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    Inverted pendulum type vehicle
    1.
    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。

    Walking assistance device
    2.
    发明授权
    Walking assistance device 有权
    行走辅助装置

    公开(公告)号：US08409119B2

    公开(公告)日：2013-04-02

    申请号：US12785013

    申请日：2010-05-21

    申请人： Hideo Shimizu ,  Tatsuya Noda ,  Taiji Koyama

    发明人： Hideo Shimizu ,  Tatsuya Noda ,  Taiji Koyama

    IPC分类号： A61H1/02 ,  A61H1/00

    CPC分类号： A61H3/008 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006

    摘要： A walking assistance device including a pelvic frame (10) extending from a lower back to each lateral side of a user, and a belly belt (20) for securing the pelvic frame in position. A power generator (30) is attached to each lateral side of the pelvic frame. A power transmitting arm (40) can be attached to an output member (33) of the power generator simply by hooking an upper part of a base end (41) of the power transmitting arm onto an upper groove (38) of the output member, and pushing a latch member or a slider (46) provided in a lower part of the base end onto a lower groove (39) of the output member. The user wearing the pelvic frame (10) can easily attach the power transmitting arm (40) to the output end of the power generator (30) by easily using a single hand without requiring help.

    摘要翻译： 一种行走辅助装置，包括从使用者的下背部延伸到每个侧面的骨盆框架（10）和用于将骨盆框架固定就位的腹部带（20）。 发电机（30）安装在骨盆框架的每个侧面。 动力传递臂（40）可以简单地通过将动力传递臂的基端（41）的上部钩在输出构件的上槽（38）上而附接到发电机的输出构件（33） 并且将设置在基端的下部的闩锁构件或滑块（46）推到输出构件的下槽（39）上。 佩戴骨盆框架（10）的使用者可以容易地使用单手而不需要帮助就可以容易地将动力传递臂（40）附接到发电机（30）的输出端。

    WALKING ASSISTANCE DEVICE
    5.
    发明申请
    WALKING ASSISTANCE DEVICE 有权
    行车辅助装置

    公开(公告)号：US20110172570A1

    公开(公告)日：2011-07-14

    申请号：US12987395

    申请日：2011-01-10

    申请人： Hideo Shimizu ,  Kouji Okazaki ,  Hideaki Takahashi ,  Taiji Koyama

    发明人： Hideo Shimizu ,  Kouji Okazaki ,  Hideaki Takahashi ,  Taiji Koyama

    IPC分类号： A61H3/00

    CPC分类号： A61H3/00 ,  A61H1/0244 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/1697 ,  A61H2201/5069

    摘要： In a walking assistance device configured to apply a walking assistance force to a femoral part of a user, a walking assistance force provided by a power generator mounted on a pelvic support assembly is transmitted to a femoral part of the user via a femoral support assembly. The femoral support assembly includes a swing arm (60, 62) having a base end connected to an output end of the power generator and a free end opposing a front part of the femoral part of the user, a femoral support member (68, 70) pivotally connected to the free end of the swing arm and having a support surface engaging the front part of the femoral part of the user, and a femoral belt (73, 74) passed around the femoral part of the user and having two ends attached to corresponding lateral ends of the femoral support member. Thereby, the femoral support member is enabled to accommodate changes and/or variations in the contour of the femoral part of the user. Ensure a comfortable fit and a reliable power transmission, the femoral belt may include a main belt portion (83, 85) having a base end connected to one of the lateral ends of the femoral support member and a free end releasably connected to the other lateral end of the femoral support member, and an auxiliary belt portion (84, 86) bifurcated from an intermediate part of the main belt portion and having a free end connected to the swing arm.

    摘要翻译： 在被配置为向用户的股骨部分施加步行辅助力的行走辅助装置中，由安装在骨盆支撑组件上的发电机提供的行走辅助力通过股骨支撑组件被传递到使用者的股骨部分。 股骨支撑组件包括摆动臂（60,62），其具有连接到发电机的输出端的基端和与使用者的股骨部分的前部相对的自由端，股骨支撑构件（68,70） ）枢转地连接到摆臂的自由端并且具有接合使用者的股骨部分的前部的支撑表面和围绕使用者的股骨部分的股骨带（73,74），并且具有两个端部 到股骨支撑构件的相应侧端。 由此，股骨支撑构件能够适应使用者的股骨部分的轮廓的变化和/或变化。 确保舒适的配合和可靠的动力传递，股骨带可以包括主带部分（83,85），其具有连接到股骨支撑构件的一个侧端的基端，以及可释放地连接到另一侧面的自由端 股骨支撑构件的端部以及从主带部分的中间部分分叉并具有连接到摆臂的自由端的辅助皮带部分（84,86）。

    DRIVE UNIT
    6.
    发明申请
    DRIVE UNIT 有权
    驱动单元

    公开(公告)号：US20110070998A1

    公开(公告)日：2011-03-24

    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

    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。

    Inverted pendulum mobile vehicle
    7.
    发明申请
    Inverted pendulum mobile vehicle 有权
    倒立摆移动车

    公开(公告)号：US20090288900A1

    公开(公告)日：2009-11-26

    申请号：US12454394

    申请日：2009-05-18

    申请人： Toru Takenaka ,  Makoto Hirano ,  Hideharu Izumi ,  Kazuya Kuwabara ,  Taiji Koyama ,  Shinichiro Kobashi

    发明人： Toru Takenaka ,  Makoto Hirano ,  Hideharu Izumi ,  Kazuya Kuwabara ,  Taiji Koyama ,  Shinichiro Kobashi

    IPC分类号： B62D61/00 ,  B62K1/00

    CPC分类号： B62K11/007 ,  B60L2200/16 ,  B60L2240/22 ,  B60L2260/34

    摘要： Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame (12), a body frame (12) supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo and a body coupler (52, 78, 70) that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship. Thereby, even when the wheel supporting frame undergoes a rapid yaw movement either while traveling in a fore-and-aft direction or remaining stationary, the body frame that carries a vehicle occupant or a cargo is allowed to follow the yaw movement of the wheel supporting frame at a slower angular speed and/or acceleration/deceleration so that the vehicle occupant is prevented from experiencing discomfort and the cargo is prevented from shifting on the body frame or falling off from the vehicle.

    摘要翻译： 提供了一种倒立摆移动车辆，例如单乘客同轴二轮车辆，其能够以小的转动半径转动而不会引起乘客或车辆乘员的不适，或使车辆上的货物等移动 或从车辆脱落。 车辆包括车轮支撑框架（12），由车轮支撑框架支撑的主体框架（12），以便能够围绕垂直轴线旋转并且携带乘客和/或货物和车身联接器（52,78） 70），其以预定的动态位置关系相对于车轮支撑框架联接车体框架。 因此，即使当车轮支撑框架在前后方向上行进或保持静止时经历快速偏航运动时，允许携带车辆乘员或货物的车身框架跟随车轮支撑的偏航运动 框架以较慢的角速度和/或加速/减速，使得车辆乘员被防止体验不适，并且防止货物在车身框架上移动或从车辆脱落。

    Walk assisting device
    8.
    发明申请
    Walk assisting device 有权
    步行辅助装置

    公开(公告)号：US20070027409A1

    公开(公告)日：2007-02-01

    申请号：US10557480

    申请日：2004-05-20

    申请人： Hisashi Katoh ,  Taiji Koyama

    发明人： Hisashi Katoh ,  Taiji Koyama

    IPC分类号： A61H1/02 ,  A61H1/00

    CPC分类号： A61F5/0102 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165

    摘要： There is provided a walking assistance device equipped with an assisting force generator disposed on a side of each of a hip joint and a knee joint, comprising: a hip support member (1) having an attachment means (hip drive source mount 9) capable of repeatedly attaching and detaching a hip joint assisting force generator (hip joint actuator 10); a lower leg support member (2) having an attachment means (knee drive source mount 27) capable of repeatedly attaching and detaching a knee joint assisting force generator (knee joint actuator 26); and a drive unit (3) formed by integrally joining the hip joint assisting force generator and the knee joint assisting force generator via a link bar (25), wherein after the hip support member and the lower leg support member are fitted on a user's body, the assisting force generators of the drive unit are connected to the corresponding attachment means.

    摘要翻译： 提供了一种配备有设置在髋关节和膝关节的每一侧的辅助力发生器的行走辅助装置，包括：臀部支撑构件（1），其具有能够 反复安装和拆卸髋关节辅助力发生器（髋关节致动器10）; 具有能够重复地安装和拆卸膝关节辅助力发生器（膝关节致动器26）的附接装置（膝部驱动源支架27）的小腿支撑构件（2）。 以及通过连杆（25）将所述髋关节辅助力发生器和所述膝关节辅助力发生器一体地接合而形成的驱动单元（3），其中，在所述臀部支撑构件和所述小腿支撑构件安装在使用者身体上之后 驱动单元的辅助力发生器连接到相应的附接装置。

    Walking assistance device
    10.
    发明授权
    Walking assistance device 有权
    行走辅助装置

    公开(公告)号：US08663134B2

    公开(公告)日：2014-03-04

    申请号：US12987405

    申请日：2011-01-10

    申请人： Hideaki Takahashi ,  Hideo Shimizu ,  Taiji Koyama

    发明人： Hideaki Takahashi ,  Hideo Shimizu ,  Taiji Koyama

    IPC分类号： A61H1/02 ,  A61H3/00

    CPC分类号： A61H1/0244 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/1697 ,  A61H2201/50 ,  A61H2201/5069

    摘要： In a walking assistance device (10) including a main frame (22) supporting a power generator (26, 28) and worn on a pelvic part of a user, the main frame is provided with an opening (23) in a middle part thereof, and an electronic unit (25) is received in the opening. As the electronic unit is placed in the middle part of the main frame which is relatively free from deformation, the electronic unit is protected from deformation or stress that could impair the reliability of the electronic unit. To achieve both an easy access to the electronic unit, and an attractive appearance, the opening may be provided with a lid (24) that selectively closes the opening from a side adjacent to the user, and the lid may be formed as a back support member for supporting a back part of the user. As the lid serves the dual purposes, the weight and cost of the device can be minimized. For the convenience of the handling of the lid, the lid may be supported by the main frame via a hinge (121) provided adjacent to an upper or lower part of the opening.

    摘要翻译： 在包括支撑发电机（26,28）并且佩戴在用户的骨盆部分上的主框架（22）的行走辅助装置（10）中，主框架在其中间部分设置有开口（23） ，并且电子单元（25）被接收在开口中。 由于电子单元被放置在相对没有变形的主框架的中间部分中，所以电子单元被保护免受可能损害电子单元的可靠性的变形或应力。 为了实现对电子单元的容易的访问和吸引人的外观，开口可以设置有从相邻的用户选择性地关闭开口的盖子（24），并且盖子可以形成为背部支撑件 用于支持用户的后部的成员。 由于盖具有双重目的，因此能够使装置的重量和成本最小化。 为了便于处理盖子，盖子可以通过邻近开口的上部或下部设置的铰链（121）由主框架支撑。