公开(公告)号：US5159988A

公开(公告)日：1992-11-03

申请号：US627638

申请日：1990-12-14

申请人： Hiroshi Gomi ,  Tomoharu Kumagai ,  Masato Hirose ,  Masao Nishikawa

发明人： Hiroshi Gomi ,  Tomoharu Kumagai ,  Masato Hirose ,  Masao Nishikawa

IPC分类号： B25J5/00 ,  B25J9/06 ,  B25J9/10 ,  B25J17/02 ,  B62D57/02

CPC分类号： B62D57/02 ,  B25J17/0241 ,  B25J17/0275 ,  B25J9/06 ,  B25J9/1025

摘要： A legged walking robot such as a two-legged walking robot, for example, has an articulated structure with at least two degrees of freedom, one of which is a degree of freedom for angularly moving a leg in a pitch direction about a first axis of a hip joint assembly, comprising an electric motor for angularly moving the leg in the pitch direction. The electric motor has an output shaft which is axially aligned with the first axis about which the leg is angularly movable in the pitch direction. The articulated structure also has a speed reducer having an input shaft which coaxial with the output shaft of the electric motor. The other degree of freedom is a degree of freedom for angularly moving the leg in a roll direction normal to the pitch direction. The articulated structure also includes a second electric motor for angularly moving the leg in the roll direction and a second speed reducer having an output shaft which is coaxial with a second axis about which the leg is angularly movable in the roll direction.

公开(公告)号：US5255753A

公开(公告)日：1993-10-26

申请号：US887240

申请日：1992-05-19

申请人： Masao Nishikawa ,  Tomoharu Kumagai ,  Shoei Abe ,  Masato Hirose ,  Mitsuaki Hirakawa ,  Hiroshi Gomi

发明人： Masao Nishikawa ,  Tomoharu Kumagai ,  Shoei Abe ,  Masato Hirose ,  Mitsuaki Hirakawa ,  Hiroshi Gomi

IPC分类号： B62D57/02 ,  B62D57/032

CPC分类号： B62D57/02

摘要： A legged walking robot such as a two-legged walking robot has a plurality of movable legs and a plurality of foot soles mounted respectively on distal ends of the movable legs by respective foot joints. Each of the foot soles has a curved surface disposed on at least a portion of a peripheral edge thereof. The curved surface is shaped such that the foot joint follows a predetermined curved path along a forward direction in which the legged walking robot walks. The foot sole also includes at least one projection on one or each of leading and trailing ends of the foot sole in the forward direction. The projection is movable into and out of a projecting position from the foot sole, but is normally urged into the projecting position to support the foot sole stably on the terrain.

摘要翻译： 诸如双腿行走机器人的腿式步行机器人具有多个可移动的腿和分别通过各自的脚关节安装在可动腿的远端上的多个脚底。 每个脚底具有设置在其周缘的至少一部分上的曲面。 弯曲表面被成形为使得脚部接合沿着腿式步行机器人行走的向前方向沿着预定的弯曲路径。 足底还包括在脚前沿的前后方向的前端和后端的一个或每个上的至少一个突起。 突起可以从脚底移动进出突出位置，但是通常被推入突出位置以稳定地支撑脚踏板在地形上。

公开(公告)号：US5277673A

公开(公告)日：1994-01-11

申请号：US757056

申请日：1991-09-09

申请人： Hiroshi Nakayama ,  Takashi Hotta ,  Yukio Morita ,  Yoichi Kojima ,  Kimihiko Kikuchi ,  Tsunefumi Niiyama ,  Yorinori Kumagai ,  Shinichi Sakaguchi ,  Tomoharu Kumagai

发明人： Hiroshi Nakayama ,  Takashi Hotta ,  Yukio Morita ,  Yoichi Kojima ,  Kimihiko Kikuchi ,  Tsunefumi Niiyama ,  Yorinori Kumagai ,  Shinichi Sakaguchi ,  Tomoharu Kumagai

IPC分类号： B60K17/08 ,  F16H3/66 ,  F16H3/62

CPC分类号： B60K17/08 ,  F16H3/66 ,  F16H3/663 ,  F16H2200/0047 ,  F16H2200/201

摘要： A planetary gear transmission typically for use on automobiles has first, second, and third planetary gear trains arranged coaxially with each other and each having elements including a sun gear, a carrier, and a ring gear. Two of the elements of each of the first, second, and third planetary gear trains are directly or disengageably coupled to elements of the other planetary gear trains between input and output members. The elements of the first, second, and third planetary gear trains are corotatably coupled into first, second, third, fourth, and fifth rotational members the first, second, and fifth rotational members being coupled to the input member, the fourth rotational member being coupled to the output member. The planetary gear transmission also has a separating clutch disposed between the elements of the second rotational member, for disengageably connecting the elements of the second rotational member.

摘要翻译： 通常用于汽车的行星齿轮传动装置具有彼此同轴布置的第一，第二和第三行星齿轮系，每个行星齿轮系具有包括太阳齿轮，行星架和齿圈的元件。 第一，第二和第三行星齿轮系中的每一个的两个元件直接或可分离地联接到输入和输出构件之间的其它行星齿轮系的元件。 第一，第二和第三行星齿轮系的元件可旋转地联接到第一，第二，第三，第四和第五旋转构件中，第一，第二和第五旋转构件联接到输入构件，第四旋转构件是 耦合到输出成员。 行星齿轮传动装置还具有设置在第二旋转构件的元件之间的分离离合器，用于可分离地连接第二旋转构件的元件。

公开(公告)号：US09367200B2

公开(公告)日：2016-06-14

申请号：US14235445

申请日：2012-05-29

申请人： Tomoharu Kumagai

发明人： Tomoharu Kumagai

IPC分类号： G06F3/0485 ,  G06F3/0481 ,  G06F3/14 ,  G09G5/377 ,  G09G5/14

CPC分类号： G06F3/0481 ,  G06F3/14 ,  G09G5/14 ,  G09G5/377 ,  G09G2340/0464 ,  G09G2340/12 ,  G09G2354/00 ,  G09G2370/027

摘要： A focus part of an object is displayed in an actual display area, which is a part of a display target area set within a window that is visible on a screen, without changing the size of the focus part and the layout of the display object. A control unit sets a reference point P based on the positions of a display element and the actual display area in a drawing target area (22), in which a Web page is drawn, so that the display element is displayed in the actual display area, which is an area not covered with another window (16a) within a Web page display target area (20). For example, the control unit (a) displays the display element without changing the size and (b) minimizes a blank area that is created when the reference point P is moved, or (c) preferentially displays, from among a plurality of display elements, display elements that are relatively high in priority order in the actual display area.

摘要翻译： 对象的焦点部分被显示在实际显示区域中，该实际显示区域是设置在屏幕上可见的窗口内的显示目标区域的一部分，而不改变聚焦部分的尺寸和显示对象的布局。 控制单元基于绘制目标区域（22）中的显示元素和实际显示区域的位置来设置参考点P，其中绘制网页，使得显示元素显示在实际显示区域中 ，其是在网页显示目标区域（20）内未被另一个窗口（16a）覆盖的区域。 例如，控制单元（a）在不改变尺寸的情况下显示显示元件，（b）使多个显示元件中的基准点P移动时产生的空白区域或（c）优先显示的空白区域最小化 ，在实际显示区域中以优先顺序相对较高的显示元件。

公开(公告)号：US20140208264A1

公开(公告)日：2014-07-24

申请号：US14235445

申请日：2012-05-29

申请人： Tomoharu Kumagai

发明人： Tomoharu Kumagai

IPC分类号： G06F3/0481

CPC分类号： G06F3/0481 ,  G06F3/14 ,  G09G5/14 ,  G09G5/377 ,  G09G2340/0464 ,  G09G2340/12 ,  G09G2354/00 ,  G09G2370/027

摘要： A focus part of an object is displayed in an actual display area, which is a part of a display target area set within a window that is visible on a screen, without changing the size of the focus part and the layout of the display object. A control unit sets a reference point P based on the positions of a display element and the actual display area in a drawing target area (22), in which a Web page is drawn, so that the display element is displayed in the actual display area, which is an area not covered with another window (16a) within a Web page display target area (20). For example, the control unit (a) displays the display element without changing the size and (b) minimizes a blank area that is created when the reference point P is moved, or (c) preferentially displays, from among a plurality of display elements, display elements that are relatively high in priority order in the actual display area.

摘要翻译： 对象的焦点部分被显示在实际显示区域中，该实际显示区域是设置在屏幕上可见的窗口内的显示目标区域的一部分，而不改变聚焦部分的尺寸和显示对象的布局。 控制单元基于绘制目标区域（22）中的显示元素和实际显示区域的位置来设置参考点P，其中绘制网页，使得显示元素显示在实际显示区域中 ，其是在网页显示目标区域（20）内未被另一个窗口（16a）覆盖的区域。 例如，控制单元（a）在不改变尺寸的情况下显示显示元件，（b）使多个显示元件中的基准点P移动时产生的空白区域或（c）优先显示的空白区域最小化 ，在实际显示区域中以优先顺序相对较高的显示元件。

公开(公告)号：US6045481A

公开(公告)日：2000-04-04

申请号：US264893

申请日：1999-03-09

申请人： Tomoharu Kumagai

发明人： Tomoharu Kumagai

IPC分类号： F16H15/38 ,  F16H61/04 ,  F16H61/662 ,  F16H61/664 ,  B60K41/12 ,  F16H13/10

CPC分类号： F16H61/6648 ,  F16H61/664 ,  F16H61/6649 ,  Y10T477/619

摘要： A control system for a toroidal continuously variable transmission which can control the transmission ratio without installing a position detection device or an angle detection device on trunnions and secure a sufficient control response to prevent hunting of the transmission ratio. To realize this control system, an axial force calculation device M3 calculates the axial force 2Ft in the trunnion axis direction that the transmission ratio control actuators are required to generate, based on the transmission ratio i calculated by a transmission ratio calculation device M1 from the input disk revolution speed .omega..sub.1 and the output disk revolution speed .omega..sub.2, and on the input torque Ti or output torque To estimated by a torque estimation device M2. An axial force change calculation device M4 calculates the amount of change in the axial force .DELTA.Ft based on the deviation between the target transmission ratio ic and the transmission ratio i. A target axial force calculation device M5 adds the axial force 2Ft to the amount of change in the axial force .DELTA.Ft to calculate the target axial force Fc. An actuator drive device M6 drives the actuators according to the target axial force Fc to match the transmission ratio i to the target transmission ratio ic.

摘要翻译： 一种用于环形无级变速器的控制系统，其可以在不在耳轴上安装位置检测装置或角度检测装置的情况下控制传动比，并确保足够的控制响应以防止传动比的波动。 为了实现该控制系统，轴向力计算装置M3基于由传动比计算装置M1从输入端计算出的传动比i，计算需要传动比控制致动器产生的耳轴方向上的轴向力2Ft 盘转速ω1和输出盘旋转速度ω2，以及由转矩估计装置M2估计的输入转矩Ti或输出转矩To。 轴向力变化计算装置M4基于目标变速比ic和变速比i之间的偏差来计算轴向力DELTA Ft的变化量。 目标轴向力计算装置M5将轴向力2Ft与轴向力DELTA Ft的变化量相加以计算目标轴向力Fc。 致动器驱动装置M6根据目标轴向力Fc驱动致动器，以将传动比i与目标传动比ic匹配。

公开(公告)号：US06024674A

公开(公告)日：2000-02-15

申请号：US979963

申请日：1997-11-26

申请人： Kazumi Sato ,  Kazuomi Kiku ,  Akio Fujii ,  Tomoharu Kumagai ,  Hiroyuki Abe

发明人： Kazumi Sato ,  Kazuomi Kiku ,  Akio Fujii ,  Tomoharu Kumagai ,  Hiroyuki Abe

IPC分类号： B60W10/02 ,  B60W10/04 ,  B60W10/06 ,  F02D29/00 ,  F02P5/15 ,  F16D48/02 ,  F16D48/06 ,  F16H61/02 ,  F16H61/14 ,  F16H9/00

CPC分类号： B60W10/06 ,  B60W10/02 ,  B60W10/04 ,  B60W10/107 ,  B60W30/1819 ,  B60W30/20 ,  F16D48/06 ,  F16D48/066 ,  F16H61/143 ,  F16D2500/1045 ,  F16D2500/3024 ,  F16D2500/30406 ,  F16D2500/30426 ,  F16D2500/3067 ,  F16D2500/50293 ,  F16D2500/7027 ,  F16D2500/70404 ,  F16D2500/70668 ,  Y10T477/67 ,  Y10T477/75 ,  Y10T477/753 ,  Y10T477/79

摘要： A frictional engaging clutch for an automatic vehicle transmission which discriminates judder which has occurred on the vehicle and controls to decrease the same. A clutch slip ratio is calculated, the calculated ratio is then converted into an ac waveform which is filtered by filters similar to a judder filter and a disturbance filter to extract frequency components of an appropriate range, and the number of times (NTEX) at which the filtered waveform peaks exceeds threshold values (appropriately set) is counted, and based on the counts, the judder is discriminated or determined. The configuration is simple and makes it possible to discriminate judder in an automatic vehicle transmission.

摘要翻译： 一种用于自动车辆变速器的摩擦接合离合器，其识别在车辆上发生的抖动并进行控制以减小其。 计算出离合器滑移比，然后将计算出的比率转换为由与抖动滤波器和扰动滤波器类似的滤波器滤波的交流波形，以提取适当范围的频率分量，并且其中的次数（NTEX） 对滤波波形峰值超过阈值（适当设定）进行计数，并根据计数，判断或确定抖动。 该结构简单，能够在自动车辆变速器中区分抖动。

公开(公告)号：US5421440A

公开(公告)日：1995-06-06

申请号：US112705

申请日：1993-08-26

申请人： Tomoharu Kumagai

发明人： Tomoharu Kumagai

IPC分类号： F16D48/06 ,  F16D48/08 ,  F16D28/00

CPC分类号： F16D48/064 ,  F16D48/06 ,  B60W2710/023 ,  B60W2710/027 ,  B60W2710/0661 ,  F16D2500/10412 ,  F16D2500/1045 ,  F16D2500/1085 ,  F16D2500/3026 ,  F16D2500/3067 ,  F16D2500/3068 ,  F16D2500/3144 ,  F16D2500/31466 ,  F16D2500/3166 ,  F16D2500/50224 ,  F16D2500/50239 ,  F16D2500/7061 ,  Y10T477/753 ,  Y10T477/76

摘要： An automatic transmission on an automobile is combined with a friction clutch coupled between the output shaft of an engine and the input shaft of the automatic transmission. The friction clutch is controlled selectively for engagement and disengagement by an electric actuator. The electric actuator is controlled by a controller to engage the friction clutch in a feedback loop such that the rate of change of the rotational speed of the engine is zero when the power from the engine starts to be transmitted by the friction clutch to the automatic transmission.

摘要翻译： 汽车上的自动变速器与耦合在发动机的输出轴和自动变速器的输入轴之间的摩擦离合器组合。 选择性地控制摩擦离合器以通过电致动器进行接合和分离。 电动执行器由控制器控制，以将摩擦离合器接合在反馈回路中，使得当来自发动机的动力开始通过摩擦离合器传递到自动变速器时，发动机转速的变化率为零 。

公开(公告)号：US5071398A

公开(公告)日：1991-12-10

申请号：US676874

申请日：1991-03-28

申请人： Takashi Hotta ,  Yukio Morita ,  Yoichi Kojima ,  Kimihiko Kikuchi ,  Tsunefumi Niiyama ,  Yorinori Kumagai ,  Shinichi Sakaguchi ,  Tomoharu Kumagai

发明人： Takashi Hotta ,  Yukio Morita ,  Yoichi Kojima ,  Kimihiko Kikuchi ,  Tsunefumi Niiyama ,  Yorinori Kumagai ,  Shinichi Sakaguchi ,  Tomoharu Kumagai

IPC分类号： F16H3/66

CPC分类号： F16H3/66 ,  F16H2200/0047 ,  F16H2200/201

摘要： A planetary gear transmission for use on automobiles includes an input shaft, an output gear, and three planetary gear trains disposed coaxially with each other and each having a sun gear element, a carrier element, and a ring gear element, two of the elements of each of the planetary gear trains being mechanically coupled to elements of the other planetary gear trains for rotation therewith. The elements which are mechanically coupled to each other provide first through fifth rotating members, the first and fifth rotating members being coupled to the input shaft, one of the second and third rotating members being coupled to the output gear, the fourth rotating member being coupled to the output gear. The planetary gear transmission also has a separating clutch disposed between the elements of the third rotating member, for selectively engaging and disengaging the elements of the third rotating member.

摘要翻译： 用于汽车的行星齿轮传动装置包括输入轴，输出齿轮和相互同轴设置的三个行星齿轮系，每个具有太阳齿轮元件，承载元件和环形齿轮元件，其中两个元件 每个行星齿轮系机械联接到另一个行星齿轮系的元件，以与其一起转动。 机械地彼此联接的元件提供第一到第五旋转构件，第一和第五旋转构件联接到输入轴，第二和第三旋转构件中的一个联接到输出齿轮，第四旋转构件联接 到输出齿轮。 行星齿轮传动装置还具有设置在第三旋转构件的元件之间的分离离合器，用于选择性地接合和分离第三旋转构件的元件。