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1. 发明专利

JPH09131679A TRAVEL CONTROLLER OF TRAVELING ROBOT 失效
公开(公告)号：JPH09131679A
公开(公告)日：1997-05-20
申请号：JP28996695
申请日：1995-11-08
申请人： NAKANO EIJI , KOMATSU MFG CO LTD
发明人： NAKANO EIJI , KUROMOTO KAZUNORI
IPC分类号： B62D57/032 , B25J5/00 , G05D1/02 , G05D3/00 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To improve the reliability of a traveling robot having a leg and reduce the cost thereof. SOLUTION: An objective position Zd of a leg tip 6 when the leg tip 6 is in contact with the ground H is obtained based on a specified travel locus r traj which is set in advance, and deviation ΔZ between the target position Zd of the leg tip 6 and actual position Z of the leg tip 6 is used as spring displacement. Virtual spring constant is given to the leg tip 6, and a drive command is given to an actuator which drives a leg 3 so that force which corresponds to specified spring force which is determined by the virtual spring constant and spring displacement ΔZ is given to the leg tip 6 which is in contact with the ground to control travel of a traveling robot.

2. 发明专利

JPH05324076A METHOD AND DEVICE FOR CONTROLLING SPEED OF BILATERAL SERVO 失效
公开(公告)号：JPH05324076A
公开(公告)日：1993-12-07
申请号：JP15270392
申请日：1992-05-20
申请人： NAKANO EIJI , OKUDA SUMIO
发明人： NAKANO EIJI , OKUDA SUMIO
IPC分类号： B25J3/00 , B25J13/00 , G05D3/12
摘要： PURPOSE:To provide the hydraulic bilateral servo control system adding the bilateral function to the speed control system by master with dissimilar structure for more improving the operability in the control system so that the dimension of slave is wider than that of master such as large construction machine and the motion of the master is expanded as it is. CONSTITUTION:A master 1 with a servo motor 3 constituting the bilateral control system performs the speed input for cylinder operation. A servo valve 7 controls the driving speed of a driving hydraulic cylinder 4. A pressure sensor 5 detects the power generated in the cylinder and a position detecting device 6 detects the driving position of the cylinder, and executes the feedback control to return the master to the neutral position. The servo motor 3 of the master 1 is given the position feedback to return the master 1 back to the neural position at all times, the speed feedback to prevent the speed attenuation and the overshooting, and the power feedback being the function of the cylinder output.

3. 发明专利

JPH05202530A MANUAL OPERATION DEVICE FOR IMPROVING OPERABILITY OF HYDRAULIC SHOVEL 失效
公开(公告)号：JPH05202530A
公开(公告)日：1993-08-10
申请号：JP33775691
申请日：1991-11-27
申请人： NAKANO EIJI , YAMASAKI KENSETSU KK
发明人： NAKANO EIJI , OKUDA SUMIO
IPC分类号： E02F9/20 , E02F3/43
摘要： PURPOSE:To improve the operability of a hydraulic shovel, and easily operate the shovel by whoever without any experience. CONSTITUTION:The manual operation device of a hydraulic shovel for working a bucket 1, an arm 2, and a boom 3 by a hydraulic cylinder is provided with a control lever 10 having more than 3 degrees of freedom of movement in the horizontal direction and the vertical direction, and of grip rotation, and a driving controller 20 for directing the output of control signal to a valve for feeding pressure-oil to the cylinder based on its output. Then, in the driving controller 20, according to the signal output by the operation in the vertical or horizontal direction of the control lever 10, the control signal for parallel- moving the bucket 1 linearly is output. Besides, according to the signal output by the rotational operation of a grip 11, the control signal for rotating the bucket is output.

4. 发明专利

JP2003102794A WHEELCHAIR DRIVEN BY LEG STRENGTH 审中-公开
公开(公告)号：JP2003102794A
公开(公告)日：2003-04-08
申请号：JP2001338768
申请日：2001-09-28
申请人： HONDA SEIKI KK , NAKANO EIJI , HANDA YASUNOBU , TAKAHASHI TAKAYUKI
发明人： NAKANO EIJI , HANDA YASUNOBU , TAKAHASHI TAKAYUKI , HONDA RIKIO
IPC分类号： A61G5/02 , A61H1/02
摘要： PROBLEM TO BE SOLVED: To support rehabilitation of leg muscles deteriorated by aging, illness or the like so that it can be continued for a long time with pleasure and without misery. SOLUTION: A wheelchair is provided capable of traveling by leg strength exerted by bending and stretching exercises of legs of a sitting patient or handicapped person.

5. 发明专利

JPH08300960A OMINIDIRECTIONAL MOVING VEHICLE AND ITS STEERING CONTROL METHOD 失效
公开(公告)号：JPH08300960A
公开(公告)日：1996-11-19
申请号：JP13593395
申请日：1995-05-09
申请人： NAKANO EIJI
发明人： NAKANO EIJI
IPC分类号： B62D6/00 , B60K17/00 , B62D7/14
摘要： PURPOSE: To provide superior characteristics such as reduction of the number of motors, reduction of the cost, simplification of the mechanism, reduction of the weight, and modularization by driving the driving wheels and achieving the steering operation by a single motor in an ominidirectional moving vehicle. CONSTITUTION: A steering shaft 3 is rotatably supported by a supporting plate to be fixed to a vehicle body 1. A wheel driving motor 7 is supported by a wheel supporting member 13 on the steering shaft, and a wheel 6 to be brought into contact with the ground at the position deviated from the axis of revolution of the steering shaft 3 is fitted to an axle 5 to be driven by the motor 7. A clutch 4 is provided between the supporting plate 2 and the steering shaft 3.

6. 发明专利

JPH08305440A DEVICE AND METHOD FOR CONTROLLING MOTION OF ORDINARY WHEEL TYPE OMNIDIRECTIONAL VEHICLE 失效
公开(公告)号：JPH08305440A
公开(公告)日：1996-11-22
申请号：JP11213095
申请日：1995-05-10
申请人： FUJITSU LTD , NAKANO EIJI
发明人： TAKAYAMA KUNIHARU , NAKANO EIJI , MORI ZENICHI , TAKAHASHI TAKAYUKI
IPC分类号： G05D1/02
摘要： PURPOSE: To efficiently control a wheel type omnidirectional vehicle(ODV) by describing its motion on a relative coordinate system fixed to the ODV itself. CONSTITUTION: Wheels for driving are connected through offset links, which can be respectively independently steered, to respective four apexes on the car body of an ODV 20. Since these offset links exist, even when the car body is set in a standstill state, respective wheels can be steered without cutting their ends. The relative coordinate system defined by an advancing velocity(v), turning radius ρ and angle ϕ formed by the lateral axis of the car body and the advancing direction is provided at the center of the car body and the motion of the ODV is designated corresponding to these relative parameters. The designated motion of the car body is converted to a timewise change (driving velocity) in displacement λ1 of wheels and a steering angle q1 of wheels by inverse dynamism and a correspondent control input is applied to the driving device of wheels. As a result, the acr body is turned with the turning radius ρ with a point oc as a center. Thus, control based on a control instruction with the car body itself as a reference is enabled. Besides, the driving velocity of the wheels and the measured result of the steering angle are converted to relative parameters by forward dynamism and the really performed action of the car body can be recognized.

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