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公开(公告)号：JP2008229847A
公开(公告)日：2008-10-02
申请号：JP2008175469
申请日：2008-07-04
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： YAMAMOTO TAKASHI , SUGIHARA HISAYOSHI , SUGA KEISUKE , TSUSAKA YUJI , TAJIMA RYUSUKE
Abstract: PROBLEM TO BE SOLVED: To provide a leg type robot and its walking control method, for performing stable walking without using a tiptoe sensor.
SOLUTION: This leg type robot has a body trunk, a leg link rockably connected to the body trunk, a means 210 for storing tiptoe walking figure data for describing a change with the lapse of time of target tiptoe motion, a means 210 for storing body trunk walking figure data for describing a change with the lapse of time of target body trunk motion for realizing target ZMP for following a change in a target tiptoe position, a body trunk motion detecting means 218, 220 for detecting actual body trunk motion, a deviation calculating means 312 for calculating a deviation between the target body trunk motion and the actual body trunk motion, a correction quantity calculating means 308 for determining a correction quantity on the basis of a predetermined transfer function from the calculated deviation, and a correcting means 306 for correcting data for describing the target body trunk motion on the basis of the determined correction quantity.
COPYRIGHT: (C)2009,JPO&INPIT-
公开(公告)号：JP2008229845A
公开(公告)日：2008-10-02
申请号：JP2008156546
申请日：2008-06-16
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： YAMAMOTO TAKASHI , SUGIHARA HISAYOSHI , SUGA KEISUKE , TSUSAKA YUJI , TAJIMA RYUSUKE
Abstract: PROBLEM TO BE SOLVED: To provide a leg type robot and its walking control method, for performing stable walking without using a tiptoe sensor.
SOLUTION: This leg type robot has a body trunk, a leg link rockably connected to the body trunk, a means 210 for storing tiptoe walking figure data for describing a change with the lapse of time of target tiptoe motion, a means 210 for storing body trunk walking figure data for describing a change with the lapse of time of target body trunk motion for realizing target ZMP for following a change in a target tiptoe position, a body trunk motion detecting means 218, 220 for detecting actual body trunk motion, a deviation calculating means 312 for calculating a deviation between the target body trunk motion and the actual body trunk motion, a correction quantity calculating means 308 for determining a correction quantity on the basis of a predetermined transfer function from the calculated deviation, and a correcting means 306 for correcting data for describing the target body trunk motion on the basis of the determined correction quantity.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：为了提供腿型机器人及其行走控制方法，用于在不使用脚尖传感器的情况下进行稳定的行走。 解决方案：该腿型机器人具有身体躯干，与身体躯干可摇摆地连接的腿部连接件，用于存储用于描述随着目标脚尖运动的时间流逝而改变的脚尖行走图数据的装置210，装置210 用于存储身体躯干行走图数据，用于描述随着目标躯干运动的时间流逝实现目标ZMP以跟随目标脚尖位置的变化的变化;身体躯干运动检测装置218,220，用于检测实际躯干运动 ，用于计算目标躯干运动与实际躯干运动之间的偏差的偏差计算装置312，用于根据计算的偏差确定基于预定传递函数的校正量的校正量计算装置308，以及校正量校正装置 用于基于所确定的校正量来校正用于描述目标体干运动的数据的装置306。 版权所有（C）2009，JPO＆INPIT
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公开(公告)号：JP2008137979A
公开(公告)日：2008-06-19
申请号：JP2006328457
申请日：2006-12-05
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： YAMAMOTO TAKASHI , MATSUI MASAKI
IPC: C07F9/24 , C07F1/02 , C07F9/26 , H01M10/05 , H01M10/0568
CPC classification number: C07F9/26 , C07F9/224 , H01M10/0568
Abstract: PROBLEM TO BE SOLVED: To provide a lithium salt which, for example, when used as a supporting salt in an electrolyte solution, can attain an improved lithium ion transport number.
SOLUTION: The lithium salt has a chemical structure represented by formula (1) (wherein R
1 to R
3 , which may the same or different from each other, are each a fluoroalkyl group, an alkyl group, or a phenyl group).
COPYRIGHT: (C)2008,JPO&INPITAbstract translation: 要解决的问题：提供例如当用作电解质溶液中的担载盐时的锂盐可以获得改善的锂离子转移数。 解决方案：锂盐具有由式（1）表示的化学结构（其中R
1 至R 3 可以彼此相同或不同， 各自为氟烷基，烷基或苯基）。 版权所有（C）2008，JPO＆INPIT -
54.发明专利
公开(公告)号：JP2008095906A
公开(公告)日：2008-04-24
申请号：JP2006280735
申请日：2006-10-13
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： HINO AKIRA , YAMAMOTO TAKASHI
IPC: F16H61/10 , F16H59/18 , F16H59/42 , F16H61/662
CPC classification number: F16H2061/6615
Abstract: PROBLEM TO BE SOLVED: To provide a speed change control device for a vehicular continuously variable transmission appropriately reflecting acceleration demand of a driver while inhibiting a sense of incongruity from being given to the driver by appropriately establishing target rotation speed when acceleration is demanded by the driver.
SOLUTION: Since a quick speed change time TQ which is a quick speed change section is established based on deviation e between actual input shaft rotation speed N
IN and acceleration target rotation speed NINLINE pre-established by a target rotation speed establishing means 96 establishing quick speed change transition target rotation speed NINLINEPQ increased in a stepped manner as the quick speed change section when an accelerator operation judgment means 88 judges that the driver demands acceleration, the speed change control device can establish target rotation speed not to make the drive feel speed change shock easily and to inhibit deterioration of speed change response when the driver demands acceleration, and can appropriately reflect acceleration demands of the driver while suppressing sense of incongruity given to the driver.
COPYRIGHT: (C)2008,JPO&INPITAbstract translation: 解决的问题：提供一种适用于反映驾驶员的加速需求的车辆无级变速器的变速控制装置，同时通过在需要加速时适当地建立目标转速来抑制给予驾驶员的不协调感 由司机。
解决方案：由于作为快速变速部的快速变速时间TQ是基于实际输入轴转速N
IN 与加速目标转速NINLINE之间的偏差e建立的， 当加速器操作判断装置88判断驾驶员需要加速时，建立快速变速转换目标转速NINLINEPQ的目标转速建立装置96以阶梯式增加作为快速变速部，速度变更控制装置能够建立目标转动 速度不会使驾驶员感觉到速度变化很容易变化，并且当驾驶员要求加速时抑制速度变化响应的恶化，并且可以在抑制对驾驶员的不协调感的同时适当地反映驾驶员的加速要求。 版权所有（C）2008，JPO＆INPIT -
公开(公告)号：JP2005118924A
公开(公告)日：2005-05-12
申请号：JP2003354866
申请日：2003-10-15
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： YAMAMOTO TAKASHI , KUMENO TOSHIKI
Abstract: PROBLEM TO BE SOLVED: To provide a technology capable of shortening a time required for preparing walking figure data.
SOLUTION: The computer system 30 is provided with a storage means 46a of tip toe positional data, a means 40, which prepares body trunk positional data on the assumption that "both arms of a robot are fixed to a body", a storage means 46c' of finger tip positional data, a storage part 126 of a body trunk position correcting amount, which stores the relation between the difference of the finger tip position and a correcting amount of a body trunk position, and a device 128 for correcting the body trunk positional data. The correcting device 128 calculates the difference between the finger tip position on the assumption and the finger tip position of the finger tip positional data, specifies the body trunk position correcting amount from the difference and the storage contents of the storage part 126 of the body trunk position correcting amount, and corrects the body trunk positional data on the basis of the specified body trunk position correcting amount.
COPYRIGHT: (C)2005,JPO&NCIPIAbstract translation: 要解决的问题：提供能够缩短准备步行图数据所需的时间的技术。 解决方案：计算机系统30设置有尖端脚趾位置数据的存储装置46a，假设“机器人的两个臂都固定在身体上”，准备身体躯干位置数据的装置40， 手指位置数据的存储装置46c'，存储指尖位置的差异和身体躯干位置的校正量之间的关系的身体躯干位置校正量的存储部分126以及用于校正 身体躯干位置数据。 校正装置128计算假设的指尖位置与指尖位置数据的指尖位置之间的差异，根据差异指定身体躯干位置校正量和体躯体的存储部126的存储内容 位置校正量，并且基于指定的躯干位置校正量来校正身体躯干位置数据。 版权所有（C）2005，JPO＆NCIPI
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Patent Agency Ranking
公开(公告)号：JP2004202652A
公开(公告)日：2004-07-22
申请号：JP2002377028
申请日：2002-12-26
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： YAMAMOTO TAKASHI
IPC: B25J5/00
Abstract: PROBLEM TO BE SOLVED: To improve a walking speed of a biped walking robot by designating a trunk position vector P and a trunk twist vector Q. SOLUTION: This robot walks while twisting a trunk in a range of an angle formed by a line for connecting left-right feet and the walking direction by preparing the trunk twist vector Q for walking command data. For example, the robot walks while maintaining the proportional relationship between the angle formed by the line for connecting the left-right feet and the walking direction and an angle formed by a line for connecting the left and right of the trunk and the walking direction. The robot walks at a high speed by securing a step larger than a case of a robot for walking without twisting the trunk. COPYRIGHT: (C)2004,JPO&NCIPI
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公开(公告)号：JP2004189228A
公开(公告)日：2004-07-08
申请号：JP2004026149
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 , F16D13/52 , F16D27/115
CPC classification number: Y02T10/76
Abstract: PROBLEM TO BE SOLVED: To provide a control device for a vehicular torque distribution clutch improving fuel economy of a vehicle and enhancing durability of the vehicular torque distribution clutch. SOLUTION: A torque distribution clutch control means 120 controls transmission torque tr (=t ref ) of an electromagnetic clutch 30 based on a map value M tindf (V) of a traveling resistance relation quantity, and the fuel economy of the vehicle is improved and durability of electromagnetic clutch is enhanced. That is, since the torque distribution clutch control means 120 reduces the transmission torque tr (=t ref ) toward zero as input torque t in of the electromagnetic clutch 30 reduces, while large torque is distributed through the electromagnetic clutch 30 to enhance acceleration performance when the input torque t in is larger than the map value M tindf (V), engagement load in the electromagnetic clutch is suppressed to further improve fuel economy and enhance the durability of the torque distribution clutch when the input torque t in is smaller than the map value M tindf (V). COPYRIGHT: (C)2004,JPO&NCIPI
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58.发明专利
公开(公告)号：JP2003272665A
公开(公告)日：2003-09-26
申请号：JP2002076775
申请日：2002-03-19
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： TSUZUKI TOSHIMITSU , NAKAJIMA TAKEHIKO , YAMAMOTO TAKASHI , ISHIHARA KAZUAKI
CPC classification number: Y02P70/56
Abstract: PROBLEM TO BE SOLVED: To provide a polymer electrolyte film having proton conductivity even at a low moisture content. SOLUTION: A compound expressed in formula [1] is structured from a polymer material retained by an organic polymer resin. R 1 is a substituted or non-substituted aryl group, Rf 1 and Rf 2 denote perfluoroalkyl groups independently of each other. That is, having an ultra-strong acid group makes a high degree of dissociation of the proton, so that a high proton conductivity is realized without in intermediary of water. When adopted for a fuel cell, there is no need of humidifying gas, so that a humidifier in the gas can be omitted or simplified which leads to lower cost of the fuel cell. COPYRIGHT: (C)2003,JPO
Abstract translation: 要解决的问题：即使在低水分含量下，也提供具有质子传导性的聚合物电解质膜。 解决方案：由式[1]表示的化合物由有机聚合物树脂保留的聚合物材料构成。 R
1是取代或未取代的芳基，R f＆lt; SP＆gt; 1＆lt; SP＆gt; 2＆lt; SP＆gt;表示彼此独立的全氟烷基。 也就是说，具有超强酸基使质子解离得很高，从而在没有中间水的情况下实现高质子传导性。 当用于燃料电池时，不需要加湿气体，因此可以省略或简化气体中的加湿器，这导致燃料电池的成本较低。 版权所有（C）2003，JPO -
公开(公告)号：JP2003083820A
公开(公告)日：2003-03-19
申请号：JP2001277990
申请日：2001-09-13
Applicant: Nippon Soken Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社日本自動車部品総合研究所
Inventor： YAMAMOTO TAKASHI , YORINAGA MUNEO , KONDO MASAAKI
Abstract: PROBLEM TO BE SOLVED: To detect the pressure highly accurately by a contact pressure sensor for detecting the bearing pressure.
SOLUTION: A pressure receiving block 3 for transmitting the force from a counter side member to a sensing part 2 is provided, and platform parts 321, 322, 323, 324 for placing the pressure receiving block 3 are provided protrusively on the formation positions of pressure detection gages 421, 422, 423, 424 of the sensing part 2. The pressure receiving block 3 has a shape having a larger abutting area on the counter side member than a plane area of the platform parts 321-324, to thereby concentrate the force from counter side member onto the gage 421-424 formation positions, and to improve detection sensitivity.
COPYRIGHT: (C)2003,JPOAbstract translation: 要解决的问题：通过用于检测轴承压力的接触压力传感器高精度地检测压力。 解决方案：设置用于将力从计数器侧构件传递到感测部件2的压力接收块3，并且用于放置压力接收块3的平台部件321,322,323,324突出地设置在压力的形成位置 检测部件2的检测量具421,422,423,424。压力接收块3具有与平台部件321-324的平面区域相比在对侧构件上具有较大邻接面积的形状，从而集中力 从计数器侧构件到计量器421-424形成位置，并提高检测灵敏度。
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公开(公告)号：JP2013152110A
公开(公告)日：2013-08-08
申请号：JP2012012170
申请日：2012-01-24
Applicant: Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Toyota Motor Corp , トヨタ自動車株式会社
Inventor： KADOKAWA MASARU , YAMAMOTO TAKASHI , HABU TOSHIYA , IKEDA KOTARO , NONOYAMA JUNRO
Abstract: PROBLEM TO BE SOLVED: To evaluate electric properties of a porous member or the like, with high accuracy.SOLUTION: A heater 120 heats a part of a lower surface of a porous member 500. A roller 110 conveys the porous member 500 in a surface direction. A thermo-viewer 130 measures a surface temperature in a position offset downstream with respect to the part to be heated, on an upper surface.
Abstract translation: 要解决的问题：以高精度评估多孔构件等的电性能。解决方案：加热器120加热多孔构件500的下表面的一部分。辊110将多孔构件500在表面 方向。 热观察器130在上表面上测量相对于待加热部件向下游偏移的位置的表面温度。
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