公开(公告)号：JP2010036328A

公开(公告)日：2010-02-18

申请号：JP2008204842

申请日：2008-08-07

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

Inventor： KAJITANI YOSHIMI ,  MORI ATSUSHI

IPC: B25J15/08

Abstract: PROBLEM TO BE SOLVED: To provide a robot hand which can realize proper gripping motion for gripping an object mounted on a plane to pick up the object.
SOLUTION: The robot hand comprises a finger body that performs flexing motion for gripping an object. A flexible thin sheet-shaped nail part is mounted at a front end of the finger body. The nail part is mounted on the belly part side of the front end of the finger body. According to the above constitution, when the finger body grips the object by flexing motion, the finger body can be inserted by the nail part into between the bottom of the object and a plane to perform the gripping motion.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供一种机器人手，其能够实现适当的抓握运动，以夹持安装在平面上的物体拾取物体。 解决方案：机器人手包括执行用于夹持物体的弯曲运动的手指本体。 柔性薄片形指甲部分安装在手指本体的前端。 指甲部分安装在手指主体前端的腹部部分。 根据上述结构，当手指身体通过弯曲运动握住物体时，手指主体可以被指甲部分插入到物体的底部和平面之间，以执行抓握运动。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2007011857A

公开(公告)日：2007-01-18

申请号：JP2005193750

申请日：2005-07-01

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

Inventor： ODA SHIRO ,  KAJITANI YOSHIMI ,  SUGA KEISUKE

IPC: G05D1/02 ,  B25J5/00 ,  B25J13/08

CPC classification number: A01K1/01 ,  A01K1/105 ,  G05D1/0227

Abstract: PROBLEM TO BE SOLVED: To provide an autonomous mobile robot and a control method of the autonomous mobile robot capable of coping with an obstacle hardly recognized by a visual sensor. SOLUTION: When the obstacle hardly recognized by the visual sensor collides against a bumper 3 forming the outline of a moving body 2, external force input to the bumper 3 is measured by a load cell 5. Based on the measured result of the load cell 5, the position of the obstacle 4 is specified, and whether the obstacle 4 can be excluded by the driving force of the moving body 2 is determined. When it is determined that the obstacle 4 can be excluded by the driving force of the moving body 2, the obstacle 4 is excluded by the driving force of the moving body 2 to continue traveling. When it is determined that the obstacle 4 cannot be excluded by the driving force of the moving body 2, the obstacle 4 whose position is specified is by-passed. Consequently, even when the obstacle 4 hardly recognized by the visual sensor exists on a travel path, it can be treated with. COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种自主移动机器人和自主移动机器人的控制方法，该自动移动机器人能够处理几乎不被视觉传感器识别的障碍物。 解决方案：当视觉传感器难以识别的障碍物碰撞形成移动体2的轮廓的保险杠3时，通过称重传感器5测量输入到保险杠3的外力。根据测量结果 称重传感器5，确定障碍物4的位置，并且确定障碍物4是否可以被移动体2的驱动力排除。 当确定障碍物4可以被移动体2的驱动力排除时，障碍物4被移动体2的驱动力排除以继续行进。 当确定障碍物4不能被移动体2的驱动力排除时，其位置被指定的障碍物4被旁路。 因此，即使在行驶路径上存在难以识别的障碍物4的情况下也可以进行处理。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2006152989A

公开(公告)日：2006-06-15

申请号：JP2004348941

申请日：2004-12-01

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

Inventor： KAJITANI YOSHIMI ,  YAMAMOTO KEIICHI ,  TSUKADA TOSHIHIKO ,  ISHIKAWA KANAME

IPC: F04B41/00 ,  F04B37/12

Abstract: PROBLEM TO BE SOLVED: To provide a reciprocating compressor in which a sufficient discharge pressure can be obtained even in the case of small cylinder diameter.
SOLUTION: Two chambers, i.e. a suction chamber 18A and a discharge chamber 18B are defined by a piston 4 to which a piston rod 3 is coupled within a cylinder 2. The suction chamber 18A communicates with the atmosphere via a suction valve 19. The discharge chamber 18B is connected to an air tank 10 via a discharge valve 21. The suction chamber 18A and the discharge chamber 18B are connected to each other by a pipeline 22, and a first and a second check valves 23, 24 are provided to the pipeline 22. The piston 4 is reciprocated by a motor 6, and an atmospheric air having been introduced into the suction chamber 18A via the suction valve 19 is supplied to the discharge chamber 18B via the first and the second check valves, and further compressed air is supplied from the discharge chamber 18B to an air tank 10 via the discharge valve 21. A high discharge pressure can be obtained by the multistage compression of the compressed air by means of the suction chamber 18A and the discharge chamber 18B.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种即使在小圆筒直径的情况下也能获得足够的排出压力的往复式压缩机。 解决方案：吸入室18A和排出室18B的两个室由活塞4限定，活塞4在气缸2内连接有活塞杆3.吸入室18A经由吸入阀19与大气连通 排出室18B经由排出阀21与空气罐10连接。吸入室18A和排出室18B通过管路22相互连接，设置有第一和第二止回阀23,24 活塞4由电动机6往复运动，并且经由吸入阀19被引入吸入室18A的大气经由第一和第二止回阀供给到排出室18B，并且进一步 压缩空气通过排出阀21从排出室18B供给到空气罐10.通过吸入室18A和排出液体的多压缩压缩空气可获得高的排出压力 mber 18B。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2006082146A

公开(公告)日：2006-03-30

申请号：JP2004267019

申请日：2004-09-14

Applicant: Toshio Fukuda ,  Yasuhisa Hasegawa ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  敏男 福田 ,  泰久 長谷川

Inventor： FUKUDA TOSHIO ,  HASEGAWA YASUHISA ,  DOI MASAHIRO ,  SUGA KEISUKE ,  KAJITANI YOSHIMI

IPC: B25J13/00 ,  B25J5/00

CPC classification number: B62D57/032

Abstract: PROBLEM TO BE SOLVED: To provide technology to realize walking with a target stride in a robot walking in natural motion by passively moving an ankle joint of a supporting leg made free to rotate.
SOLUTION: This robot has more than two leg links having the ankle joints and connected to a trunk part free to oscillate by hip joints, freely oscillates the ankle joint of the grounding leg link, regulates the remaining joints in accordance with an angle of the ankle joint and changes the ankle joints made free to oscillate every time in exchanging the grounding leg. The robot advances by swinging out the idle leg in accordance with a cycle of stepping motion in the body side direction. The robot walks with the target stride by regulating inclination of the trunk part in accordance with the joint angle of the joint made free to oscillate and the cycle of the stepping motion.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：通过被动地移动自由旋转的支撑腿的踝关节来提供在通过自然运动中行走的机器人中实现目标步幅的技术。

解决方案：该机器人具有两个以上的脚踝关节，并且连接到可由髋关节自由摆动的躯干部分，自由地摆动接地脚连杆的踝关节，根据角度调节其余关节 的踝关节，并且每次在更换接地腿时改变自由振动的踝关节。 根据身体侧方向的步进运动的循环，机器人通过摆动空转腿而前进。 机器人通过根据自由摆动的关节的关节角度和步进运动的循环来调节躯干部分的倾斜度来进行目标步幅。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2002161764A

公开(公告)日：2002-06-07

申请号：JP2000357854

申请日：2000-11-24

Applicant: TOYOTA MOTOR CORP

Inventor： YAMAMOTO TAKASHI ,  KAJITANI YOSHIMI ,  KADOWAKI YOSHINORI ,  UCHIHARA MASAFUMI ,  FUWA TOSHIO

IPC: F01L13/00 ,  F02D13/02

Abstract: PROBLEM TO BE SOLVED: To displace a cam shaft to a position which implements opening and closing characteristics irrespective of the axial directional component of a valve reaction force incident to compression of a valve spring. SOLUTION: The variable valve system is provided with a cam shaft 17 having three-dimensional cam 18 in which a cam profile is changed to an axial direction and an actuator 20 making the cam shaft 17 displace to an axial direction according to the operation state of an internal combustion engine. While the valve 12 is pressed and opened by the three-dimensional cam 18 in association with rotation of the cam shaft 17 against a valve spring 14 energizing a valve 12 to the opening direction, opening and closing characteristics are changed by displacement of the cam shaft 17. In the variable valve system, a torque of a DC motor 21 is increased according to the size of the axial directional component F of a valve reaction force so as to increase output of the actuator 20.

公开(公告)号：JPH08182264A

公开(公告)日：1996-07-12

申请号：JP32667094

申请日：1994-12-28

Applicant: TOYOTA MOTOR CORP

Inventor： KAJITANI YOSHIMI ,  SAKURAI YOJI ,  KUBO KAORU

IPC: H02K1/18 ,  H02K15/02

Abstract: PURPOSE: To provide the manufacturing method of a stator for which the coil of stator can be formed by winding from the outer side. CONSTITUTION: A conductor 16 is wound from the outside of a winding jig and fixed with an adhesive or the like and formed to a completed body 20 of a coil having a completed shape of stator. The winding jig is taken out, and stator segments 22 are assembled from the outside of the completed body 20 of the coil formed. The segment 22 has a base 22a and a projection 22b serving as a magnetic pole and is arranged in a circular shape around the completed body 20 of the coil. The whole is fixed with an adhesive so that the stator is completed.

公开(公告)号：JPH0796846A

公开(公告)日：1995-04-11

申请号：JP24284893

申请日：1993-09-29

Applicant: TOYOTA MOTOR CORP

Inventor： YAMAZAKI MASAMI ,  NISHIMURA MUTSUMI ,  KAJITANI YOSHIMI

IPC: B62D5/07 ,  F04C2/344

Abstract: PURPOSE:To provide an inexpensive vane pump by which a driving force loss by delivery can be reduced and which is excellent in controllability. CONSTITUTION:Respective vane grooves 16a arranged in a rotor, a passage 15a communicated with respective vane back chambers R2 formed of respective vanes 17 installed on this and a passage 15b communicated with respective pump chambers formed on the rotor rotating direction side of the respective vanes 17, are arranged respectively and separately in a shaft 15 to rotate integrally the rotor 16 by being integrally fitted to a central part of the rotor 16 eccentrically arranged in a cam ring 12, and a spool valve 21 to communicate/cut off both passages 15a and 15b with/from each other by an intermediate part, is installed movably in the shaft direction in an axis part of the shaft 15. This is constituted so as to be moved in the shaft direction by an actuator 24.

公开(公告)号：JPS6478755A

公开(公告)日：1989-03-24

申请号：JP23528487

申请日：1987-09-19

Applicant: TOYOTA MOTOR CORP

Inventor： KAJITANI YOSHIMI ,  OTA DOSHU ,  MIYATANI TAKAO

IPC: B23Q15/007 ,  B24B33/02 ,  B24B33/06 ,  B24B33/08

Abstract: PURPOSE:To improve the finished accuracy of a cutting surface and enable the relative reciprocating motion of a cutting tool on the basis of measuring the actual diameter of a workpiece cutting surface. CONSTITUTION:An electric actuator 78 is operated to cause the relative reciprocating motion of a honing head and a workpiece in an axial direction for the honing of the workpiece. And the diameter of a workpiece cutting surface is measured with a measurement device and the value of the measurement is fed to a control device 160. Then, the control device 160 sets at least one of the relative motion range and speed of a cutting tool for the cutting surface in an axial direction on the basis of the measurement value. The electric actuator 78 is controlled with the control device 160, depending upon the set value. Or, when the axial relative motion range of the cutting tool needs a correction, the operation range of the electric actuator 78 is controlled. When the motion speed thereof needs a correction, the operation speed of the electric actuator 78 is controlled.

公开(公告)号：JPS62241656A

公开(公告)日：1987-10-22

申请号：JP8467686

申请日：1986-04-12

Applicant: TOYOTA MOTOR CORP

Inventor： KAJITANI YOSHIMI ,  OOTA DOSHU

IPC: B24B33/06

Abstract: PURPOSE:To aim at preventing generation of heat due to hone loading, deformation in a workpiece and surface roughness failure from occurring, by altering the extent of expansion force in a way of controlling an expansion motor according to a state of turning torque of a spindle motor. CONSTITUTION:When high-pressure expansive cutting is carried out by rotation of the preset expansion motor 9, turning torque of a spindle motor 19 is within the range of preset high-pressure expansive cutting torque. When a cutting state gets out of order due to hone loading or the like and torque exceeds the range, the expansion motor 9 is reversely rotated by a control circuit inclusive of a torque meter 18 and a microcomputer 20 whereby spindle feed is suspended as long as the specified time. Next, rotational frequency of the expansion motor 9 is altered to the lower value than the last time, expansion is resumed, and the high-pressure expansion cutting is over, shifting to medium expansion cutting. in this connection, medium pressure and low pressure expansive cutting operations also are controlled likewise. Therefore, in either case when it exceeds the preset torque range or when it goes gown from it, the torque is detected during operation and compensation for expansion force is carried out.