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1. 发明专利

JP2006123854A Cargo transportation robot 审中-公开
标题翻译：货物运输机器人
公开(公告)号：JP2006123854A
公开(公告)日：2006-05-18
申请号：JP2004317928
申请日：2004-11-01
申请人： Matsushita Electric Ind Co Ltd , 松下電器産業株式会社
发明人： YAMAMOTO MASAKI , ADACHI YUJI , OKAZAKI YASUNAO
IPC分类号： B62D61/04 , B25J5/00 , G05D1/02
CPC分类号： B62K11/007
摘要： PROBLEM TO BE SOLVED: To provide a two-wheel running-type cargo transporting robot in which a force for keeping its posture to stabilize a posture of its machine body is generated at an actuator and a position of center of gravity of the cargo is moved automatically to enable its horizontal balance to be recovered even in the case that the cargo is placed at a location displaced from the center of gravity of the machine body. SOLUTION: A belt conveyor is arranged on a cargo table of a cargo transporting robot and the cargo is moved in such a direction as one stabilizing its posture, thereby a correcting operation is carried out so as to cause a composite position of center of gravity to be always near its designed position, resulting in that a decay in horizontal balance at the time of loading the cargo can be prevented and a stable cargo transportation can be realized. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种二轮行驶式货物运送机器人，其中在致动器处产生用于保持其姿势以稳定其机体姿态的力，并且其中的重心位置即使在将货物放置在离机身重心偏离的位置的情况下，货物也会自动移动，以使其水平平衡得以恢复。解决方案：带式输送机布置在货物运输机器人的货物台上，货物沿着稳定其姿势的方向移动，从而进行校正操作，从而形成中心的复合位置的重力总是靠近其设计位置，导致装载货物时的水平平衡衰减，并且可以实现稳定的货物运输。版权所有（C）2006，JPO＆NCIPI

2. 发明专利

JP2005095989A Control device and control method for elastic body actuator 有权
标题翻译：弹性体执行器的控制装置和控制方法
公开(公告)号：JP2005095989A
公开(公告)日：2005-04-14
申请号：JP2003329321
申请日：2003-09-22
申请人： Matsushita Electric Ind Co Ltd , 松下電器産業株式会社
发明人： OKAZAKI YASUNAO , YAMAMOTO MASAKI
IPC分类号： B25J13/00 , B25J19/00 , F15B11/06 , F15B15/10 , G05B11/32 , G05B13/02
摘要： PROBLEM TO BE SOLVED: To provide a control device and method for an elastic body actuator for controlling a movable mechanism driven by the elastic body actuator, with good responsiveness and positioning accuracy.
SOLUTION: The internal pressure of a hydraulically driven actuator is measured by a pressure measuring means 9, and the displacement amount of the movable mechanism is measured. The target value and measured value of displacement are inputted, and a position error is compensated by a position error compensating means 12. The target value of the pressure difference of the actuator antagonistically driven from the target value is computed by a target pressure difference computing means 14. Each output from the position error compensating means, the target pressure difference computing means and the pressure measuring means is inputted, and the pressure difference error is compensated by the pressure difference error compensating means 15.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于控制由弹性体致动器驱动的可移动机构的弹性体致动器的控制装置和方法，具有良好的响应性和定位精度。解决方案：液压驱动致动器的内部压力由压力测量装置9测量，并且测量可移动机构的位移量。输入目标值和测量值，并通过位置误差补偿装置12补偿位置误差。由目标压力差计算装置计算出与目标值相对驱动的致动器的压力差的目标值输入来自位置误差补偿装置，目标压力差计算装置和压力测量装置的每个输出，并通过压力差误差补偿装置15补偿压力差误差。（C）版权所有（C）2005 ，JPO＆NCIPI

3. 发明专利

JP2004255471A SYSTEM FOR FLOATING FLIGHT BODY 审中-公开
公开(公告)号：JP2004255471A
公开(公告)日：2004-09-16
申请号：JP2003045445
申请日：2003-02-24
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： YAMAMOTO MASAKI
IPC分类号： A63H27/00 , B25J5/00 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a system for floating a flight body, which stably flies a small size robot by generating lifting power. SOLUTION: Gas flow 8a, 8b are generated by ablation of a polyimide film located on a surface of a small size flight robot 1 through radiating excimer laser 2 to the small size flight robot 1 from the outside. The lifting power is obtained by the reaction of the gas flow. COPYRIGHT: (C)2004,JPO&NCIPI

4. 发明专利

JP2004108816A Interrogator, responsor and electric wave incoming direction estimating device using the same 有权
公开(公告)号：JP2004108816A
公开(公告)日：2004-04-08
申请号：JP2002268566
申请日：2002-09-13
申请人： Matsushita Electric Ind Co Ltd , 松下電器産業株式会社
发明人： FUKAGAWA TAKASHI , YAMAMOTO MASAKI , OKAZAKI YASUNAO
IPC分类号： G06K17/00 , G01S3/46 , G01S13/75 , G01S13/76 , G01S13/79 , H04B1/59
摘要： PROBLEM TO BE SOLVED: To provide an electric wave incoming direction estimating device requiring no highly precise oscillating source even when moving an antenna of an interrogator for measurement in estimating the direction of electric waves coming from a responsor. SOLUTION: A transmission signal generated by an oscillator 102 is emitted by the antenna 103 and a signal absorbing and reflecting means 109 for the responsor reflects and absorbs the transmission signal by changing terminal conditions. The signal emitted again is received by the antenna 103 of the interrogator again and input to an orthogonal demodulation means 105. The orthogonal demodulation means 105 performs orthogonal demodulation of the received signal using the signal from the oscillator 102 as a local signal to obtain a base band signal. A reception signal storage means 106 stores the base band signal each time an antenna sequentially moving means 111 moves the antenna. An incoming direction estimating means 107 estimates the incoming direction using the stored base band signal. COPYRIGHT: (C)2004,JPO

5. 发明专利

JP2003225470A EXPRESSION DISPLAY 审中-公开
公开(公告)号：JP2003225470A
公开(公告)日：2003-08-12
申请号：JP2002026281
申请日：2002-02-04
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： YAMAMOTO MASAKI
IPC分类号： A63H13/04 , A63H3/36
摘要： PROBLEM TO BE SOLVED: To provide a configuration in which production costs are reduced, a degree of freedom in design is improved and an expression ability is enriched by producing an actuator having a plurality of degrees of freedom through a batch process in an expression display for simulating the expression of a creature to perform complicated actions. SOLUTION: A plurality of patterns of a soft electrode are simultaneously molded on a pre-stretched polymer film by a printing process. By independently controlling a voltage to be applied to the soft electrode, the polymer film can be deformed with multi-degree of freedom and by controlling the shapes/ positions of the eyes and the mouth or the like, the expression display rich in the expression ability can be configured. Further, since the production process is not changed even when the degrees of freedom are increased, there is a merit that the production costs are not increased. Besides, the polymer film is stretched by extension in an ordinary plane direction and by substituting a shell having an air blow-out hole therefor, the three-dimensional expression display can be produced as well. COPYRIGHT: (C)2003,JPO

6. 发明专利

JP2003195190A OPTICAL ATTENUATOR 审中-公开
公开(公告)号：JP2003195190A
公开(公告)日：2003-07-09
申请号：JP2001396383
申请日：2001-12-27
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： YAMAMOTO MASAKI
IPC分类号： G02B26/02
摘要： PROBLEM TO BE SOLVED: To provide a simple configuration which can adjust the attenuation quantity of light with inexpensive materials in an optical attenuator capable of varying the attenuation quantity of light with an electric signal. SOLUTION: An aperture 7 is arranged on the optical axis of a light beam 1 for attenuation and moved to control the attenuation quantity of the light. The aperture 7 is fixed on a polymer film 3 and shifted in position by using the surface-directional strain of the polymer film 3 generated by applying a high voltage to a flexible electrode 4 formed on the polymer film 3. COPYRIGHT: (C)2003,JPO

7. 发明专利

JP2003093730A ROBOT, GAME DEVICE USING THE SAME, AND ITS CONTROL METHOD 审中-公开
公开(公告)号：JP2003093730A
公开(公告)日：2003-04-02
申请号：JP2001290008
申请日：2001-09-21
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： YAMAMOTO MASAKI , TAKEUCHI YOSHINORI , KAWAI HIDEO
IPC分类号： A63F7/06 , A63F7/07 , A63H13/04
摘要： PROBLEM TO BE SOLVED: To provide a strong robot player allowing a person not to consider allowance for the robot when the person and the robot play a game using a high-speed mobile article such as a ball game. SOLUTION: This game device comprises the mobile article covered with a material efficiently reflecting the light, lighting means for efficiently lighting the mobile article, a tracking optical system for catching the mobile article in sight, a high-speed optical sensor for recognizing the mobile article, and a mechanical arm for hitting the mobile article. When the mobile article does not come into the sight, the tracking optical system scans the whole region at a high speed and, when finding the mobile article, the tracking optical system tracks it. Only when finding the mobile article, the mechanical arm is made to turn in the direction where the tracking optical system faces to hit the mobile article in the shortest time. The simple control algorithm can provide the robot player playing with the person on an equal footing.

8. 发明专利

JP2001141442A BREAKAGE PREVENTING MECHANISM FOR FINE SHAPE MEASURING PROBE AND METHOD OF CONTROLLING IT 失效
公开(公告)号：JP2001141442A
公开(公告)日：2001-05-25
申请号：JP32799099
申请日：1999-11-18
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： YAMAMOTO MASAKI
IPC分类号： G01B7/28 , G01B21/00 , G01B21/20
摘要： PROBLEM TO BE SOLVED: To protect the fine tracer of a fine shape measuring instrument using the tracer from breakage. SOLUTION: A fine shape measuring instrument which measures the fine shape of an object 6 to be measured having a fine structure by moving a fine tracer 1 composed of a fine beam structure having a high aspect ratio relatively to the object 6 has an actuator which is expanded and contracted in the vertical direction in a tracer holder 2 and pulls up the tracer 1 simultaneously upon detecting that the tracer 1 comes into contact with the object 6. Therefore, the instrument can stably detect the contact, because the tracer 1 is prevented from being thrust in the object 6 and broken by buckling even when such a phenomenon occurs that a Z-stage 3 over-travels due to its inertia after receiving a stop instruction.

9. 发明专利

JP2000097691A FINE SURFACE SHAPE MEASURING INSTRUMENT 失效
公开(公告)号：JP2000097691A
公开(公告)日：2000-04-07
申请号：JP26912998
申请日：1998-09-24
申请人： MATSUSHITA ELECTRIC IND CO LTD
发明人： YAMAMOTO MASAKI
IPC分类号： G01B21/20 , B81C99/00
摘要： PROBLEM TO BE SOLVED: To actualize a fine surface shape measuring instrument which is resistant to contamination and dust on the surface and has high precision and a high degree of measurement freedom irrelevantly to whether a body to be measured is a conductor or a nonconductor as to the internal surface measurement of a fine hole and a fine groove of a mechanical component. SOLUTION: A probe 1 is vibrated almost at its resonance frequency, the resonance state is detected by a piezoelectric material 19 provided on the probe 1, and an orthogonal detecting circuit detects the probe 1 and the object 13 to be measured coming into contact with each other. Three-dimensional coordinates on the surface of the object to be measured that the probe 1 traces can be found by moving an X, a Y, a Z, and a θ stage, moving the probe 1 and object 13 to be measured properly and relatively, and continuously recording the positions of the respective stages. Consequently, the fine surface shape measuring instrument can be obtained which can measure the fine surface shape in three dimensions with high precision and a high degree of freedom without being affected by an oxide film, dust, and dirt on the surface irrelevantly to whether or not the object to be measured is a conductor or a nonconductor.

10. 发明专利

JPH11271345A Device for measuring shape of micro-surface and probe manufacturing method 有权
标题翻译：用于测量微表面和探针制造方法的装置
公开(公告)号：JPH11271345A
公开(公告)日：1999-10-08
申请号：JP30816498
申请日：1998-10-29
申请人： Matsushita Electric Ind Co Ltd , 松下電器産業株式会社
发明人： YAMAMOTO MASAKI
IPC分类号： G01B7/28 , B23H9/00 , G01B7/00 , G01B7/34 , G01B21/20 , G01N37/00 , G01Q10/04 , G01Q20/04 , G01Q60/24 , G01Q60/34 , G01Q60/38 , G01Q60/40 , G01Q70/00 , G01Q70/10 , G01Q70/14
CPC分类号： G01Q70/14 , B23H9/00 , G01Q10/045
摘要： PROBLEM TO BE SOLVED: To enable the stable measurement of the shape of a micro-surface regardless of the conductivity/non-conductivity of an object to be measured without being affected by an oxide film. dirt, etc., on the surface, by oscillating a probe in a beam structure at the vicinity of its resonance frequency, and positioning the prove in the direction of its oscillation so that the state of detected distortion may become constant. SOLUTION: A probe 1 formed of a cantilever-type beam part 1b formed of hard metal with a tip micro protrusion part 1a for shape measurement is arranged on a supporting base 4 via a piezoelectric element 3, and the piezoelectric element 3 is driven by a high-voltage amplifier 6 to oscillate the probe 1 at the vicinity of its resonance frequency. The tip protrusion part 1a is brought into contact with an object surface to be measured by the oscillation, and the amplitude and oscillation phase of the probe 1 are changed by the degree of the contact. By this, the distortion of the probe 1 is detected by a piezoelectric plate 2 provided on the probe 1, and the probe 1 is positioned for servomechanism in the directions 7 of the oscillation by an actuator so as to maintain the constant state of the oscillation. With this state maintained, the probe 1 is moved to the object to be measured by a stage and a rotating table to measure its surface shape.
摘要翻译：要解决的问题：无论受测物体的导电性/非导电性如何，都不会受到氧化膜的影响，能够稳定地测量微观表面的形状。污物等，通过在其谐振频率附近的波束结构中振荡探头，并将其证明在其振荡方向上定位，使得检测到的失真状态变得恒定。解决方案：由硬质金属形成的悬臂式梁部分1b形成的探针1和用于形状测量的尖端微突出部分1a通过压电元件3布置在支撑基座4上，压电元件3由高电压放大器6使谐振频率附近的探针1振荡。尖端突出部1a通过振动与待测量的物体接触，并且探针1的振幅和振动相位根据接触程度而改变。由此，通过设置在探针1上的压电板2检测探头1的变形，并且通过致动器将探头1定位成在振动方向7上的伺服机构，以保持振荡的恒定状态。在保持该状态的情况下，探针1通过台和旋转台移动到要测量的对象以测量其表面形状。

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