公开(公告)号：US07834584B2

公开(公告)日：2010-11-16

申请号：US11212687

申请日：2005-08-29

申请人： Takuro Koyanagi ,  Satoshi Kaneko ,  Ryuma Ujino ,  Takashi Nakayama

发明人： Takuro Koyanagi ,  Satoshi Kaneko ,  Ryuma Ujino ,  Takashi Nakayama

IPC分类号： H02J7/00 ,  B25J5/00

CPC分类号： B25J19/005 ,  H01R13/4536 ,  H01R13/6315 ,  H02J7/0029

摘要： A charging system is capable of charging a battery of a biped walking robot while stabilizing the posture of the biped walking robot and also restraining the occurrence of spark discharge or noises. A charger of the charging system for charging the battery provided in the biped walking robot includes a seating and retaining unit for retaining the biped walking robot in a seated posture, a power feeding connector that is fitted to a power receiving connector provided in the biped walking robot when the biped walking robot sits on the seating and retaining unit, and a charging unit having a connection detector for detecting whether the power receiving connector and the power feeding connector are in a connected state, a charging power source for supplying charging current to the battery, and a charging controller that supplies charging current to the battery from the charging power source to charge the battery when the connection detector detects that the power receiving connector and the power feeding connector are in the connected state.

摘要翻译： 充电系统能够对两足动作机器人的电池进行充电，同时稳定双足步行机器人的姿势并且还抑制火花放电或噪声的发生。 用于对设置在两足动作机器人中的电池进行充电的充电系统的充电器包括：用于将两足动作的机器人保持在就座姿态的座位和保持单元;配合到设置在两足动作中的受电连接器的馈电连接器 当双足步行机器人坐在座位和保持单元上时，机器人和具有用于检测受电连接器和馈电连接器是否处于连接状态的连接检测器的充电单元，用于向充电电源提供充电电流的充电电源 电池和充电控制器，当连接检测器检测到电力接收连接器和馈电连接器处于连接状态时，从充电电源向电池提供充电电流以对电池充电。

公开(公告)号：US07525281B2

公开(公告)日：2009-04-28

申请号：US11212697

申请日：2005-08-29

申请人： Takuro Koyanagi ,  Satoshi Kaneko

发明人： Takuro Koyanagi ,  Satoshi Kaneko

IPC分类号： H02J7/00

CPC分类号： H02J7/0068 ,  B25J19/005 ,  H02J7/0044

摘要： An inexpensive charging system with a simple construction can supply charging current to a battery of a legged walking robot while maintaining the supply of required current to an electric load of the legged walking robot by an external power source. The charging system includes a connection circuit having a first, a second diode, a third diode, and a circuit that brings various negative electrode and a negative input terminal of the electric load into conduction, and an output electric power controller that sets an output voltage of the external power source to be higher than a total voltage of a voltage across electrodes of the battery when the battery is fully charged and a forward voltage of the third diode, while setting a current of the external power source that can be output to be larger than a required current of the electric load.

摘要翻译： 具有简单结构的便宜的充电系统可以向腿式步行机器人的电池提供充电电流，同时通过外部电源保持对腿式步行机器人的电负载的所需电流的供应。 充电系统包括具有第一，第二二极管，第三二极管和将电负载的各种负电极和负输入端导通的电路的连接电路，以及输出电力控制器，其将输出电压 的外部电源的电流高于电池充满电时的电池两端的电压的总电压以及第三二极管的正向电压，同时将可输出的外部电源的电流设定为 大于电负载的所需电流。

公开(公告)号：US20060128261A1

公开(公告)日：2006-06-15

申请号：US11295521

申请日：2005-12-07

申请人： Koji Kawabe ,  Takuro Koyanagi ,  Satoshi Kaneko ,  Koji Okazaki ,  Takashi Nakayama ,  Ryuzo Yokoyama ,  Takeshi Koshiishi

发明人： Koji Kawabe ,  Takuro Koyanagi ,  Satoshi Kaneko ,  Koji Okazaki ,  Takashi Nakayama ,  Ryuzo Yokoyama ,  Takeshi Koshiishi

IPC分类号： A63H3/00

CPC分类号： B25J19/0054

摘要： A torso part (2) and a backpack part (6) of a humanoid robot are commonly formed by a shell that defines an inner space that accommodates a heat generating component such as a control computer (31) and a power module (32, 33). The shell comprises an air vent hole (45, 46) provided on one lateral side of the shell, an air inlet hole (47, 48) provided on the other lateral side of the shell and a powered fan (49) provided immediately inside the air vent hole. Because the cooling air can flow laterally across the inner space, the entire part of the heat generating component can contact the air flow, and a uniform cooling effect can be achieved with a minimum power consumption and a minimum noise generation.

摘要翻译： 仿人机器人的躯干部分（2）和背包部分（6）通常由限定容纳诸如控制计算机（31）和功率模块（32,33）之类的发热部件的内部空间的外壳形成 ）。 壳体包括设置在壳体的一个侧面上的通气孔（45,46），设置在壳体的另一个侧面上的空气入口孔（47,48）和紧邻壳体内侧设置的动力风扇（49） 通气孔。 因为冷却空气可横向流过内部空间，所以发热部件的整个部分可以接触空气流，并且可以以最小的功率消耗和最小的噪声产生实现均匀的冷却效果。

公开(公告)号：US20060043930A1

公开(公告)日：2006-03-02

申请号：US11212697

申请日：2005-08-29

申请人： Takuro Koyanagi ,  Satoshi Kaneko

发明人： Takuro Koyanagi ,  Satoshi Kaneko

IPC分类号： H02J7/00

CPC分类号： H02J7/0068 ,  B25J19/005 ,  H02J7/0044

摘要： An inexpensive charging system with a simple construction is capable of supplying charging current to a battery of a legged walking robot while maintaining the supply of required current to an electric load of the legged walking robot by an external power source. The charging system includes a connection circuit having a first diode that brings the positive electrode of the battery and the positive input terminal of the electric load into conduction, defining the direction from the positive electrode of the battery to the electric load as a forward direction, a second diode that brings the positive electrode of the external power source and the positive input terminal of the electric load into conduction, defining the direction from the positive electrode of the external power source to the positive input terminal of the electric load as a forward direction, a third diode that brings the positive electrode of the external power source and the positive electrode of the battery into conduction, defining the direction from the positive electrode of the external power source to the positive electrode of the battery as a forward direction, and a circuit that brings the negative electrode of the external power source, the negative electrode of the battery, and the negative input terminal of the electric load into conduction, and an output electric power controller that sets an output voltage of the external power source to be higher than a total voltage of a voltage across electrodes of the battery when the battery is fully charged and a forward voltage of the third diode, while setting a current of the external power source that can be output to be larger than a required current of the electric load.

摘要翻译： 具有简单结构的便宜的充电系统能够通过外部电源向腿式步行机器人的电池提供充电电流，同时保持对腿式步行机器人的电负载的所需电流的供应。 充电系统包括具有第一二极管的连接电路，其将电池的正电极和电负载的正输入端子导通，限定从电池的正极到电负载的方向作为向前方向， 使外部电源的正极和电负载的正极端子导通的第二二极管，限定从外部电源的正极到电负载的正极输入端子的方向为正向 使外部电源的正极和电池的正极导通的第三二极管，限定从外部电源的正极到电池的正极的方向为正向，以及 引出外部电源的负极，负极的电路 电力负载输入端子和导通的负极输入端子;以及输出电力控制器，当电池完全充满时，将外部电源的输出电压设定为高于电池两端的电压的总电压 充电和第三二极管的正向电压，同时将可输出的外部电源的电流设定为大于电负载的所需电流。

公开(公告)号：US20060043929A1

公开(公告)日：2006-03-02

申请号：US11212687

申请日：2005-08-29

申请人： Takuro Koyanagi ,  Satoshi Kaneko ,  Ryuma Ujino ,  Takashi Nakayama

发明人： Takuro Koyanagi ,  Satoshi Kaneko ,  Ryuma Ujino ,  Takashi Nakayama

IPC分类号： H02J7/00

CPC分类号： B25J19/005 ,  H01R13/4536 ,  H01R13/6315 ,  H02J7/0029

摘要： A charging system is capable of charging a battery of a biped walking robot while stabilizing the posture of the biped walking robot and also restraining the occurrence of spark discharge or noises. A charger of the charging system for charging the battery provided in the biped walking robot includes a seating and retaining unit for retaining the biped walking robot in a seated posture, a power feeding connector that is fitted to a power receiving connector provided in the biped walking robot when the biped walking robot sits on the seating and retaining unit, and a charging unit having a connection detector for detecting whether the power receiving connector and the power feeding connector are in a connected state, a charging power source for supplying charging current to the battery, and a charging controller that supplies charging current to the battery from the charging power source to charge the battery when the connection detector detects that the power receiving connector and the power feeding connector are in the connected state.

摘要翻译： 充电系统能够对两足动作机器人的电池进行充电，同时稳定双足步行机器人的姿势并且还抑制火花放电或噪声的发生。 用于对设置在两足动作机器人中的电池进行充电的充电系统的充电器包括：用于将两足动作的机器人保持在就座姿态的座位和保持单元;配合到设置在两足动作中的受电连接器的馈电连接器 当双足步行机器人坐在座位和保持单元上时，机器人和具有用于检测受电连接器和馈电连接器是否处于连接状态的连接检测器的充电单元，用于向充电电源提供充电电流的充电电源 电池和充电控制器，当连接检测器检测到电力接收连接器和馈电连接器处于连接状态时，从充电电源向电池提供充电电流以对电池充电。

公开(公告)号：US07894941B2

公开(公告)日：2011-02-22

申请号：US11294366

申请日：2005-12-06

申请人： Naohide Ogawa ,  Takuro Koyanagi ,  Asuka Shinna ,  Sachie Hashimoto ,  Yukiko Ehara

发明人： Naohide Ogawa ,  Takuro Koyanagi ,  Asuka Shinna ,  Sachie Hashimoto ,  Yukiko Ehara

IPC分类号： G08B5/36

CPC分类号： B25J13/003

摘要： The present invention aims to provide an autonomous moving robot capable of visibly showing the human an initial check result for a sound input means in the initial stage after the robot device is turned on and activated, and whether or not the input sound was normally recognized. The robot has ears 9a, 9b respectively comprising microphones 10a, 10b for external sound input, and LED displays 11a, 11b with a plurality of luminescent portions around the respective microphones. The luminescent portions of the LED displays 11a, 11b indicate the judgment of the initial check on whether or not the ears 9a, 9b (the microphones 10a, 10b and the LED displays 11a, 11b) are normally functioning when the robot is turned on and activated, by means of the lighting states of the displays.

摘要翻译： 本发明的目的是提供一种自动移动机器人，其能够在机器人装置被接通和激活之后的初始阶段中可视地向人类显示声音输入装置的初始检查结果，以及是否正常识别输入声音。 机器人具有分别包括用于外部声音输入的麦克风10a，10b的耳朵9a，9b，以及围绕各个麦克风的多个发光部分的LED显示器11a，11b。 LED显示器11a，11b的发光部分表示当机器人打开时耳朵9a，9b（麦克风10a，10b和LED显示器11a，11b）是否正常工作的初步检查的判断，以及 通过显示器的照明状态激活。

公开(公告)号：US07262574B2

公开(公告)日：2007-08-28

申请号：US11251802

申请日：2005-10-18

申请人： Takuro Koyanagi ,  Takamichi Shimada

发明人： Takuro Koyanagi ,  Takamichi Shimada

IPC分类号： B25J19/02 ,  G05B23/02

CPC分类号： H02H7/0833 ,  H02H3/04 ,  H02H3/093

摘要： In an overcurrent prevention system for a robot having links connected by joints and an electrical system including electric motors installed at the joint, a power circuit connecting the electric motors to a power source, and drive circuits to supply current to the electric motors, there are provided a switching device installed in the power circuit, a current sensor detecting the current supplied to the electric motors, and the output of the current sensor is compared with a threshold value and the switching device is operated to execute a switching action to cut off the power circuit intermittently during a first predetermined period when the output of the current sensor exceeds the threshold value, thereby protecting the electrical system when overcurrent is detected, without causing functional disablement and/or posture instability of the robot.

摘要翻译： 在具有由接头连接的连杆的机器人的过电流防止系统和包括安装在接头处的电动马达的电气系统中，将电动机连接到电源的电力电路以及向电动机供应电流的驱动电路， 提供安装在电源电路中的开关装置，检测提供给电动机的电流的电流传感器和电流传感器的输出与阈值进行比较，并且切换装置被执行切换动作以切断 在电流传感器的输出超过阈值的第一预定时段期间间歇地进行电力回路，从而在检测到过电流时保护电气系统，而不会引起机器人的功能失灵和/或姿势不稳定。

公开(公告)号：US07073614B2

公开(公告)日：2006-07-11

申请号：US10399063

申请日：2001-10-10

申请人： Yasuhisa Saito ,  Teruyuki Oka ,  Toratsugu Kuwahara ,  Atsushi Demachi ,  Toshiyuki Higashi ,  Kenichi Ogawa ,  Takuro Koyanagi ,  Susumu Miyazaki

发明人： Yasuhisa Saito ,  Teruyuki Oka ,  Toratsugu Kuwahara ,  Atsushi Demachi ,  Toshiyuki Higashi ,  Kenichi Ogawa ,  Takuro Koyanagi ,  Susumu Miyazaki

IPC分类号： B62D57/02

CPC分类号： H01M2/1077 ,  B25J19/005 ,  H01M2/1055 ,  H01M2/20 ,  H01M6/42 ,  H01M10/0525 ,  Y02E60/122

摘要： A bipedal robot of the present invention has a trunk consisting of an upper trunk and a lower trunk which are rotatable around a rotation axis relative to one another. The upper trunk has shoulders on the right and left sides. An arm is provided at each shoulder. A pair of right and left legs is attached to lower ends of the lower trunk. A storage battery is mounted to the back of the upper trunk, positioned within a shoulder width. The storage battery is positioned below the top of a head mounted on the upper trunk. When the robot walks a narrow passage or corridor having a width slightly larger than the width thereof, for example, this arrangement prevents the storage battery from interfering with the passage or the like.

摘要翻译： 本发明的双足机器人具有由相对于彼此旋转的轴线可旋转的上躯干和下躯干组成的躯干。 上部躯干在右侧和左侧有肩膀。 每个肩膀都有一个手臂。 一对右腿和左腿连接在下躯干的下端。 蓄电池安装在上部主体的背面，位于肩部宽度内。 蓄电池位于安装在上部主干的头部的顶部下方。 例如，当机器人行走宽度稍大于其宽度的窄通道或走廊时，这种布置可防止蓄电池干扰通道等。

公开(公告)号：US20110316474A1

公开(公告)日：2011-12-29

申请号：US13169276

申请日：2011-06-27

申请人： Yuta KIMURA ,  Takuro KOYANAGI

发明人： Yuta KIMURA ,  Takuro KOYANAGI

IPC分类号： H02J7/00

CPC分类号： H02J7/0042 ,  B60L53/35 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T90/121 ,  Y02T90/125 ,  Y02T90/14

摘要： A charging apparatus for a mobile body has a charging stand, which includes a connector holder to be connected to a battery of a walking robot, a forward/backward mechanism which moves the connector holder forward/backward, and a protrusion which is driven by the forward/backward mechanism to move forward/backward as the connector holder moves forward/backward. Control information indicating the state of the forward/backward mechanism when the protrusion is located in a predetermined position, which is detected on the basis of the detection values of a retreat position sensor and an advance position sensor, is acquired, and the forward/backward mechanism is controlled according to the acquired control information thereby to move the connector holder forward/backward.

摘要翻译： 一种用于移动体的充电装置具有充电座，该充电座包括连接到步行机器人的电池的连接器支架，向前/向后移动连接器保持器的向前/向后机构，以及由 前进/后退机构在连接器支架向前/向后移动时向前/向后移动。 指示当突起位于基于退避位置传感器和提前位置传感器的检测值而检测到的预定位置时的前后机构的状态的控制信息，并且前后 根据获取的控制信息控制机构，从而将连接器保持器向前/向后移动。

公开(公告)号：US07328087B2

公开(公告)日：2008-02-05

申请号：US11456454

申请日：2006-07-10

申请人： Yasuhisa Saito ,  Teruyuki Oka ,  Toratsugu Kuwahara ,  Atsushi Demachi ,  Toshiyuki Higashi ,  Kenichi Ogawa ,  Takuro Koyanagi ,  Susumu Miyazaki

发明人： Yasuhisa Saito ,  Teruyuki Oka ,  Toratsugu Kuwahara ,  Atsushi Demachi ,  Toshiyuki Higashi ,  Kenichi Ogawa ,  Takuro Koyanagi ,  Susumu Miyazaki

IPC分类号： G06F19/00

CPC分类号： H01M2/1077 ,  B25J19/005 ,  H01M2/1055 ,  H01M2/20 ,  H01M6/42 ,  H01M10/0525 ,  Y02E60/122

摘要： A bipedal robot of the present invention has a trunk consisting of an upper trunk and a lower trunk which are rotatable around a rotation axis relative to one another. The upper trunk has shoulders on the right and left sides. An arm is provided at each shoulder. A pair of right and left legs is attached to lower ends of the lower trunk. A storage battery is mounted to the back of the upper trunk, positioned within a shoulder width. The storage battery is positioned below the top of a head mounted on the upper trunk. When the robot walks a narrow passage or corridor having a width slightly larger than the width thereof, for example, this arrangement prevents the storage battery from interfering with the passage or the like.

摘要翻译： 本发明的双足机器人具有由相对于彼此旋转的轴线可旋转的上躯干和下躯干组成的躯干。 上部躯干在右侧和左侧有肩膀。 每个肩膀都有一个手臂。 一对右腿和左腿连接在下躯干的下端。 蓄电池安装在上部主体的背面，位于肩部宽度内。 蓄电池位于安装在上部主干的头部的顶部下方。 例如，当机器人行走宽度稍大于其宽度的窄通道或走廊时，这种布置可防止蓄电池干扰通道等。