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1. 发明授权

US08827375B2 Wheel, and friction drive device and omni-directional vehicle using the same 有权
标题翻译：车轮，摩擦驱动装置和全方位车辆使用相同
公开(公告)号：US08827375B2
公开(公告)日：2014-09-09
申请号：US13132681
申请日：2009-12-01
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
IPC分类号： B60B19/12 , B60B19/00 , B62M6/70 , B62K1/00 , B62M6/40
CPC分类号： B62M6/70 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2360/10 , B60B2360/1434 , B60B2360/1444 , B60B2360/32 , B60B2360/348 , B60B2900/131 , B60B2900/133 , B60B2900/211 , B60Y2200/40 , B62K1/00 , B62M6/40
摘要： In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.
摘要翻译：在用于全方位车辆的车轮中，防止砾石和其他异物被捕获在形成车轮的自由辊之间，并且行驶振动和噪声同时被最小化。轮包括环形构件和多个自由辊，每个自由辊由环形构件围绕环形构件的对应切线旋转地支撑，并且间隙构件被放置在每个相邻的一对自由辊之间以填充限定在自由滚筒

2. 发明授权

US08522902B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08522902B2
公开(公告)日：2013-09-03
申请号：US13395578
申请日：2009-09-18
申请人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
发明人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
IPC分类号： B62D61/00 , B62K15/00 , B62K1/00
CPC分类号： B62J1/005 , B60L11/1805 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , Y02T10/7005
摘要： In an inverted pendulum type vehicle configured to travel on a ground surface while maintaining an upright posture under an inverted pendulum control, comprising a base frame supporting a propulsion unit, the propulsion unit including a main wheel configured to roll on the ground surface, and a seat unit provided on the base frame for supporting hips of a rider, the seat unit includes a saddle having at least a center located ahead of an axial line extending between a rotational center line of the main wheel and a gravitational center of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.
摘要翻译：在倒立摆式车辆中，其构造成在倒立摆控制下保持直立姿势的同时在地面上行进，包括支撑推进单元的基座框架，所述推进单元包括构造成在地面上滚动的主轮，以及所述座椅单元设置在所述基座上，用于支撑骑手的臀部，所述座椅单元包括鞍座，所述鞍座至少具有位于在所述主轮的旋转中心线与所述倒立摆型重力中心之间延伸的轴线前方的中心车辆。因此，即使在车辆后方的地面上存在障碍物的情况下，也能够防止在地面上滚动的主轮与障碍物接触，并且车辆上的乘坐者的登机方便。

3. 发明授权

US08162092B2 Friction drive vehicle 有权
标题翻译：摩擦驱动车
公开(公告)号：US08162092B2
公开(公告)日：2012-04-24
申请号：US12633300
申请日：2009-12-08
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
IPC分类号： B62M13/00
CPC分类号： B60K17/043 , B60B19/003 , B60B19/125 , B60B19/14 , B60B2200/47 , B60B2360/10 , B60B2360/32 , B60B2360/324 , B60B2360/50 , B60K17/30 , B60Y2200/81 , B62D61/00 , B62K1/00 , B62K3/002 , B62K11/007 , B62K2204/00
摘要： In a frictional drive vehicle, a load acting on the vehicle such as the weight of a rider is converted into a force that urges two frictionally engaging parts (3L, 3R, 25) toward each other. Thereby, the contact pressure between the two frictionally engaging parts is maintained at an optimum level under all conditions. A weight of a rider may be transmitted to a drive member that frictionally engages a main wheel via a four-link parallel link mechanism (40, 50).
摘要翻译：在摩擦驱动车辆中，作用在车辆上的负载（诸如骑车人的重量）的载荷被转换成彼此相对推动两个摩擦接合部分（3L，3R，25）的力。因此，在所有条件下，两个摩擦接合部分之间的接触压力保持在最佳水平。骑车人的重量可以被传递到驱动构件，该驱动构件经由四连杆平行连杆机构40,50与摩擦接合主轮。

4. 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。

5. 发明申请

US20120168235A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120168235A1
公开(公告)日：2012-07-05
申请号：US13395578
申请日：2009-09-18
申请人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
发明人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
IPC分类号： B62D61/00
CPC分类号： B62J1/005 , B60L11/1805 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , Y02T10/7005
摘要： In an inverted pendulum type vehicle (1) configured to travel on a ground surface (G) while maintaining an upright posture under an inverted pendulum control, comprising a base frame (2) supporting a propulsion unit (3), the propulsion unit including a main wheel (85) configured to roll on the ground surface, and a seat unit (4) provided on the base frame for supporting hips of a rider (H), the seat unit includes a saddle (63) having at least a center (C) located ahead of an axial line (B) extending between a rotational center line (A) of the main wheel and a gravitational center (Gt1) of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.
摘要翻译：在倒立摆式车辆（1）中，其构造成在倒立摆控制下保持直立姿势的同时在地面（G）上行进，包括支撑推进单元（3）的基架（2），所述推进单元包括配置成在地面上滚动的主轮（85）以及设置在基座上用于支撑骑手（H）的臀部的座椅单元（4），座椅单元包括至少具有中心（ C）位于在主轮的旋转中心线（A）和倒立摆式车辆的重力中心（Gt1）之间延伸的轴线（B）的前方。因此，即使在车辆后方的地面上存在障碍物的情况下，也能够防止在地面上滚动的主轮与障碍物接触，并且车辆上的乘坐者的登机方便。

6. 发明申请

US20120032496A1 WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译：车轮和摩擦驱动装置和使用其的OMNI方向车辆
公开(公告)号：US20120032496A1
公开(公告)日：2012-02-09
申请号：US13263931
申请日：2010-03-15
申请人： Toru Takenaka , Makoto Hirano , Hiroshi Gomi , Masao Sasaki , Taiji Koyama , Shinichiro Kobashi , Hideharu Izumi , Kazuya Kuwabara , Hiroyuki Makino
发明人： Toru Takenaka , Makoto Hirano , Hiroshi Gomi , Masao Sasaki , Taiji Koyama , Shinichiro Kobashi , Hideharu Izumi , Kazuya Kuwabara , Hiroyuki Makino
IPC分类号： B60B19/12 , B62M13/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B62H1/12 , B62K11/007
摘要： [Task] To allow a wheel that provides a performance required for use in an omni-directional vehicle to be manufactured in an efficient manner.[Solution] An annular member (51) comprises a C-shaped main body (61) and a complementary member (62) defining an endless annular shape jointly with the main body (61), a joint (63) between the main body (61) and complementary member (62) includes mating surfaces that are non-perpendicular to the cross sectional center line of the annular member, and the main body (61) and the complementary member (62) are fixedly joined to each other by using a threaded bolt (64) passed radially through the mating surfaces.
摘要翻译： [任务]允许以有效的方式制造在全方位车辆中使用所需性能的车轮。解决方案环形构件（51）包括与主体（61）共同限定环形环形的C形主体（61）和互补构件（62），主体（ 61）和互补构件（62）包括与环形构件的横截面中心线非垂直的配合表面，并且主体（61）和互补构件（62）通过使用螺栓（64）径向通过配合表面。

7. 发明授权

US08460154B2 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：US08460154B2
公开(公告)日：2013-06-11
申请号：US12884328
申请日：2010-09-17
申请人： Hiroshi Gomi , Toru Takenaka , Kazuya Kuwabara
发明人： Hiroshi Gomi , Toru Takenaka , Kazuya Kuwabara
IPC分类号： F16H13/10
CPC分类号： B60B19/125 , B60B9/06 , B60B9/10 , B60B19/003 , B60B2200/47 , B60B2310/305 , B60B2310/56 , B60B2360/10 , B60B2360/50 , B60B2380/12 , B60B2900/131 , B60L11/1805 , Y02T10/646 , Y02T10/7005
摘要： In a frictional drive device comprising a pair of drive disks (48) rotatably supported by a frame (10) around a central axial line (A) in a mutually opposing relationship, a pair of motors (64) supported by the frame for individually rotatively actuating the drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk at a regular interval 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 (84, 110) 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, 111) 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 resiliency is incorporated either in the main wheel or in the drive rollers so that a relatively large number of driven rollers can be simultaneously engaged by the drive rollers and, hence, a relative high drive efficiency can be maintained even when the axial center of the annular member and the axial center of the drive disks are offset from each other.
摘要翻译：在一种摩擦驱动装置中，包括一对以相互相对的关系围绕中心轴线（A）由框架（10）可旋转地支撑的一对驱动盘（48），一对电动机（64）由框架支撑以单独地旋转致动驱动盘，多个驱动辊（56），其沿着每个驱动盘的外周排列成规则间隔，并且每个驱动辊具有旋转中心线，以便能够沿着不平行于或不垂直于中心的平面旋转轴线和环形主轮（84,110），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（86,111）和多个驱动辊（92）沿着环形构件被支撑以能够围绕环形构件的切线旋转，弹性被并入主轮或驱动辊中，使得相对大的数量从动辊可以同时被驱动辊接合，因此即使当环形构件的轴向中心和驱动盘的轴向中心彼此偏移时，也能够维持相对高的驱动效率。

8. 发明申请

US20110233989A1 WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译：车轮和摩擦驱动装置和使用其的OMNI方向车辆
公开(公告)号：US20110233989A1
公开(公告)日：2011-09-29
申请号：US13132681
申请日：2009-12-01
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
IPC分类号： B60B19/12 , B62M13/00 , B62K1/00
CPC分类号： B62M6/70 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2360/10 , B60B2360/1434 , B60B2360/1444 , B60B2360/32 , B60B2360/348 , B60B2900/131 , B60B2900/133 , B60B2900/211 , B60Y2200/40 , B62K1/00 , B62M6/40
摘要： In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.
摘要翻译：在用于全方位车辆的车轮中，防止砾石和其他异物被捕获在形成车轮的自由辊之间，并且行驶振动和噪声同时被最小化。轮包括环形构件和多个自由辊，每个自由辊由环形构件围绕环形构件的对应切线旋转地支撑，并且间隙构件被放置在每个相邻的一对自由辊之间以填充限定在自由滚筒

9. 发明授权

US08758191B2 Drive unit 有权
标题翻译：驱动单元
公开(公告)号：US08758191B2
公开(公告)日：2014-06-24
申请号：US12882468
申请日：2010-09-15
申请人： Toru Takenaka , Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Masao Sasaki , Hideharu Izumi , Kazuya Kuwabara
发明人： Toru Takenaka , Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Masao Sasaki , Hideharu Izumi , Kazuya Kuwabara
IPC分类号： F16H13/08 , B60B19/12 , B62K1/00
CPC分类号： B60B19/125 , B60B19/003 , B60B2200/47 , B60B2360/348 , B60B2360/50 , B62K1/00 , B62K11/007
摘要： A drive unit includes a main wheel having an annular member, and a plurality of driven rollers that are rotatably attached to the annular member, a plurality of first drive rollers and a plurality of second drive rollers, which are provided with the annular member between them and arranged such that they make contact with the outer peripheral faces of the driven rollers, a first holder and a second holder, which are arranged with the annular shaft between them and respectively hold the plurality of first drive rollers and the plurality of second drive rollers while allowing them to rotate, and a first drive unit and a second drive unit that rotationally drive the first holder and the second holder respectively; grooves are formed in the outer peripheral faces of the driven rollers at an angle to the circumferential direction thereof.
摘要翻译：驱动单元包括具有环形构件的主轮和可旋转地附接到环形构件的多个从动辊，多个第一驱动辊和多个第二驱动辊，在它们之间设置有环形构件并且布置成使得它们与从动辊的外周面接触，第一保持器和第二保持器，其间设置有环形轴，并分别保持多个第一驱动辊和多个第二驱动辊同时允许它们旋转;以及第一驱动单元和第二驱动单元，其分别旋转地驱动第一保持器和第二保持器; 在从动辊的外周面上形成有与其圆周方向成一定角度的槽。

10. 发明授权

US08499864B2 Wheel, and friction drive device and omni-directional vehicle using the same 有权
标题翻译：车轮，摩擦驱动装置和全方位车辆使用相同
公开(公告)号：US08499864B2
公开(公告)日：2013-08-06
申请号：US13263931
申请日：2010-03-15
申请人： Toru Takenaka , Makoto Hirano , Hiroshi Gomi , Masao Sasaki , Taiji Koyama , Shinichiro Kobashi , Hideharu Izumi , Kazuya Kuwabara , Hiroyuki Makino
发明人： Toru Takenaka , Makoto Hirano , Hiroshi Gomi , Masao Sasaki , Taiji Koyama , Shinichiro Kobashi , Hideharu Izumi , Kazuya Kuwabara , Hiroyuki Makino
IPC分类号： B60B19/12
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B62H1/12 , B62K11/007
摘要： [Task] To allow a wheel that provides a performance required for use in an omni-directional vehicle to be manufactured in an efficient manner.[Solution] An annular member (51) comprises a C-shaped main body (61) and a complementary member (62) defining an endless annular shape jointly with the main body (61), a joint (63) between the main body (61) and complementary member (62) includes mating surfaces that are non-perpendicular to the cross sectional center line of the annular member, and the main body (61) and the complementary member (62) are fixedly joined to each other by using a threaded bolt (64) passed radially through the mating surfaces.
摘要翻译： [任务]允许以有效的方式制造在全方位车辆中使用所需性能的车轮。解决方案环形构件（51）包括与主体（61）共同限定环形环形的C形主体（61）和互补构件（62），主体（ 61）和互补构件（62）包括与环形构件的横截面中心线非垂直的配合表面，并且主体（61）和互补构件（62）通过使用螺栓（64）径向通过配合表面。

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