of leg parts connected to the upper body 3 through a hip joint and having knee joints 16 and leg joints. Then, ground-contact means coming in contact with the ground when the knee joint 16 touches the ground or a shock absorbing member (knee pad) 90 is provided near the knee joint 16 to ground-contact the knee joint 16 at a position forward of the gravity center position of the robot in order to absorb a shock acting on the knee joint 16.

4. 发明专利

JPH1133941A STRUCTURE OF LEG FOR LEG TYPE MOVING ROBOT 失效
公开(公告)号：JPH1133941A
公开(公告)日：1999-02-09
申请号：JP19722197
申请日：1997-07-23
申请人： HONDA MOTOR CO LTD
发明人： TAKENAKA TORU , KAWAI TAKAYUKI , GOMI HIROSHI
IPC分类号： B62D57/032 , B25J5/00 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To prevent damage in a leg part by providing a slide body, movable in the fore and aft direction, on a flat part of a foot, and providing an energizing means, which energizes the slide body to the predetermined position, in the condition that it is supported by the slide body. SOLUTION: A leg part 1 is extended downward from a hip joint provided in a lower part of a body part of a two-leg traveling type robot, and a hip joint 3 and an ankle joint 4 are provided at an intermediate part and a lower part of the leg part 1. Slide rails 8, which are extended in the fore and aft direction of a flat part 2 of a foot, are laid at positions close to both sides of a top surface of the flat part 2 of the foot, and a slide body 9 of rectangular plate is engaged freely to be moved on the slide rails 8 in the fore and aft direction of the flat part 2 of the foot. A base 5 of the leg part 1 is supported on the slide body 9 through an elastic body 10. With this structure, transmission of impact at the time of collision is relaxed, and generation of damage of the leg part 1 is prevented. At the same time, impact force to be applied to an obstruction is relaxed, and generation of damage of the obstruction can be avoided.

5. 发明专利

JPH11188668A ARM BODY STRUCTURE OF HUMAN BODY TYPE WORKING ROBOT 失效
公开(公告)号：JPH11188668A
公开(公告)日：1999-07-13
申请号：JP35460497
申请日：1997-12-24
申请人： HONDA MOTOR CO LTD
发明人： TAKENAKA TORU , KAWAI TAKAYUKI , HASEGAWA TADAAKI , MATSUMOTO TAKASHI , GOMI HIROSHI , TAKAHASHI HIDEAKI
IPC分类号： B25J19/06 , B25J5/00 , B25J9/06 , B25J17/02 , B25J18/00
摘要： PROBLEM TO BE SOLVED: To provide an arm body structure of a human body type working robot, which can ensure smooth operating ability of the arm body by eliminating generation of the specific point state of a shoulder joint as much as possible at the time of ordinary operation through the arm body of the human body type robot. SOLUTION: The position and posture of the first to third joints 11, 13, 15 of a shoulder joint 5, and the position of the arm joint 6 to the third joint 15 are set so that the elbow joint 6 may be above the horizontal surface S which passes through the intersection of respective shafts 10, 12, 14 of the first to third joints 11, 13, 15 of the shoulder joint 5, under such states as the shoulder joint 5 is operated in a specific point state of the shoulder joint 5 which makes the first shaft 10 of the first joint 11 and the third shaft 14 of the third joint 15 constituting the shoulder joint 5 coaxial to each other, and as the elbow joint 6 is positioned at the side of a main body 1.

6. 发明专利

JPH1110562A FOOT FLAT PART GROUNDING CONDITION GRASPING DEVICE OF LEG MOVING ROBOT 失效
公开(公告)号：JPH1110562A
公开(公告)日：1999-01-19
申请号：JP16454197
申请日：1997-06-20
申请人： HONDA MOTOR CO LTD
发明人： KAWAI TAKAYUKI , TAKENAKA TORU , HASEGAWA TADAAKI , MATSUMOTO TAKASHI
IPC分类号： B25J5/00 , B25J13/08 , B25J19/02 , B62D57/032
摘要： PROBLEM TO BE SOLVED: To surely and properly grasp the grounding direction and the installation position of a foot flat part in the case where the foot flat part is grounded on the ridgeline of an edge of a staircase by grasping the grounding direction and/or the grounding position of the foot flat part to the ridgeline of the floor according to the position of center of resistance in the plural kinds of attitudes of the foot flat part. SOLUTION: The position in the direction of X-axis of the center of floor reaction force when a foot flat part 7 is grounded on the edge Se of a staircase (s) can be obtained as a distance (x) in the direction of X-axis from a reference point P by the expression (h: space between the foot bottom 7a and the detection reference point Q) using the action force Fx, Fz in the directions of X-axis and Z-axis detected by a 6-axial force sensor 6 and moment My round Y-axis. When the foot flat part 7 is grounded in a line-contact with the edge Se of the staircase S, in the case where the lateral direction of the foot flat part 7 and the extension direction of the edge Se agree, the position x of the center of floor reaction force indicates the position of the edge Se to the foot flat part 7, and conversely speaking, it indicates the grounding position of the foot flat part to the edge Se.

7. 发明专利

JP2005111661A Remote controller for biped walking robot 有权
标题翻译：用于BIPED WALKING ROBOT的远程控制器
公开(公告)号：JP2005111661A
公开(公告)日：2005-04-28
申请号：JP2005012367
申请日：2005-01-20
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： SANO SHIGEO , TAKENAKA TORU , KAWAI TAKAYUKI , YOSHIDA YUICHI
IPC分类号： B25J9/22 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a remote controller for a biped walking robot capable of operating leg bodies of a robot with a simple operation of a pair of operators provided in an operation unit which an operator possesses.
SOLUTION: A pair of operators 26 and 26 are slidably placed in an operation unit 23, and when the operators 26 and 26 are operated at an operation position different from each other in the back and forth directions of the operation unit 23, a turning of a biped walking robot is performed. Also, when the operators 26 and 26 are operated in the right and left directions of the operation unit 23, the biped walking robot A walks in the right and left directions.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于操作者拥有的操作单元中设置的一对操作者的简单操作的能够操作机器人腿部的两足动作机器人的遥控器。解决方案：一对操作器26和26可滑动地放置在操作单元23中，并且当操作器26和26在操作单元23的前后方向上彼此不同的操作位置操作时，执行两足动作机器人的转动。此外，当操作器26和26在操作单元23的左右方向上操作时，两足动作机器人A沿左右方向行进。版权所有（C）2005，JPO＆NCIPI

8. 发明专利

JP2003288830A Electromagnetic relay for high voltage and large current 审中-公开
标题翻译：用于高电压和大电流的电磁继电器
公开(公告)号：JP2003288830A
公开(公告)日：2003-10-10
申请号：JP2002088189
申请日：2002-03-27
申请人： Honda Motor Co Ltd , Mitsuba Corp , 本田技研工業株式会社 , 株式会社ミツバ
发明人： SHIMANE IWAO , ABE NORIYUKI , OGAWA TAICHI , TAZAKI SATOSHI , KAWAI TAKAYUKI , MORI HIROYUKI
IPC分类号： H01H50/24 , H01H50/04 , H01H50/38 , H01H50/42 , H01H50/54 , H02P1/10
摘要： PROBLEM TO BE SOLVED: To control switching of a pair of relay switches with an identical relay coil.
SOLUTION: The electromagnetic relay for high voltage and large current is provided with a coil bobbin 41 having a coil bobbin and wound around with a coil wire material 42, a yoke 46 arranged at one side of the coil bobbin 41, an armature 55 pivotally supported by the yoke 46 in free rotation and attracted to the core 45 by excitation of the coil wire material 41, a movable contact spring 50 supporting the armature 55, an angle-shape bracket 57 fixed to the armature 55, a pair of movable pieces 60, 61 fixed to the bracket 57, a pair of movable contacts 62, 63 fixed to the movable pieces 60, 61 and facing the pair of the movable contacts 62, 63, and a pair of connecting conductive wires 25, 27 connected with the movable pieces 60, 61. Insulation-withstanding voltage of the switch can be improved by making an air gap large by adoption of leverage, and the size and rating of the electromagnetic relay can be made compact by reducing snapping force of the movable contact spring.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：控制具有相同继电器线圈的一对继电器开关的开关。解决方案：用于高电压和大电流的电磁继电器设置有具有线圈绕线管的线圈架41，并缠绕在线圈线材42上，配置在线圈架41一侧的轭46， 55由轭46枢转地支撑自由旋转，并通过线圈线材41的激励，支撑电枢55的可动接触弹簧50，固定到电枢55的角形支架57，一对固定在托架57上的可动片60,61，固定在可动片60,61上的一对可动触头62,63，并与所述一对可动触头62,63相对，并连接一对连接导线25,27 可移动片60,61可以通过采用杠杆使气隙大而提高开关的绝缘耐压，并且可以通过减小可动触点的捕捉力来使紧凑的电磁继电器的尺寸和额定值变得紧凑弹簧。版权所有（C）2004，JPO

9. 发明专利

JPH1148170A CONTROL DEVICE FOR LEG TYPE MOVING ROBOT 失效
公开(公告)号：JPH1148170A
公开(公告)日：1999-02-23
申请号：JP20930697
申请日：1997-08-04
申请人： HONDA MOTOR CO LTD
发明人： TAKENAKA TORU , KAWAI TAKAYUKI , HASEGAWA TADAAKI , MATSUMOTO TAKASHI
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032
摘要： PROBLEM TO BE SOLVED: To provide a control device for a leg type moving robot in a condition likely tumbling, so as to reduce as small as possible damage received by the robot by its tumbling and damage of a mate side object against which the robot collides when it is tumbled. SOLUTION: By an abnormality processing device 13 provided in a robot R, whether the robot R is placed in a condition likely tumbling or not is judged one after another, when a condition likely tumbling is judged, by a robot leg control, device, so as to lower down the center of gravity of the robot R (waist down) by a robot leg control device 11, an actuator 5 of a movable leg 3 is controlled. The condition likely tumbling is judged by whether a residual capacity of a battery 15 is decreased or not. In the case of lowering down the center of gravity of the robot R, regenerative generation power generated in the actuator 5 (electric motor) is returned to a side of the battery 15.

10. 发明专利

JPH10175180A FOOT BOTTOM EARTHING POSITION DETECTING DEVICE OF LEG TYPE MOVING ROBOT 失效
公开(公告)号：JPH10175180A
公开(公告)日：1998-06-30
申请号：JP33834196
申请日：1996-12-18
申请人： HONDA MOTOR CO LTD
发明人： KAWAI TAKAYUKI , TAKENAKA TORU , MATSUMOTO TAKASHI , HASEGAWA TADAAKI
IPC分类号： B25J5/00 , B25J13/08 , B25J19/02 , B62D57/032
摘要： PROBLEM TO BE SOLVED: To provide a foot bottom earthing position detecting device of a leg type moving robot which can detect the earthing position of the foot bottom in the condition attaching to floor and removing from floor of the movable leg of the leg type moving robot, accurately in a simple structure, and in a simple operating process, by eliminating the influence by the dirt of the floor surface and the damage of a sensor. SOLUTION: A force sensor 6 is provided at the upper part of the foot platy part 7 of a robot R, and when the robot R moves up and down on a step S, a force component Fz in the vertical direction to the foot bottom 7a (Z-axis direction), a force component Fx in the longitudinal direction (X-axis direction), and a moment My around the axis in the lateral direction (Y-axis direction), are detected, and the position (x) of the center of the reaction operating to the foot bottom 7a (floor reaction center) is found in order. From the detecting value of the force component Fz, the floor attaching starting time and the floor removing finish time of the foot bottom 7a are detected, and the floor attaching starting earthing position and the floor removing finish earthing position of the foot bottom 7a are found from the position (x) found in the time scope near the detecting times.

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