公开(公告)号：JP2015055025A

公开(公告)日：2015-03-23

申请号：JP2013190946

申请日：2013-09-13

Applicant: トヨタ自動車株式会社 ,  Toyota Motor Corp ,  株式会社特殊衣料 ,  Tokushu Iryo:Kk ,  一般財団法人日本自動車研究所 ,  Japan Automobile Research Institute

Inventor： TAIRA TETSUYA ,  YAMAOKA MASAAKI ,  OTA MITSUNORI ,  TERADA TOMOE ,  IKEDA KEIKO ,  KONOSU ATSUHIRO ,  ANADA KENJI

IPC: A42B1/08 ,  A41D13/015 ,  B60R21/055 ,  F16F7/00

Abstract: 【課題】取付対象物のデザイン性を制限することなく高い衝撃吸収性を有する衝撃吸収構造体、保護具及びその製造方法を提供すること。【解決手段】衝撃吸収構造体1は、貫通穴21を有する複数の球状体2を備えている。また、各球状体2の貫通穴21の貫通方向が各球状体2の配列方向に対して垂直となるように、各球状体2は配列されている。配列された球状体2同志は、軟結合されている。さらに、衝撃吸収構造体1は、対象物に対して着脱可能な着脱手段を備えている。【選択図】図1

Abstract translation: 要解决的问题：提供一种具有高冲击吸收性的减震结构，而不限制被附着物体的设计性，保护器及其制造方法。解决方案：减震结构1包括多个球体2 另外，各个球体以如下方式排列，使得每个球体2的通孔21的穿透方向垂直于每个球体2的排列方向设置。布置的球形体 主体2轻轻连接在一起。 此外，减震结构1包括能够附着到物体上或从物体上分离的附接/拆卸装置。

公开(公告)号：JP2009214670A

公开(公告)日：2009-09-24

申请号：JP2008059608

申请日：2008-03-10

Applicant: Toyota Central R&D Labs 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： KOIDE MITSUO ,  SUKIGARA KAZUTOSHI ,  TSUSAKA YUJI ,  DEO TAKASHI ,  YAMAOKA MASAAKI ,  YAMADA KOSHI

IPC: B62D61/04 ,  B25J5/00 ,  B25J19/06

CPC classification number: G05D1/0891

Abstract: PROBLEM TO BE SOLVED: To provide a wheeled inverted pendulum mobile unit capable of stopping itself without shaking its body.
SOLUTION: A mobile unit 100 includes support legs 20 downwardly extending from a body 10 and grounded at the front and behind of an axle 14 of driving wheels, with lower ends going up and down according to the inclination of the body 10, and a lock mechanism 26 fixing the position of the lower ends of the support members. The support legs 20 are grounded regardless of the operation/non-operation of an inverted pendulum control and move up and down according to the inclination of the body 10. Therefore, the support legs 20 do not interfere the inverted pendulum control though being grounded always. In the case of stopping the inverted pendulum control, the positions of the lower ends of the support legs 20 are fixed by operating the lock mechanism 26. When the inverted pendulum control shifts its state from operative to inoperative, the support legs 20 can support the body 10 without time lag. Thus, the body is not shaken by having the telescopic support legs 20 which is always grounded and the lock mechanism 26.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种轮式倒立摆移动单元，能够在不晃动其身体的情况下自行停止。 解决方案：移动单元100包括从主体10向下延伸并且在驱动轮的轴14的前后接地的支撑腿20，其下端根据主体10的倾斜而上下移动， 以及固定支撑构件的下端的位置的锁定机构26。 无论倒立摆控制的操作/不操作，支撑腿20都是接地的，并且根据主体10的倾斜上下移动。因此，支撑腿20不会通过总是接地来干扰倒立摆控制 。 在停止倒立摆控制的情况下，通过操作锁定机构26来固定支撑腿20的下端的位置。当倒立摆控制器将其状态从操作转移到不可操作时，支撑腿20可以支撑 身体10无时间滞后。 因此，通过使总是接地的伸缩支撑腿20和锁定机构26来使身体不被摇动。版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009214657A

公开(公告)日：2009-09-24

申请号：JP2008059306

申请日：2008-03-10

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

Inventor： SHINTANI KAZUHIRO ,  YAMAOKA MASAAKI

IPC: B60S1/68

Abstract: PROBLEM TO BE SOLVED: To provide a traveling type moving body capable of sufficiently eliminating dirt from its wheel, and its control method. SOLUTION: The traveling type moving body has the wheel 2 which advances in a first direction when rotating normally and advances in a second direction when rotating reversely and a brush 3 disposed in the vicinity of the wheel 2. The traveling type moving body also has a control section 5 which brings the brush 3 into contact with the wheel 2 on the side of the second direction of the wheel 2 during its normal rotation and keeps the brush 3 away from the wheel 2 during its reverse rotation. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种能够充分消除车轮上的污物的行进式移动体及其控制方法。 解决方案：行走型移动体具有轮子2，轮2正常旋转时在第一方向上前进并且在反向旋转时沿第二方向前进;以及刷轮3设置在车轮2附近。行进型移动体 还具有控制部分5，其在正常旋转期间使刷子3在车轮2的第二方向侧与轮子2接触，并且在其反向旋转期间使刷子3保持远离轮子2。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009087114A

公开(公告)日：2009-04-23

申请号：JP2007257123

申请日：2007-10-01

Applicant: Institute Of Physical & Chemical Research ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  独立行政法人理化学研究所

Inventor： SHIMODA SHINGO ,  KIMURA HIDENORI ,  YAMAOKA MASAAKI ,  KAJIMA HIDEKI

IPC: G06N3/08 ,  G05B13/02 ,  G06N3/00

CPC classification number: G06N3/063 ,  G05B2219/39031 ,  G06N3/04

Abstract: PROBLEM TO BE SOLVED: To provide a neuronal apparatus and the like suitable for performing appropriate control by making a neuron threshold variable, extending Hebb's rule, and devising integer expressions, in a neuronal network.
SOLUTION: In the neuronal apparatus 101 for simulating nerve cells, a threshold storage part 102 stores a threshold variable θ and two threshold coefficients Δθ1 and Δθ2, an input reception part 103 receives one or more input of input signal values at prescribed time intervals, an output part 104 outputs as an output signal value 1 assuming that the neural apparatus 101 is igniting when a total sum s of input signal values is threshold variable θ or larger and 0 assuming that the neural apparatus 101 is at rest otherwise; and a threshold update part 105 calculates Δθ1X + Δθ2(X-1) from an outputted output signal value X and the stored threshold coefficients Δθ1 and Δθ2 and updates the value of the threshold variable θ to be stored by the threshold storage part so that it increases just by the result of calculation.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供适合于通过在神经元网络中进行神经元阈值变量，延伸Hebb规则和设计整数表达来执行适当控制的神经元装置等。 解决方案：在用于模拟神经细胞的神经元装置101中，阈值存储部分102存储阈值变量θ和两个阈值系数Δθ1和Δθ2，输入接收部分103在规定时间接收输入信号值的一个或多个输入 假设神经装置101正在点燃输入信号值的总和为阈值变量θ或更大时，输出部分104输出为输出信号值1，假设神经装置101处于静止状态; 并且阈值更新部件105根据输出的输出信号值X和存储的阈值系数Δθ1和Δθ2计算Δθ1X+Δθ2（X-1），并且更新由阈值存储部分存储的阈值变量θ的值，使得 仅靠计算结果增加。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2004182513A

公开(公告)日：2004-07-02

申请号：JP2002350139

申请日：2002-12-02

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

Inventor： SUZUKI HIROSHI ,  YAMAOKA MASAAKI

IPC: C01B3/32 ,  C01B3/38 ,  H01M8/04 ,  H01M8/06

CPC classification number: Y02E60/50

Abstract: PROBLEM TO BE SOLVED: To provide a fuel reforming apparatus in which a pump supplying air to a reformer can be easily controlled. SOLUTION: The fuel reforming apparatus is equipped with: a reformer (10) which generates hydrogen-rich fuel gas from the supplied source fuel containing hydrogen; an air pump (23) which generates pressurized air to be supplied to the reformer; an air supply passages (L1 to L9) which has a main pipe (L1), a plurality of sub pipes (L2, L3) branched from the main pipe and a plurality of branch pipes (L4 to L9) further branched from the sub pipes and which guide the pressurized air to a plurality of sections in the reformer; a plurality of flow control valves (26a to 26f) respectively disposed in the plurality of branched pipes (L4 to L9) so that the air amount supplied to the plurality of sections of the reformer can be individually controlled; a plurality of air pressure detecting means (25a, 25b) respectively disposed in the plurality of sub pipes to detect the air pressure of the respective pipes; and a controlling means (50) to control the air pump (23) to generates constant air pressure based on the plurality of air pressures detected. COPYRIGHT: (C)2004,JPO&NCIPI

公开(公告)号：JP2007229872A

公开(公告)日：2007-09-13

申请号：JP2006055319

申请日：2006-03-01

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

Inventor： SUGA KEISUKE ,  YAMAOKA MASAAKI

IPC: B25J5/00 ,  A63H11/18

CPC classification number: B62D57/032

Abstract: PROBLEM TO BE SOLVED: To accomplish a leg type robot capable of securing a large stride while the robot body is suppressed in a low position without increasing the moment acting on a roll joint of the rising leg when the robot is in the upright attitude by a single leg owing to the gravitational force acting on the robot body.
SOLUTION: The leg type robot 100 is structured so that a pair of legs 20 are coupled with the robot body 10 on the body side face 12 rotatably round the pitch axis (Y-axis), which enables increasing the height H1 of the legs while the robot body 10 is suppressed in a low position. Thereby a large stride can be secured while the robot body 10 is suppressed in low position. The structure of the legs 20 is such that the roll joints 38 and 42 are positioned below the body undersurface 14. This suppresses an increase of the distance L1 in the pitch axis direction between the rotary shaft C1 of each joint and the center of gravity G of the robot body. The moment acting on the roll joint of the rising leg when the robot is in the upright attitude by single leg, remains out of increase.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：为了实现在机器人处于直立状态时机器人被抑制在低位置而不增加作用在上升腿的辊接头上的力矩的情况下能够确保大步幅的腿型机器人 由于作用在机器人体上的重力，单腿的姿态。 解决方案：腿型机器人100被构造成使得一对脚部20与机器人本体10在主体侧面12上以可转动的方式围绕俯仰轴线（Y轴）联接，这使得能够增加 机器人本体10被抑制在低位置时的腿部。 由此，能够在将机器人体10抑制在低位的状态下固定大步幅。 腿20的结构使得辊接头38和42位于主体下表面14的下方。这抑制了每个接头的旋转轴C1与重心G之间的俯仰轴方向上的距离L1的增加 的机器人身体。 当机器人以单腿处于直立姿态时，作用在上腿的滚动接头上的瞬间仍然不增加。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2007212184A

公开(公告)日：2007-08-23

申请号：JP2006029940

申请日：2006-02-07

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

Inventor： TSUKADA TOSHIHIKO ,  YAMAOKA MASAAKI

IPC: G01S5/16 ,  G05D1/02

Abstract: PROBLEM TO BE SOLVED: To provide a position measuring method and a position measuring system of a mobile robot capable of measuring the position properly and simultaneously moving, even if an abnormality is generated in a light signal transmitter.
SOLUTION: In this position measuring method of the mobile robot, a light signal for position measurement is transmitted from a plurality of light signal transmitters, and the mobile robot receives the light signal and moves, while measuring the self position. The light signals transmitted from the plurality of light signal transmitters are received at a prescribed fixed position, and position measurement of the fixed position is performed based on a light signal of each combination, while changing the combination of a prescribed number of light signal transmitters. A position coordinate of the fixed position by each combination acquired by the position measurement is compared with an original coordinate of the fixed position stored beforehand, and the light signal transmitter to be used for position measurement of the mobile robot is selected, and the mobile robot can perform self-position measurement by utilizing the light signal transmitted from the selected light signal transmitter.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：即使在光信号发送器中产生异常，也能够提供能够适当地同时移动的位置的移动机器人的位置测量方法和位置测量系统。 解决方案：在这种移动机器人的位置测量方法中，从多个光信号发射器发送用于位置测量的光信号，并且移动机器人在测量自身位置时接收光信号并移动。 从多个光信号发送器发送的光信号在规定的固定位置被接收，并且在改变规定数量的光信号发送器的组合的同时，基于各组合的光信号执行固定位置的位置测量。 将通过位置测量获取的每个组合的固定位置的位置坐标与预先存储的固定位置的原始坐标进行比较，并且选择要用于移动机器人的位置测量的光信号发送器，并且移动机器人 可以通过利用从所选择的光信号发射器发送的光信号来执行自位置测量。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2007038315A

公开(公告)日：2007-02-15

申请号：JP2005222622

申请日：2005-08-01

Applicant: Hideo Fujimoto ,  Ryo Kikuue ,  Hiromi Mochiyama ,  Akito Sano ,  Naoyuki Takei ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  明人 佐野 ,  洋 望山 ,  直行 武居 ,  亮 菊植 ,  英雄 藤本

Inventor： MURAYAMA HIDEYUKI ,  YAMAOKA MASAAKI ,  SANO AKITO ,  MOCHIYAMA HIROMI ,  TAKEI NAOYUKI ,  KIKUUE RYO ,  FUJIMOTO HIDEO

IPC: B25J3/00

Abstract: PROBLEM TO BE SOLVED: To provide a technology to reproduce a moderate operation reaction force in an operating element.
SOLUTION: The operating device is equipped with the operating element operated by a person, a storage means for storing a friction force reproduced in the operating element by a function of speed, a means for detecting the position of the operating element, a means for calculating an intermediate speed for each unit of time by using the position of the operating element, a means for determining the friction force for each unit of time by using the intermediate speed and a friction force function, a means for calculating the target position of the operating element for each unit of time by using the intermediate speed and the friction force, a reaction force calculation means for calculating the reaction force to apply the operating element for each unit of time by using the position of the operating element and the target position of the operating element, and an actuator for applying the reaction force calculated by the reaction force calculation means to the operating element.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种在操作元件中再现中等操作反作用力的技术。 解决方案：操作装置配备有由人操作的操作元件，用于存储通过速度函数再现在操作元件中的摩擦力的存储装置，用于检测操作元件的位置的装置， 用于通过使用操作元件的位置来计算每个单位时间的中间速度的装置，用于通过使用中间速度和摩擦力函数来确定每个单位时间的摩擦力的装置，用于计算目标位置的装置 通过使用中间速度和摩擦力，每个单位时间的操作元件的反作用力计算装置，用于通过使用操作元件和目标的位置来计算用于每个单位时间施加操作元件的反作用力 操作元件的位置和用于将由反作用力计算装置计算的反作用力施加到操作元件的致动器。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2007038059A

公开(公告)日：2007-02-15

申请号：JP2005222560

申请日：2005-08-01

Applicant: Nagoya Institute Of Technology ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  国立大学法人 名古屋工業大学

Inventor： SANO AKITO ,  MOCHIYAMA HIROMI ,  TAKEI NAOYUKI ,  KIKUUE RYO ,  FUJIMOTO HIDEO ,  MURAYAMA HIDEYUKI ,  MITSUDA KENICHI ,  YAMAOKA MASAAKI

IPC: B05B13/02

Abstract: PROBLEM TO BE SOLVED: To control the reaction force of an operation element so that an object easily follows a target track without previously storing the target track.
SOLUTION: A movement mechanism 11 of a work assist apparatus 10 has a coating tool 30 and the operation element 18. A work additionally carries out a translation operation and a rotation operation when the operation element 18 directs a moving position of a control point P moved by the movement mechanism 11. A controller 22 controls an actuator group 16 of the movement mechanism 11 so that the reaction force to the translation operation which is increased with the increase of an angle made between the direction of a reference line (x-axis) fixed to the operation element 18 and the direction of translation operation is applied on the operation element 18. The coating tool 30 is rotated around the reference point P fixed to the coating tool 30 corresponding to the rotation operation. As a result, the reference point P is easily moved along the target track while the x-axis direction of the coating tool 30 is agreed with the direction of the target track L.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：为了控制操作元件的反作用力，使得物体容易地跟随目标轨道而不预先存储目标轨道。 解决方案：工作辅助装置10的移动机构11具有涂覆工具30和操作元件18.当操作元件18引导控制的移动位置时，工件另外执行平移操作和旋转操作 点P由移动机构11移动。控制器22控制移动机构11的致动器组16，使得对平移操作的反作用力随着在参考线（x）的方向之间的角度的增加而增加 轴），并且在操作元件18上施加平移操作方向。涂覆工具30围绕与旋转操作相对应地固定到涂覆工具30的参考点P旋转。 结果，参考点P容易地沿着目标轨道移动，同时涂覆工具30的x轴方向与目标轨道L的方向一致。（C）2007，JPO和INPIT

公开(公告)号：JP2005288520A

公开(公告)日：2005-10-20

申请号：JP2004109892

申请日：2004-04-02

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

Inventor： UCHIHARA MASAFUMI ,  UEDA AKIHIRO ,  YAMAOKA MASAAKI ,  EIMIYA KIYOMI

IPC: B22D11/06 ,  B22D46/00

Abstract: PROBLEM TO BE SOLVED: To enable a stable manufacturing of a metal sheet with high quality, in an apparatus for manufacturing a metal sheet from molten metal using a pair of cooling rollers.
SOLUTION: A modeled zone 50 is set up in an aperture of the cooling rollers 12 and 14 and its vicinity. The modeled zone 50 includes a molten metal zone 28 and a part of the cooling roller 14. In the modeled zone 50, a solidification model to calculate solidifying state of the molten metal divided into a plurality of cells is formed. Sensors 31, 38, 39 measure designated physical quantities from the modeled zone 50. A controller 40 estimates the current solidifying state of the molten metal using the measured physical quantities. Then, according to the estimated solidifying state, rotation speed of the cooling rollers 12, 14, cooling capacity of the cooling rollers 12, 14, coating amount of a parting agent on the cooling rollers 12, 14, pressuring load of the cooling rollers 12, 14, temperature of the molten metal 28 and supplying amount of the molten metal 28 and so on are adjusted.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：为了能够使用一对冷却辊从熔融金属制造金属板的装置中高质量地稳定地制造金属板。 解决方案：建模区域50设置在冷却辊12和14及其附近的孔中。 模型区域50包括熔融金属区域28和冷却辊14的一部分。在建模区域50中，形成用于计算分成多个单元的熔融金属的固化状态的凝固模型。 传感器31,38,39从建模区域50测量指定的物理量。控制器40使用测量的物理量估计熔融金属的当前固化状态。 然后，根据估计的凝固状态，冷却辊12,14的转速，冷却辊12,14的冷却能力，冷却辊12,14上的脱模剂的涂布量，冷却辊12的加压负荷 ，14，调整熔融金属28的温度和熔融金属28的供给量等。 版权所有（C）2006，JPO＆NCIPI