公开(公告)号：JP2005088166A

公开(公告)日：2005-04-07

申请号：JP2003328034

申请日：2003-09-19

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI

IPC: B25J19/06 ,  B25J5/00

Abstract: PROBLEM TO BE SOLVED: To provide a robot capable of performing proper fail-safe control according to an abnormal joint and its timing when the abnormality occurs. SOLUTION: The robot has a joint actuator for changing an angle of the joint connecting a body side member and an end side member, a joint controller provided for every joint actuator, and a central controller for sequentially commanding to a joint controller group. The central controller is programmed so as to previously command an abnormality processing procedure to be executed by the joint controller of the abnormal joint when the abnormality occurs, where the joint angle is not changed according to the command. The joint controller is programmed so that the abnormality processing procedure already stored is updated to the abnormality processing procedure commanded by the central controller. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种能够根据异常关节进行适当的故障安全控制的机器人及其异常发生时的定时。 解决方案：机器人具有用于改变连接主体侧构件和端侧构件的接头的角度的关节致动器，为每个关节致动器设置的联合控制器，以及用于顺序地命令到联合控制器组的中央控制器 。 中央控制器被编程，以便在异常发生时预先指定由异常关节的关节控制器执行的异常处理过程，其中关节角度根据命令不改变。 联合控制器被编程，使得已经存储的异常处理过程被更新为由中央控制器命令的异常处理过程。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2004322283A

公开(公告)日：2004-11-18

申请号：JP2003123495

申请日：2003-04-28

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI ,  TSUSAKA YUJI

IPC: A63H11/00 ,  B25J5/00 ,  B25J13/00 ,  B25J17/00

Abstract: PROBLEM TO BE SOLVED: To independently control a turning angle and rigidity around a joint of a robot.
SOLUTION: This robot has an end side member 18 rotatable in an ankle joint 26, at least two wires 66a, 66b, and 66c having an end part installed on both sides for sandwiching the rotational center of this end side member 18, at least two actuators connected to the other end part of the respective wires, and expanding the respective wires, and a controller for controlling this actuator group. This controller controls a working quantity of the respective actuators, by inputting information on the successively changing turning angle of the end side member 18 and information on successively changing wire tension; and make them follow the indicated turning angle and rigidity.
COPYRIGHT: (C)2005,JPO&NCIPI

公开(公告)号：JP2004220837A

公开(公告)日：2004-08-05

申请号：JP2003004233

申请日：2003-01-10

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： SUGIYAMA YUICHIRO ,  YAMAMOTO TAKASHI

IPC: C08K5/00 ,  C08L101/02 ,  H01B1/06 ,  H01M8/02 ,  H01M8/10

CPC classification number: Y02P70/56

Abstract: PROBLEM TO BE SOLVED: To improve ion conductivity and strength as for a polyelectrolyte in which an anionic group and a cationic group are introduced. SOLUTION: This polyelectrolyte has a polymer material containing a polymer compound which has the anionic group and the cationic group on the same and/or the different polymer molecules and an anionic compound nearly equivalent to the amount of the cationic group. In other words, the cationic group introduced in the polymer compound can be neutralized mostly because the anionic compound is added and ionic conductivity of the anionic group of the polymer compound can be improved as acidity of the polymer compound rises. Furthermore, flexibility and strength of the polyelectrolyte obtained by mostly neutralizing the cationic group are improved. As for the reason for that, it is assumed that the balance of electrons is improved after the electron distribution, which is made to be imbalanced because the anionic group and the cationic group coexist in the molecule, is ionically stabilized by the addition of the anionic compound. COPYRIGHT: (C)2004,JPO&NCIPI

Abstract translation: 要解决的问题：为了提高离子传导性和强度，对于其中引入阴离子基团和阳离子基团的聚电解质。 解决方案：该聚电解质具有聚合物材料，其含有具有相同阴离子基团和阳离子基团的聚合物化合物和/或不同的聚合物分子和几乎等于阳离子基团量的阴离子化合物。 换句话说，引入高分子化合物的阳离子基团主要是由于添加了阴离子化合物而被中和，并且随着聚合物化合物的酸度的升高，高分子化合物的阴离子基团的离子传导性可以得到改善。 此外，通过大部分中和阳离子基团获得的聚电解质的柔韧性和强度得到改善。 由于其原因，假设电子分布后电子的平衡被改善，由于阴离子基团和阳离子基团共存在分子中而使其不平衡，通过加入阴离子 复合。 版权所有（C）2004，JPO＆NCIPI

公开(公告)号：JP2004174649A

公开(公告)日：2004-06-24

申请号：JP2002343041

申请日：2002-11-26

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI

IPC: B25J5/00 ,  B25J13/00

Abstract: PROBLEM TO BE SOLVED: To provide a bipedal walking robot including a copying control system adapted to correct a target trunk position vector corresponding to a deviation between a target ZMP and an actual ZMP, prevented from being out of control. SOLUTION: A joint angle is calculated on the basis of a target trunk position vector corrected corresponding to a deviation between the target ZMP and the actual ZMP. When the calculated joint angle is not within an allowable joint angle, the correction amount of the target trunk position vector is reduced to again calculate the joint angle. Finally, the correction amount (the correction amount of the target trunk position vector) for copying controlled variable is reduced until the calculated joint angle falls within the allowable joint angle. In the case of this robot, rotation of the joint above the limited angle is not required because of copying control, so that the robot is prevented from being out of control. COPYRIGHT: (C)2004,JPO

公开(公告)号：JP2004131082A

公开(公告)日：2004-04-30

申请号：JP2004026147

申请日：2004-02-02

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： OBA MITSURU ,  SUZUKI KOICHI ,  YAMAMOTO TAKASHI ,  YAMASHITA KATSUJI ,  IKEDA AKIHIKO ,  IGAKI MUNEYOSHI ,  TAKADA MANABU ,  SAKAI TAKESHI

IPC: B60K17/348

Abstract: PROBLEM TO BE SOLVED: To provide a control device of a torque distribution clutch for a vehicle without slippage of transmission torque control corresponding to a rotational speed difference caused by an input output rotational speed difference of the torque distribution clutch due to a diametrical difference of wheels. SOLUTION: As transmission torque t r (=t ref ) of an electromagnetic clutch 30 is controlled in accordance with an actual rotational speed difference ▵N computed by a rotational speed difference computing means 124 and a rotational speed difference ▵N' after correction corrected by a rotational speed difference correcting means 132, the slippage of the transmission torque control corresponding to the rotational speed difference caused by a difference between the actual rotational speed difference ▵N of an input side rotor and an output side rotor of the electromagnetic clutch 30 and the rotational speed difference ▵N' after correction corrected by the rotational speed difference correcting means 132 is favorably eliminated and torque distribution controlling precision is further improved. COPYRIGHT: (C)2004,JPO

公开(公告)号：JP2003066078A

公开(公告)日：2003-03-05

申请号：JP2001261694

申请日：2001-08-30

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO TAKASHI

IPC: G01R27/26 ,  G01R27/02 ,  H02M7/48 ,  H02M7/797 ,  H02P27/06 ,  H02P7/63

Abstract: PROBLEM TO BE SOLVED: To further precisely calculate the internal resistance or electrostatic capacity of the capacitor bank of a drive source without having an influence on the operation of a power output device. SOLUTION: A control unit 30 switching controls the switching element of an inverter circuit 12 so that a prescribed wattless current for outputting no torque from a motor 16 is applied to each phase coil of the motor 16 when the torque command T* is 0, and capacitor banks 11a-11c are serially connected. At this time, taking the initial voltage V0 before starting of switching control, starting voltage V1 just after starting, terminal voltage V2 just before ending of switching control after the lapse of a prescribed time T, and discharge current I from a power source unit 11 in each capacitor bank 11a-11c as inputs, the internal resistance R (V0-V1/I) and the electrostatic capacity C (I.T/(V1-V2) are calculated on the basis of them.

Abstract translation: 要解决的问题：为了进一步精确地计算驱动源的电容器组的内部电阻或静电电容，而不影响功率输出装置的操作。 解决方案：控制单元30切换控制逆变器电路12的开关元件，使得当转矩指令T *为0时，将来自电动机16的无转矩输出的规定无功电流施加到电动机16的每个相线圈，并且 电容器组11a-11c串联连接。 此时，在开始开始控制之后的初始电压V0，刚刚开始之后的启动电压V1，在经过规定时间T之后刚刚结束切换控制之前的端子电压V2，以及来自电源单元11的放电电流I 在作为输入的每个电容器组11a-11c中，基于它们计算内部电阻R（V0-V1 / I）和静电电容C（IT /（V1-V2））。

公开(公告)号：JP2003049675A

公开(公告)日：2003-02-21

申请号：JP2001240759

申请日：2001-08-08

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： KAMOSHITA SHINJI ,  FURUHASHI MICHIO ,  TANNO SHIRO ,  KAWAGUCHI BUNGO ,  YAMAMOTO TAKASHI

IPC: F02B37/00 ,  F01N3/08 ,  F01N3/24 ,  F02B37/24 ,  F02D21/08 ,  F02D23/00 ,  F02M25/07

CPC classification number: F02B29/0406 ,  F02M26/05 ,  F02M26/10 ,  F02M26/23 ,  Y02T10/121 ,  Y02T10/144

Abstract: PROBLEM TO BE SOLVED: To provide a technique that suppresses degradation in exhaust emissions while preventing sticking of a nozzle vane in an internal combustion engine. SOLUTION: The internal combustion engine is provided with a variable displacement type turbocharger 15, a reducing agent supplying means 3 for supplying a reducing agent to exhaust from upstream of the variable displacement type turbocharger 15, a sticking estimating means 35 for estimating timing of sticking of the nozzle vanes 74 of the variable displacement type turbocharger 15, and a nozzle vane force-opening/closing means 35 for opening and closing the nozzle vanes 74 before the sticking timing of the nozzle vanes 74 estimated by the sticking estimating means 35 and except during the reducing agent supply by the reducing agent supplying means 3.

Abstract translation: 要解决的问题：提供抑制废气排放物劣化的方法，同时防止喷嘴叶片在内燃机中的粘附。 解决方案：内燃机设置有可变排量型涡轮增压器15，用于从可变排量型涡轮增压器15的上游向排气供给还原剂的还原剂供给装置3，用于估计粘性的时间的粘贴估计装置35 可变排量型涡轮增压器15的喷嘴叶片74，以及喷嘴叶片力 - 开闭装置35，用于在由粘贴估计装置35估计的喷嘴叶片74的粘贴时间之前打开和关闭喷嘴叶片74， 由还原剂供给装置3供给还原剂。

公开(公告)号：JP2003041929A

公开(公告)日：2003-02-13

申请号：JP2001233987

申请日：2001-08-01

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TANNO SHIRO ,  KAMOSHITA SHINJI ,  FURUHASHI MICHIO ,  YAMAMOTO TAKASHI ,  KAWAGUCHI BUNGO

IPC: F02D43/00 ,  B01D53/86 ,  B01D53/94 ,  B01J38/04 ,  F01N3/02 ,  F01N3/08 ,  F01N3/20 ,  F01N3/24 ,  F01N3/28 ,  F02D41/04 ,  F02D45/00

CPC classification number: Y02T10/47

Abstract: PROBLEM TO BE SOLVED: To provide technique for recovering functions of a filter carrying catalyst while preventing fixing of a nozzle vane in a variable displacement type turbo charger in an exhaust emission control device for an internal combustion engine. SOLUTION: This device is provided with the variable displacement type turbo charger 15, the filter 20 carrying occlusion-reduction type NOx catalyst provided in to downstream side of the variable displacement type turbo charger 15 to be capable of temporarily catching particles in exhaust, and a reducer adding means 28 provided between the variable displacement type turbo charger 15 and the filter 20 to add a reducer to exhaust.

Abstract translation: 要解决的问题：提供一种用于回收过滤器载体催化剂的功能的技术，同时防止在用于内燃机的废气排放控制装置中的可变排量型涡轮增压器中的喷嘴叶片的固定。 解决方案：该装置设置有可变排量型涡轮增压器15，过滤器20承载设置在可变排量型涡轮增压器15的下游侧的能够暂时捕获排气中的颗粒的阻塞还原型NOx催化剂，以及 设置在可变排量型涡轮增压器15和过滤器20之间的减速器添加装置28，以将减速器添加到排气中。

公开(公告)号：JP2002115554A

公开(公告)日：2002-04-19

申请号：JP2000308309

申请日：2000-10-06

Applicant: TOYOTA MOTOR CORP ,  TOYOTA IND CORP

Inventor： YAMAMOTO TAKASHI ,  YAMASHITA AKIRA ,  TAKAHASHI NOBUYUKI

IPC: F02B37/12 ,  F02B37/24

Abstract: PROBLEM TO BE SOLVED: To suppress deterioration of exhaust emission such as smoke generation, by adequately controlling an opening of a nozzle vane even in a transient condition of an engine. SOLUTION: This device comprises an estimated smoke density detection means detecting estimated smoke density in an operating condition of an internal combustion engine 1, a memory means for target smoke density previously calculated in accordance with the operating condition of the internal combustion engine 1, and a nozzle vane opening control means comparing the estimated smoke density detected by the estimated smoke density detection means with the target smoke density to control an opening of a nozzle vane 74 of a variable displacement type turbo-charger 7 so as to generate the estimated smoke density in the target smoke dencity or less. The estimated smoke density is detected to be based on the present air/fuel ratio, the actual opening of the nozzle vane 74 is controlled so as to generate this estimated smoke density in the target smoke density or less.

公开(公告)号：JP2002097961A

公开(公告)日：2002-04-05

申请号：JP2000289300

申请日：2000-09-22

Applicant: TOYOTA MOTOR CORP ,  TOYOTA IND CORP

Inventor： YAMAMOTO TAKASHI ,  DAIGO MASANAO

IPC: F02B3/06 ,  F02B23/06 ,  F02F3/00 ,  F02F3/26

Abstract: PROBLEM TO BE SOLVED: To easily determine the data as the components of a combustion chamber capable of easily specifying an ideal shape of the combustion chamber. SOLUTION: In this diesel engine, fuel is directly injected from an injection nozzle into the combustion chamber 1 formed of the lower surface 6 of a cylinder head 5 and a recess 10 formed in a piston head 8 at the end of a compression stroke for moving a piston 3 to a top dead center, and the wall surface of the recess 10 is formed on a convex surface 18a projected to the outside of the piston continuously around the centerline L of the piston. Based on an angle θ2 formed by a virtual centerline 22 of the injected fuel injected from the injection nozzle and moving to the convex surface 18a and the lower surface 6 of the cylinder head, the intersection 24 of the virtual centerline 22 with the wall surface of the combustion chamber and the ratio of a combustion chamber depth H1 to a distance L1 between piston head top faces 9 are obtained to specify the shape of the recess.