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1. 发明授权

US08353378B2 Frictional drive device and inverted pendulum type vehicle using the same 有权
标题翻译：摩擦驱动装置和倒立摆式车辆使用它
公开(公告)号：US08353378B2
公开(公告)日：2013-01-15
申请号：US12884738
申请日：2010-09-17
申请人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
发明人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
IPC分类号： B62K1/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2310/204 , B60B2310/228 , B60B2310/232 , B60B2310/305 , B60B2360/10 , B60B2360/147 , B60B2360/32 , B60B2360/348 , B60B2360/50 , B60B2380/12 , B60B2380/14 , B60L1/003 , B60L3/0061 , B60L11/1803 , B60L11/1861 , B60L11/1877 , B60L2200/14 , B60L2220/42 , B60L2240/425 , B60L2240/461 , B60L2260/34 , B62K11/007 , Y02T10/646 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y10T74/19
摘要： A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member. A speed reduction unit (72, 100) may be interposed between each actuator and the corresponding drive disk all in a coaxial relationship.
摘要翻译：一种摩擦驱动装置，包括一对驱动盘（48），所述驱动盘（48）以相互相对的关系围绕中心轴线（A）由框架（2,22）可旋转地支撑;以及一对致动器（64），由所述框架用于单独地旋转地驱动驱动盘并且相对于相应的驱动盘同轴地布置;多个驱动辊（56），沿着每个驱动盘的外周布置，并且每个具有旋转中心线以沿着平面旋转其不与中心轴线平行或垂直;以及环形主轮（85），其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件（86））和沿着所述环形构件支撑以便能够围绕所述环形构件的切线旋转的多个从动辊（92）。减速单元（72,100）可以以同轴的关系插入在每个致动器和对应的驱动盘之间。

2. 发明授权

US08567537B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08567537B2
公开(公告)日：2013-10-29
申请号：US12884748
申请日：2010-09-17
申请人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： B62K15/00 , B62K11/02
CPC分类号： B60L11/1877 , B60L2200/14 , B60L2240/26 , B60L2260/34 , B62K1/00 , B62K11/007 , B62K2208/00 , Y02T10/7005 , Y02T10/705
摘要： In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.
摘要翻译：在具有下框架（22）和可拆卸地接合到下框架的上端的上框架（21）的倒立摆式车辆中，每个限定中空内部的下框架和上框架，结合有驱动单元（3）在下框架中，并且电池单元（10）被容纳在上框架中，并经配置在上框架和下框架之间的狭窄部分中的电单元（11）向驱动单元提供电力。因此，车辆可以是紧凑且小的脚印设计。特别地，当使用具有相对较小宽度的主轮将该结构应用于通过使车辆的上部匹配具有相应的小宽度时，车辆的整体轮廓可以具有非常小的宽度。此外，车辆的总重量可以相对均匀地分布在上部和下部之间，以方便操作和控制。

3. 发明申请

US20110067938A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20110067938A1
公开(公告)日：2011-03-24
申请号：US12884748
申请日：2010-09-17
申请人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： B60L11/00 , B62D61/00
CPC分类号： B60L11/1877 , B60L2200/14 , B60L2240/26 , B60L2260/34 , B62K1/00 , B62K11/007 , B62K2208/00 , Y02T10/7005 , Y02T10/705
摘要： In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.
摘要翻译：在具有下框架（22）和可拆卸地接合到下框架的上端的上框架（21）的倒立摆式车辆中，每个限定中空内部的下框架和上框架，结合有驱动单元（3）在下框架中，并且电池单元（10）被容纳在上框架中，并经配置在上框架和下框架之间的狭窄部分中的电单元（11）向驱动单元提供电力。因此，车辆可以是紧凑且小的脚印设计。特别地，当使用具有相对较小宽度的主轮将该结构应用于通过使车辆的上部匹配具有相应的小宽度时，车辆的整体轮廓可能具有非常小的宽度。此外，车辆的总重量可以相对均匀地分布在上部和下部之间，以方便操作和控制。

4. 发明授权

US08513917B2 Recharging system for a rechargeable battery of an inverted pendulum type vehicle 有权
标题翻译：用于倒立摆式车辆的可充电电池的充电系统
公开(公告)号：US08513917B2
公开(公告)日：2013-08-20
申请号：US12884724
申请日：2010-09-17
申请人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： H02J7/00
CPC分类号： B62J25/00 , B62J1/005 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02
摘要： A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.
摘要翻译：用于倒立摆式车辆（1）的可再充电电池（281）的充电系统包括：支架（86），其用于通过使用与规定部分接合的支撑构件（91,96）将车辆保持在基本上直立的姿势所述车辆，所述支架上设置有供电装置（95,152），以及设置在所述车辆上的动力取出装置（88,151）。当车辆的规定部分被支架的支撑构件接合时，动力装置被定位成与供电装置联接。支架允许车辆以直立姿态放置，简单地将车辆靠在支撑构件的一部分上，并且可以同时建立车辆的可再充电电池与电源之间的电连接，而不需要任何额外的努力

5. 发明申请

US20120175176A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120175176A1
公开(公告)日：2012-07-12
申请号：US13496487
申请日：2009-09-18
申请人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
发明人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
IPC分类号： B62D61/00
CPC分类号： B62K1/00 , B60L11/1805 , B62J1/005 , B62J25/00 , B62K11/007 , B62K15/008 , Y02T10/7005
摘要： An inverted pendulum type vehicle (1) includes a lower frame incorporated with load sensor having an input portion 60 for receiving an external force and an upper frame (3) provided with a saddle 11 for supporting a load of a rider or a cargo and a grip handle (31) for enabling a user not riding the vehicle to support the vehicle (1), the upper frame being connected to the lower frame via the input portion of the load sensor. Therefore, in the vehicle including the lower frame supporting a propelling unit for the vehicle and the upper frame detachably attached to the lower frame, by using a single force sensor, not only the force acting on a load support portion of the upper frame can be detected in an accurate manner, but also the force acting on the load support portion when the user is transporting the vehicle can be detected.
摘要翻译：倒立摆式车辆（1）包括具有负载传感器的下框架，该负载传感器具有用于接收外力的输入部分60和设置有用于支撑乘员或货物的负载的鞍座11的上框架（3）握持手柄（31），用于使得不骑车的用户能够支撑车辆（1），上框架经由负载传感器的输入部分连接到下框架。因此，通过使用单个力传感器，在包括支撑车辆用推进单元的下框架和可拆卸地安装于下框架的上框架的车辆中，不仅作用在上框架的负载支撑部上的力可以可以检测出准确的方式，而且可以检测到当用户正在运送车辆时作用在负载支撑部分上的力。

6. 发明授权

US08381859B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08381859B2
公开(公告)日：2013-02-26
申请号：US13496487
申请日：2009-09-18
申请人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
发明人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
IPC分类号： B62D61/00
CPC分类号： B62K1/00 , B60L11/1805 , B62J1/005 , B62J25/00 , B62K11/007 , B62K15/008 , Y02T10/7005
摘要： An inverted pendulum type vehicle (1) includes a lower frame incorporated with load sensor having an input portion 60 for receiving an external force and an upper frame (3) provided with a saddle 11 for supporting a load of a rider or a cargo and a grip handle (31) for enabling a user not riding the vehicle to support the vehicle (1), the upper frame being connected to the lower frame via the input portion of the load sensor. Therefore, in the vehicle including the lower frame supporting a propelling unit for the vehicle and the upper frame detachably attached to the lower frame, by using a single force sensor, not only the force acting on a load support portion of the upper frame can be detected in an accurate manner, but also the force acting on the load support portion when the user is transporting the vehicle can be detected.
摘要翻译：倒立摆式车辆（1）包括具有负载传感器的下框架，该负载传感器具有用于接收外力的输入部分60和设置有用于支撑乘员或货物的负载的鞍座11的上框架（3）握持手柄（31），用于使得不骑车的用户能够支撑车辆（1），上框架经由负载传感器的输入部分连接到下框架。因此，通过使用单个力传感器，在包括支撑车辆用推进单元的下框架和可拆卸地安装于下框架的上框架的车辆中，不仅作用在上框架的负载支撑部上的力可以可以检测出准确的方式，而且可以检测到当用户正在运送车辆时作用在负载支撑部分上的力。

7. 发明授权

US08403083B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08403083B2
公开(公告)日：2013-03-26
申请号：US12883624
申请日：2010-09-16
申请人： Hironori Waita , Kazushi Hamaya , Hiroshi Gomi
发明人： Hironori Waita , Kazushi Hamaya , Hiroshi Gomi
IPC分类号： B62K1/00 , B62J1/04 , B62J1/08
CPC分类号： B62K1/00 , B62K11/007
摘要： In a vehicle (1) including a frame (2) incorporated with a drive unit (3) for enabling the frame to travel in a prescribed direction and a seat assembly (4) supported by the frame and including a pair of saddle members (63) defining a pair of seat surfaces (70A), respectively, configured to jointly support buttocks of a vehicle occupant, the saddle members are resiliently supported by the frame in such a manner that the seat surface of each saddle member is in an approximately horizontal orientation but is progressively tilted inward with a downward movement of the saddle member under a load of a vehicle occupant. Thus, one of the saddle members receiving a greater load than the other tilts downward toward the center of the vehicle, and this causes the vehicle occupant to be urged toward the saddle member receiving a smaller load so that the vehicle occupant is automatically urged toward the center of the vehicle, and hence the gravitational center of the vehicle occupant may be placed in the center of the vehicle at all times.
摘要翻译：一种车辆（1），包括：框架（2），其结合有用于使框架能够沿规定方向行进的驱动单元（3）;以及座椅组件（4），其由框架支撑并且包括一对鞍座构件）分别限定一对座位表面（70A），其分别构造成联合地支撑车辆乘员的臀部，所述鞍座构件被框架弹性地支撑，使得每个鞍座构件的座面处于大致水平的方向但是随着车辆乘员的负载下的鞍部件的向下运动而逐渐向内倾斜。因此，承受比另一个更大的负载的鞍形构件中的一个朝向车辆的中心向下倾斜，并且这导致车辆乘员被迫向接收较小负载的鞍形构件施力，使得车辆乘员被自动地朝向车辆的中心，因此车辆乘员的重力中心总是可以放置在车辆的中心。

8. 发明授权

US08499865B2 Friction drive device and omni-directional vehicle using the same 有权
标题翻译：摩擦驱动装置和全方位车辆使用
公开(公告)号：US08499865B2
公开(公告)日：2013-08-06
申请号：US13319586
申请日：2010-04-09
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi , Hiroshi Gomi , Masao Sasaki , Kazushi Hamaya
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi , Hiroshi Gomi , Masao Sasaki , Kazushi Hamaya
IPC分类号： B60B19/12 , B60K17/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60K7/0007 , B60K17/00 , B60L3/0061 , B60L2200/14 , B60L2220/42 , B60L2220/44 , B60L2220/50 , B60L2240/421 , B60L2240/423 , B60L2240/425 , B62K11/007 , Y02T10/641 , Y02T10/646
摘要： Heat generated by a drive source of a friction drive device such as an electric motor is allowed to efficiently dissipate to the atmosphere, and the friction drive device and an omni-directional vehicle using the same is designed in a highly compact manner. Left and right electric drive devices are placed on a central axial line of left and right rotatable drive members, and external teeth members serving as output members of the electric drive devices are directly connected to the respective rotatable drive members in a torque transmitting and heat transmitting relationship.
摘要翻译：允许由诸如电动机的摩擦驱动装置的驱动源产生的热量有效地散发到大气中，并且以高度紧凑的方式设计摩擦驱动装置和使用其的全向车辆。左右电动驱动装置配置在左右旋转驱动部件的中心轴线上，作为电动驱动装置的输出部件的外齿部件以扭矩传递和热传递方式直接连接于各旋转驱动部件关系。

9. 发明申请

US20120061156A1 FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译：使用相同的摩擦驱动装置和OMNI-DIRECTIVE VEHICLE
公开(公告)号：US20120061156A1
公开(公告)日：2012-03-15
申请号：US13319586
申请日：2010-04-09
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi , Hiroshi Gomi , Masao Sasaki , Kazushi Hamaya
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi , Hiroshi Gomi , Masao Sasaki , Kazushi Hamaya
IPC分类号： B62K1/00 , B60B19/00 , B62M13/00 , B60K7/00 , F16H13/04 , B62K17/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60K7/0007 , B60K17/00 , B60L3/0061 , B60L2200/14 , B60L2220/42 , B60L2220/44 , B60L2220/50 , B60L2240/421 , B60L2240/423 , B60L2240/425 , B62K11/007 , Y02T10/641 , Y02T10/646
摘要： Heat generated by a drive source of a friction drive device such as an electric motor is allowed to efficiently dissipate to the atmosphere, and the friction drive device and an omni-directional vehicle using the same is designed in a highly compact manner. Left and right electric drive devices are placed on a central axial line of left and right rotatable drive members, and external teeth members serving as output members of the electric drive devices are directly connected to the respective rotatable drive members in a torque transmitting and heat transmitting relationship.
摘要翻译：允许由诸如电动机的摩擦驱动装置的驱动源产生的热量有效地散发到大气中，并且以高度紧凑的方式设计摩擦驱动装置和使用其的全向车辆。左右电动驱动装置配置在左右旋转驱动部件的中心轴线上，作为电动驱动装置的输出部件的外齿部件以扭矩传递和热传递方式直接连接于各旋转驱动部件关系。

10. 发明申请

US20070210739A1 LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 审中-公开
标题翻译： LEG联合协助手机移动机器人
公开(公告)号：US20070210739A1
公开(公告)日：2007-09-13
申请号：US11573922
申请日：2005-08-05
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a state wherein a solenoid switching valve in a gas passage in communication with air chambers is closed, an assist device produces an assisting driving force by compression or expansion of a gas as a knee joint (specific joint) of a leg bends or stretches, and applies the produced assisting driving force to the knee joint. In a valve-open state of the solenoid switching valve, no assisting driving force is produced. The solenoid switching valve is constructed of a solenoid switching valve having a self-holding feature, and installed in the gas passage such that a pressure difference between air chambers acts in a valve closing direction of a valve element in a predetermined period during which the solenoid switching valve is closed. This arrangement effectively reduces the power consumption of the solenoid switching valve by a simple construction.
摘要翻译：在与气室连通的气体通道中的电磁切换阀关闭的状态下，辅助装置通过作为腿部弯曲或拉伸的膝关节（特定接头）的气体的压缩或膨胀产生辅助驱动力，并将产生的辅助驱动力施加到膝关节。在电磁换向阀的阀打开状态下，不产生辅助驱动力。电磁切换阀由具有自保持特征的电磁切换阀构成，并且安装在气体通道中，使得空气室之间的压力差在阀元件的阀闭合方向作用在预定时间段内，在螺线管切换阀关闭。这种布置通过简单的结构有效地降低了电磁开关阀的功耗。

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