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92 条记录 (耗时 0.021 秒)

    Leg joint assist device for leg type movable robot
    11.
    发明授权
    Leg joint assist device for leg type movable robot 有权
    腿式可动机器人腿部关节辅助装置

    公开(公告)号：US06962220B2

    公开(公告)日：2005-11-08

    申请号：US10490802

    申请日：2002-09-24

    申请人： Toru Takenaka ,  Hiroshi Gomi ,  Kazushi Hamaya ,  Yoshinari Takemura ,  Takashi Matsumoto ,  Takahide Yoshiike ,  Yoichi Nishimura ,  Kazushi Akimoto

    发明人： Toru Takenaka ,  Hiroshi Gomi ,  Kazushi Hamaya ,  Yoshinari Takemura ,  Takashi Matsumoto ,  Takahide Yoshiike ,  Yoichi Nishimura ,  Kazushi Akimoto

    IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J19/00 ,  F16F9/06 ,  G06F19/00

    CPC分类号： F16F9/06 ,  B25J19/0008 ,  B25J19/0091 ,  Y10T74/20305

    摘要： An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.

    摘要翻译： 一种辅助装置，其将辅助驱动力与作为腿部的一对连杆构件的腿部和腿部之间的关节致动器的驱动力平行的接头施加。 辅助装置通过使用诸如固体弹簧或空气弹簧的弹簧装置产生辅助驱动力。 支撑连接到弹簧装置的杆构件的构件设置有用于将腿部在关节处的弯曲和拉伸运动（大腿部分和小腿部分之间的相对位移运动）传递到弹簧装置的装置，以产生 弹簧装置的弹性力，以及用于中止弯曲和拉伸运动到弹簧装置的传递。 该发送装置根据机器人的步态进行控制。 因此，必要时能够减轻关节致动器的负担，能够稳定地确保能量利用效率。

    Arm structure for man type working robots
    12.
    发明授权
    Arm structure for man type working robots 有权
    人型工作机器人臂结构

    公开(公告)号：US06332372B1

    公开(公告)日：2001-12-25

    申请号：US09581220

    申请日：2000-06-22

    申请人： Toru Takenaka ,  Takayuki Kawai ,  Tadaaki Hasegawa ,  Takashi Matsumoto ,  Hiroshi Gomi ,  Hideaki Takahashi

    发明人： Toru Takenaka ,  Takayuki Kawai ,  Tadaaki Hasegawa ,  Takashi Matsumoto ,  Hiroshi Gomi ,  Hideaki Takahashi

    IPC分类号： B25J906

    CPC分类号： B25J9/06 ,  B25J17/025 ,  Y10T74/20329

    摘要： An arm structure for anthropomorphic robots minimizes the occurrence of a singularity state of a shoulder joint assembly while the arm of the anthropomorphic robot is normally working, for thereby allowing the arm to operate smoothly. The position and posture of first through third joints (11), (13), (15) of a shoulder joint assembly (5) and the position of an elbow joint assembly (6) with respect to the third joint (15) are established such that the elbow joint assembly (6) is located above a horizontal plane lying through the point of intersection of the axes (10), (12), (14) of the first through third joints (11), (13), (15), while the shoulder joint assembly (5) is operated into a singularity state wherein the first axis (10) of the first joint (11) and the third axis (14) of the third joint (15) are aligned with each other and the elbow joint assembly (6) is positioned laterally of a torso (1).

    摘要翻译： 用于拟人机器人的臂结构使人形机器人的臂正常工作时，使肩关节组件的奇点状态的发生最小化，从而允许手臂平稳地操作。 建立肩关节组件（5）的第一至第三关节（11），（13），（15）和肘关节组件（6）相对于第三关节（15）的位置和姿势 使得肘关节组件（6）位于通过第一至第三关节（11），（13），（13），（13）的轴线（10），（12），（14） 15），而肩关节组件（5）被操作成其中第一关节（11）的第一轴线（10）和第三关节（15）的第三轴线（14）彼此对准的奇点状态 并且肘关节组件（6）位于躯干（1）的侧面。

    Inverted pendulum type vehicle
    13.
    发明授权
    Inverted pendulum type vehicle 有权
    倒立摆式车

    公开(公告)号：US08522902B2

    公开(公告)日：2013-09-03

    申请号：US13395578

    申请日：2009-09-18

    申请人： Hiroshi Gomi ,  Shinichiro Kobashi ,  Taiji Koyama ,  Hideharu Izumi ,  Kazuya Kuwabara ,  Toru Takenaka

    发明人： Hiroshi Gomi ,  Shinichiro Kobashi ,  Taiji Koyama ,  Hideharu Izumi ,  Kazuya Kuwabara ,  Toru Takenaka

    IPC分类号： B62D61/00 ,  B62K15/00 ,  B62K1/00

    CPC分类号： B62J1/005 ,  B60L11/1805 ,  B62J25/00 ,  B62K1/00 ,  B62K11/007 ,  B62K15/00 ,  Y02T10/7005

    摘要： In an inverted pendulum type vehicle configured to travel on a ground surface while maintaining an upright posture under an inverted pendulum control, comprising a base frame supporting a propulsion unit, the propulsion unit including a main wheel configured to roll on the ground surface, and a seat unit provided on the base frame for supporting hips of a rider, the seat unit includes a saddle having at least a center located ahead of an axial line extending between a rotational center line of the main wheel and a gravitational center of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.

    摘要翻译： 在倒立摆式车辆中，其构造成在倒立摆控制下保持直立姿势的同时在地面上行进，包括支撑推进单元的基座框架，所述推进单元包括构造成在地面上滚动的主轮，以及 所述座椅单元设置在所述基座上，用于支撑骑手的臀部，所述座椅单元包括鞍座，所述鞍座至少具有位于在所述主轮的旋转中心线与所述倒立摆型重力中心之间延伸的轴线前方的中心 车辆。 因此，即使在车辆后方的地面上存在障碍物的情况下，也能够防止在地面上滚动的主轮与障碍物接触，并且车辆上的乘坐者的登机方便。

    Inverted pendulum type vehicle
    14.
    发明授权
    Inverted pendulum type vehicle 有权
    倒立摆式车

    公开(公告)号：US08443920B2

    公开(公告)日：2013-05-21

    申请号：US13395705

    申请日：2009-09-18

    申请人： Hiroshi Gomi ,  Toru Takenaka

    发明人： Hiroshi Gomi ,  Toru Takenaka

    IPC分类号： B62D21/00

    CPC分类号： B62J1/005 ,  B62J25/00 ,  B62K1/00 ,  B62K11/007 ,  B62K15/00

    摘要： The present invention provides an inverted pendulum type vehicle which can perform a turning movement with ease without requiring any additional device even though the vehicle is configured to travel on a single drive wheel. A substantially vertical principal axis of inertia of the vehicle is tilted rearward with respect to a plumb vertical line. As result, when a rider shift his gravitational center in either lateral direction and tilts the vehicle in the corresponding direction, the main wheel is caused to turn around the principal axis of inertia so that the main wheel is steering in effect, and the vehicle can be turned in a desired direction.

    摘要翻译： 本发明提供了一种倒立摆式车辆，即使车辆构造成在单个驱动轮上行进，该车辆也可以容易地执行转动运动，而不需要任何附加装置。 车辆的基本上垂直的主要惯性轴相对于垂直垂直线向后倾斜。 结果，当乘客在横向方向上移动他的重力中心并使车辆沿相应的方向倾斜时，使主轮绕主要惯性轴转动，使得主轮有效转向，车辆可以 沿所需方向转动。

    Legged mobile robot and control system thereof
    16.
    发明申请
    Legged mobile robot and control system thereof 失效
    有腿的移动机器人及其控制系统

    公开(公告)号：US20070193789A1

    公开(公告)日：2007-08-23

    申请号：US10593493

    申请日：2005-02-18

    申请人： Toru Takenaka ,  Hiroshi Gomi ,  Susumu Miyazaki ,  Kazushi Hamaya

    发明人： Toru Takenaka ,  Hiroshi Gomi ,  Susumu Miyazaki ,  Kazushi Hamaya

    IPC分类号： B62D51/06

    CPC分类号： B25J19/0091

    摘要： The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.

    摘要翻译： 腿式移动机器人脚包括连接到每个腿的脚本体，设置在脚主体的前端以相对于脚本体可弯曲的脚趾以及能够保持弯曲角度的弯曲角保持器 的脚趾在脚趾的可弯曲范围内。 此外，有腿的移动机器人控制系统被配置为在脚踏板的起始时间的第一时间点保持脚趾的弯曲角度，该第一时间点是从地板或更早的腿部起飞时间，并且在第二时间点释放弯曲角度 腿后抬起地板将脚趾恢复到初始位置。 由此，脱扣后的弯曲角度可以继续保持，由此能够防止机器人由于在起飞后立即接触地板而变得不稳定。 此外，可以提高脚尖站立时的稳定性。

    Drive unit
    17.
    发明授权
    Drive unit 有权
    驱动单元

    公开(公告)号：US08758191B2

    公开(公告)日：2014-06-24

    申请号：US12882468

    申请日：2010-09-15

    申请人： Toru Takenaka ,  Hiroshi Gomi ,  Shinichiro Kobashi ,  Taiji Koyama ,  Masao Sasaki ,  Hideharu Izumi ,  Kazuya Kuwabara

    发明人： Toru Takenaka ,  Hiroshi Gomi ,  Shinichiro Kobashi ,  Taiji Koyama ,  Masao Sasaki ,  Hideharu Izumi ,  Kazuya Kuwabara

    IPC分类号： F16H13/08 ,  B60B19/12 ,  B62K1/00

    CPC分类号： B60B19/125 ,  B60B19/003 ,  B60B2200/47 ,  B60B2360/348 ,  B60B2360/50 ,  B62K1/00 ,  B62K11/007

    摘要： A drive unit includes a main wheel having an annular member, and a plurality of driven rollers that are rotatably attached to the annular member, a plurality of first drive rollers and a plurality of second drive rollers, which are provided with the annular member between them and arranged such that they make contact with the outer peripheral faces of the driven rollers, a first holder and a second holder, which are arranged with the annular shaft between them and respectively hold the plurality of first drive rollers and the plurality of second drive rollers while allowing them to rotate, and a first drive unit and a second drive unit that rotationally drive the first holder and the second holder respectively; grooves are formed in the outer peripheral faces of the driven rollers at an angle to the circumferential direction thereof.

    摘要翻译： 驱动单元包括具有环形构件的主轮和可旋转地附接到环形构件的多个从动辊，多个第一驱动辊和多个第二驱动辊，在它们之间设置有环形构件 并且布置成使得它们与从动辊的外周面接触，第一保持器和第二保持器，其间设置有环形轴，并分别保持多个第一驱动辊和多个第二驱动辊 同时允许它们旋转;以及第一驱动单元和第二驱动单元，其分别旋转地驱动第一保持器和第二保持器; 在从动辊的外周面上形成有与其圆周方向成一定角度的槽。