公开(公告)号：JP2006207829A

公开(公告)日：2006-08-10

申请号：JP2006127781

申请日：2006-05-01

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

Inventor： MATSUNAMI TATSUYA ,  KAWASE MASAO ,  NISHIKUMA YASUSHI ,  OZAKI TOSHIAKI ,  INASAWA KOICHI

IPC: F16D35/00

Abstract: PROBLEM TO BE SOLVED: To improve balance precision in the radial direction when a viscous coupling rotates integrally on the whole.
SOLUTION: In this viscous coupling 12 provided with a casing K1 and a hub 22 arranged so as to rotate relatively centered on the same axial line, a viscous fluid chamber B1 formed between the casing K1 and the hub 22, a plurality of outer plates 38 arranged in the viscous fluid chamber B1 and attached to the casing K1, a plurality of spacer rings 42 arranged between the outer plates 38, and a plurality of inner plates 45 arranged by opposing to the outer plates 38 and attached to the hub 22 and forming cut-out parts 43 in the radial direction in the plurality of spacer rings 42, at least two spacer rings 42 are arranged by making phases in the circumferential direction of the cut-out parts 43 different.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：当粘性联轴器整体旋转时，提高径向平衡精度。 解决方案：在这种粘性联轴器12中，设置有壳体K1和布置成相对于相同轴线中心旋转的轮毂22，形成在壳体K1和轮毂22之间的粘性流体室B1，多个 布置在粘性流体室B1中并附接到壳体K1的外板38，布置在外板38之间的多个间隔环42和与外板38相对设置并附接到毂的多个内板45 22和多个间隔环42中的径向成形切口部43，通过使切口部43的圆周方向的相位不同，布置至少两个间隔环42。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2003340771A

公开(公告)日：2003-12-02

申请号：JP2002146681

申请日：2002-05-21

Applicant: Hironobu Inoue ,  Toyota Central Res & Dev Lab Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  博允 井上 ,  株式会社豊田中央研究所

Inventor： INOUE HIRONOBU ,  KAWASE MASAO ,  TSUSAKA YUJI

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

Abstract: PROBLEM TO BE SOLVED: To provide a technique for moving the lower and upper limbs of a robot by small force. SOLUTION: The robot comprises: a femur section 14; the lower limb section 16 connected to the femur section 14 via a knee joint 24; a foot section 18 connected to the lower limb section 16 via an ankle joint 26; an actuator for rotating the lower limb section 16 to the femur section 14; and an actuator for rotating the foot section 18 to the lower limb section 16. A group of actuators is mounted to the femur section 14. In this manner, fixing the group of actuators to the femur section 14 lightens the tip part of the lower limb, thus making small inertia moment around the hip joint of the lower limb, and hence moving the lower limb by the small force. COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：提供一种通过小的力移动机器人的下肢和上肢的技术。 解决方案：机器人包括：股骨部分14; 经由膝关节24连接到股骨部14的下肢部16; 经由踝关节26连接到下肢部16的脚部18; 用于将下肢部分16旋转到股骨部分14的致动器; 以及用于将脚部18旋转到下肢部16的致动器。一组致动器安装到股骨部分14.以这种方式，将一组致动器固定到股骨部分14以减轻下肢的尖端部分 ，因此在下肢的髋关节周围产生小的惯性力矩，并因此以较小的力移动下肢。 版权所有（C）2004，JPO

公开(公告)号：JP2003340768A

公开(公告)日：2003-12-02

申请号：JP2002146678

申请日：2002-05-21

Applicant: Toyota Central Res & Dev Lab Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社豊田中央研究所

Inventor： KAWASE MASAO ,  TSUSAKA YUJI

IPC: B25J17/00 ,  B25J5/00

Abstract: PROBLEM TO BE SOLVED: To provide a mechanism for suppressing the inertia moment small by disposing an actuator to regulate the rotational angle of a joint on a body side member or in the vicinity thereof, omitting any pulley to transmit the power of the actuator to the rotary shaft, miniaturizing the joint, and suppressing the number of wires to transmit the power of the actuator to a distal end side member.
SOLUTION: A leg part 16 as a body side member and a foot part 18 as an end side member are connected to each other via an ankle joint 26 of X and Y axes. Three wires 66a, 66b and 66c are connected to the foot part 18 at three parts. Wire connection points 72a, 72b and 72c are distributed on both sides of X and Y axes. The wires 66a, 66b and 66c connected to the foot part 18 are pulled by an actuator disposed on a thigh part 14 as the body side member, and the rotation around X-axis and the rotation around Y-axis of the ankle joint 26 are independently regulated by the three wires.
COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：为了提供一种通过设置用于调节主体侧构件或其附近的接头的旋转角度的致动器来抑制惯性矩的机构，省略任何滑轮以传递 致动器到旋转轴，使接头小型化，并且抑制将致动器的动力传递到远端侧构件的线数。 解决方案：作为身体侧构件的腿部16和作为端部侧构件的脚部18经由X和Y轴的踝关节26彼此连接。 三根线66a，66b和66c以三部分连接到脚部18。 线连接点72a，72b和72c分布在X和Y轴的两侧。 连接到脚部18的电线66a，66b和66c被设置在作为主体侧构件的大腿部14上的致动器拉动，并且围绕X轴的旋转和踝关节26的围绕Y轴的旋转是 由三条线独立调节。 版权所有（C）2004，JPO

公开(公告)号：JP2006207830A

公开(公告)日：2006-08-10

申请号：JP2006127782

申请日：2006-05-01

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

Inventor： MATSUNAMI TATSUYA ,  KAWASE MASAO ,  NISHIKUMA YASUSHI ,  OZAKI TOSHIAKI ,  INASAWA KOICHI

IPC: F16D35/02 ,  F16D35/00

Abstract: PROBLEM TO BE SOLVED: To provide a viscous coupling capable of adjusting torque transmission performance based on machining precision of parts constituting a viscous fluid chamber or a plurality of first torque transmission members and second torque transmission members. SOLUTION: In this viscous coupling provided with a first rotary member K6 and a second rotary member 22 arranged so as to rotate relatively, the viscous fluid chamber B1 formed between the first rotary member K6 and the second rotary member 22, a first torque transmission member 38 arranged in the viscous fluid chamber B1 and rotating integrally with the first rotary member K6, and a second torque transmission member 45 arranged by opposing to the first torque transmission member 38 and rotating integrally with the second rotary member 22, a volume adjusting wall 99 for changing volume of the viscous fluid chamber B1 based on a mounting position for the other section of an internal wall 104 and fixing volume of the viscous fluid chamber B1 while fixed to the other section of the internal wall 104 is provided in a part of the internal wall 104 facing the viscous fluid chamber B1. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种能够基于构成粘性流体室的部件或多个第一转矩传递部件和第二转矩传递部件的部件的加工精度来调节转矩传递性能的粘性联轴器。 解决方案：在具有第一旋转构件K6和布置成相对旋转的第二旋转构件22的粘性联轴器中，形成在第一旋转构件K6和第二旋转构件22之间的粘性流体室B1，第一旋转构件 布置在粘性流体室B1中并与第一旋转构件K6一体旋转的扭矩传递构件38和与第一扭矩传递构件38相对并与第二旋转构件22一体地旋转布置的第二扭矩传递构件45， 基于用于内壁104的另一部分的安装位置和固定到内壁104的另一部分的粘性流体室B1的固定体积来调节粘性流体室B1的体积的调节壁99设置在 内壁104的一部分面向粘性流体室B1。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005022040A

公开(公告)日：2005-01-27

申请号：JP2003191179

申请日：2003-07-03

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

Inventor： YAMAMOTO TAKASHI ,  TSUKADA TOSHIHIKO ,  KAWASE MASAO

IPC: B25J5/00 ,  B25J13/08

Abstract: PROBLEM TO BE SOLVED: To solve a problem that an actual walking locus deviates from a walking locus specified by gait data due to the occurrence of a slip on a floor because flexure is generated to a walking robot.
SOLUTION: This walking robot is provided with a gait data storage means 46; a joint angle group computing means 58 for computing a joint angle based on gait data; an actuator driving means 60 for adjusting to the joint angle computed by the joint angle group computing means; devices 4, 52, 54 for detecting the positions of a grounding foot; a device 56 for computing deviation between a position in which the grounding foot should be and a position in which the grounding foot is; and a device 48 for correcting subsequent gait data with the computed deviation. The robot continues walking while changing the relative attitude of a left leg link, the waist and a right leg link according the corrected gait data.
COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：为了解决实际步行轨迹偏离由步态数据指定的步行轨迹的问题，因为对于步行机器人产生挠曲，由于在地板上发生滑动。 解决方案：该步行机器人设有步态数据存储装置46; 用于基于步态数据计算关节角度的关节角度组计算装置58; 致动器驱动装置60，用于调节由关节角度组计算装置计算出的关节角度; 用于检测接地脚的位置的装置4,52,54; 用于计算接地脚应在其中的位置与接地脚的位置之间的偏差的装置56; 以及用于利用所计算的偏差校正后续步态数据的装置48。 在根据校正的步态数据改变左腿连杆，腰部和右腿连杆的相对姿态时，机器人继续行走。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2004085369A

公开(公告)日：2004-03-18

申请号：JP2002246978

申请日：2002-08-27

Applicant: Toyota Central Res & Dev Lab Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社豊田中央研究所

Inventor： KAWASE MASAO ,  TSUKADA TOSHIHIKO

IPC: G01B11/00 ,  B60R1/00 ,  B61B13/00 ,  G05D1/02

Abstract: PROBLEM TO BE SOLVED: To provide a relative position relation recognition device which enables two moving objects to independently move with keeping a relative position relation. SOLUTION: One of the moving objects is provided with at least two markers disposed along an interval direction of the two independent moving objects at different heights. An imaging device for picking up an image of a group of the markers is fixed on the other moving object. The relative position relation of the two objects is recognized by analyzing positions of the two markers in an imaging field of view. For example, when the positions of the two markers separate farther from each other, an approach of the two objects to each other is recognized, when the position of the two markers are inclined, a shift in a direction perpendicular to the interval direction is recognized, and when the positions of the two markers move together, a turn in the interval direction is recognized. COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：提供一种相对位置关系识别装置，其使两个移动物体能够保持相对位置关系而独立地移动。 解决方案：移动物体中的一个设置有沿着不同高度的两个独立移动物体的间隔方向设置的至少两个标记。 用于拾取一组标记的图像的成像装置固定在另一个移动物体上。 通过在成像视场中分析两个标记的位置来识别两个对象的相对位置关系。 例如，当两个标记的位置彼此分离时，识别出两个对象彼此接近，当两个标记的位置倾斜时，识别与间隔方向垂直的方向的偏移 ，并且当两个标记的位置一起移动时，识别出间隔方向上的转弯。 版权所有（C）2004，JPO

公开(公告)号：JP2003340770A

公开(公告)日：2003-12-02

申请号：JP2002146680

申请日：2002-05-21

Applicant: Hironobu Inoue ,  Toyota Central Res & Dev Lab Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  博允 井上 ,  株式会社豊田中央研究所

Inventor： INOUE HIRONOBU ,  KAWASE MASAO ,  TSUSAKA YUJI

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

Abstract: PROBLEM TO BE SOLVED: To provide a technology for regulating the rigidity of a robot joint. SOLUTION: A robot comprises a body side member 42, a distal end side member 18 rotatably connected to the body side member 42, at least two wires (66a, 66b and 66c) with end parts thereof fitted to both sides across the center of rotation of the distal end side member 18, at least two actuators connected to the other end parts of the wires (66a, 66b and 66c) to extend/contract each wire, and a controller to control the actuator group. The controller inputs information on the tension exerted in the wires (66a, 66b and 66c), and outputs the working quantity of each actuator. COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：提供一种用于调节机器人关节刚度的技术。 解决方案：机器人包括主体侧构件42，可旋转地连接到主体侧构件42的远端侧构件18，至少两个电线（66a，66b和66c），其端部装配在两侧 远端侧构件18的旋转中心，连接到线（66a，66b和66c）的另一端部的至少两个致动器，用于延伸/收缩每根线，以及控制器来控制致动器组。 控制器输入关于施加在电线（66a，66b和66c）中的张力的信息，并输出每个致动器的工作量。 版权所有（C）2004，JPO

公开(公告)号：JP2006207831A

公开(公告)日：2006-08-10

申请号：JP2006127783

申请日：2006-05-01

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

Inventor： MATSUNAMI TATSUYA ,  KAWASE MASAO ,  NISHIKUMA YASUSHI ,  OZAKI TOSHIAKI ,  INASAWA KOICHI

IPC: F16D35/00

Abstract: PROBLEM TO BE SOLVED: To provide a manufacturing method for a viscous coupling for suppressing wear of a protruding part in the direction of thickness formed on a plate while each plate is attached to a viscous fluid chamber as much as possible.
SOLUTION: In this manufacturing method for the viscous coupling for preparing the viscous coupling having a first rotary member having a plurality of first torque transmission members, a second rotary member arranged so as to rotate relatively with the first rotary member and having second torque transmission members opposing to the first torque transmission members, and the viscous fluid chamber in which the first torque transmission members and the second torque transmission members are arranged and pouring viscous fluid into the viscous fluid chamber, the first rotary member and the second rotary member are relatively rotated while viscous fluid is poured into the viscous fluid chamber, and amount of pouring of viscous fluid into the viscous fluid chamber is set based on temperature of viscous fluid and torque transmitted between the first rotary member and the second rotary member.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种用于抑制突出部分在板上形成的厚度方向上的磨损的粘性联接的制造方法，同时每个板尽可能地附接到粘性流体室。 解决方案：在用于制备具有第一旋转构件的粘性联轴器的粘性联轴器的制造方法中，所述第一旋转构件具有多个第一扭矩传递构件，第二旋转构件布置成相对于第一旋转构件旋转并且具有第二旋转构件 与第一扭矩传递构件相对的扭矩传递构件和其中布置第一扭矩传递构件和第二扭矩传递构件的粘性流体室，并且将粘性流体倾倒到粘性流体室中，第一旋转构件和第二旋转构件 相对旋转，同时将粘性流体注入到粘性流体室中，并且基于粘性流体的温度和在第一旋转构件和第二旋转构件之间传递的扭矩来设定粘性流体进入粘性流体室的量。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2004354613A

公开(公告)日：2004-12-16

申请号：JP2003151114

申请日：2003-05-28

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

Inventor： TSUKADA TOSHIHIKO ,  KAWASE MASAO ,  SATO YOSHIMASA ,  HATAKEYAMA YOSHIYUKI ,  GOTO TERUHIRO

IPC: A63H5/00 ,  A63H13/04 ,  G10H1/00

Abstract: PROBLEM TO BE SOLVED: To realize a robot which plays a real musical instrument following direction. SOLUTION: A robot 100 in one embodiment increases and decreases the speed of playing a keyboard musical instrument 140 in accordance with the tempo of direction. To realize the above, the robot 100 is provided with: a music data storage section 108 stored with music data describing time series changes of a musical scale; an operation storage section 110 which makes the musical scale correspond to robotic operation required to generate the musical scale from the keyboard instrument and stores them; and an information processing section 106 which specifies a tempo from the state of the direction and performs various controls. The information processing section 106 successively specifies the robotic operations corresponding to the musical scale stored in the musical data storage section 108 at the specified tempo and causes the specified robotic operations to be performed. COPYRIGHT: (C)2005,JPO&NCIPI

公开(公告)号：JP2003340769A

公开(公告)日：2003-12-02

申请号：JP2002146679

申请日：2002-05-21

Applicant: Toyota Central Res & Dev Lab Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社豊田中央研究所

Inventor： KAWASE MASAO ,  TSUSAKA YUJI

IPC: B25J17/00 ,  B25J5/00 ,  F16C1/14

Abstract: PROBLEM TO BE SOLVED: To provide a mechanism to constantly guide a part in the vicinity of a connection point to a distal end side member against any attitude change of the distal end side member.
SOLUTION: Terminating ends of three wires 66a, 66b and 66c are connected to a foot part 18 at wire connection points 72a, 72b and 72c, and the foot part 18 is moved by combining extension and contraction of the three wires. Wire terminating end guides 70a, 70b and 70c having an arc-shaped surface to guide a part in the vicinity of the wire terminating ends are fixed to the foot part 18. The arc-shaped surface of each wire terminating end guide is uniformly extended in the axial direction, and the length in the axial direction is set to be the length capable of constantly guiding the part in the vicinity of the wire terminating end irrespective of any attitude change of the foot part 18. A center of an arc of each wire terminating end guide is closer to a leg part 16 than to each wire connection part.
COPYRIGHT: (C)2004,JPO

Abstract translation: 要解决的问题：提供一种机构，用于不间断地引导远端侧构件的连接点附近的部分抵抗前端侧构件的任何姿态变化。 解决方案：三线66a，66b和66c的终端在导线连接点72a，72b和72c处连接到脚部18，并且通过组合三条线的延伸和收缩来移动脚部18。 具有用于引导电线端部附近的部分的弧形表面的电线端接引导件70a，70b和70c固定到脚部18.每个电线终端端引导件的弧形表面均匀延伸 轴向方向和轴向长度被设定为能够恒定地引导电线终止端附近的部分的长度，而与脚部18的任何姿态变化无关。每条电线的弧的中心 终端端引导件比每个线连接部分更靠近腿部16。 版权所有（C）2004，JPO