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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。
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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
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.
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公开(公告)号：US5455497A
公开(公告)日：1995-10-03
申请号：US49494
申请日：1993-04-19
申请人： Masato Hirose , Hiroshi Gomi , Hideaki Takahashi , Toru Takenaka , Masao Nishikawa , Tadanobu Takahashi
发明人： Masato Hirose , Hiroshi Gomi , Hideaki Takahashi , Toru Takenaka , Masao Nishikawa , Tadanobu Takahashi
IPC分类号： B62D57/032 , B25J11/00 , G05B19/00
CPC分类号： B62D57/032
摘要： A legged mobile robot having a body and two legs each connected to the body. The robot is quipped with a mechanism for absorbing and moderating impacts produced by external forces during footfall or the like. The mechanism includes an elastic member interposed between the body and legs, or interposed between the leg links, or interposed between the distal end of the legs and foot portions. The robot further has a foot structure for enhancing the ground gripping force and absorbs the impacts. For enhancing the gripping force, the foot sole is provided, for example, with a first elastic member and second elastic member sandwiching a plate spring therebetween. The first elastic member absorbs the impacts, while the second elastic member enhancing the gripping force. The plate spring restrict the deformation of the elastic members in the direction vertical to the foot sole. The invention further includes a locomotion control system using one shock absorbing mechanism.
摘要翻译： 具有身体和腿部的腿式移动机器人各自连接到身体。 机器人用于吸收和调节在脚步等期间由外力产生的冲击的机构。 该机构包括插入在主体和腿部之间或插入在腿部连杆之间或插入在腿部和脚部的远端之间的弹性构件。 机器人还具有用于增强地面夹持力并吸收冲击的脚结构。 为了增强夹持力，鞋底例如由第一弹性构件和夹在其间的板簧的第二弹性构件设置。 第一弹性构件吸收冲击，而第二弹性构件增强夹紧力。 板簧限制弹性构件在与鞋底垂直的方向上的变形。 本发明还包括使用一个减震机构的运动控制系统。
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公开(公告)号：US5416393A
公开(公告)日：1995-05-16
申请号：US65124
申请日：1993-05-20
申请人： Hiroshi Gomi , Masao Nishikawa , Masato Hirose , Hideaki Takahashi , Takashi Matsumoto , Akira Takeno
发明人： Hiroshi Gomi , Masao Nishikawa , Masato Hirose , Hideaki Takahashi , Takashi Matsumoto , Akira Takeno
IPC分类号： B62D57/032 , G05B19/00
CPC分类号： B62D57/032
摘要： A foot structure of a biped waling mobile robot having a body and two articulated legs each having a foot at its distal end. In the foot structure, a movable foot piece is housed in each foot which is driven by an actuator to be swung out to enlarge the ground contact surface. A controller provided for the actuator and based on a condition of walking such as stair descending, it controls the operation of the actuator such that the foot's ground contact surface is enlarged. The structure has another aspect in which a ratio between distances from a point at which the foot is connected to the leg to the foot ends can also be adjusted in response to the walking condition. Moreover, the foot can be arranged such that the foot is configured to have portions to be contact with the ground at its four corners and the movable foot pieces have additional contact portion enlarging or reducing the ground contact portions.
摘要翻译： 具有身体的两足动物移动机器人的脚部结构和两个铰接腿，每个脚在其远端具有脚。 在脚结构中，每个脚中容纳有可动脚部，由致动器驱动以摆动以扩大接地面。 为执行器提供的控制器，并且基于诸如楼梯下降的行走状态，其控制致动器的操作，使得脚的接地面增大。 该结构还具有另外一个方面，其中从脚部连接到腿部到脚部的点之间的距离之间的比率也可以响应于行走状况来调节。 此外，脚可以布置成使得脚被配置为具有在其四个角处与地面接触的部分，并且可动脚部具有扩大或减小接地部分的附加接触部分。
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5.发明授权Legged walking robot and system for controlling the same 失效LEGGED WALKING ROBOT AND SYSTEM FOR CONTROLLING THE SAME
公开(公告)号：US5151859A
公开(公告)日：1992-09-29
申请号：US545282
申请日：1990-06-27
申请人： Ryutaro Yoshino , Hiroshi Gomi , Masao Nishikawa , Masato Hirose
发明人： Ryutaro Yoshino , Hiroshi Gomi , Masao Nishikawa , Masato Hirose
IPC分类号： B25J13/08 , B25J5/00 , B25J9/18 , B62D57/032
CPC分类号： B62D57/032
摘要： A biped walking robot and system for controlling the robot. The system provides smooth posture control by eliminating interference arising between the frictional force of the ground acting on the legs of the robot and the driving force of the leg joints. A six-dimensional force and torque sensor is provided to detect six force or moment components and based thereon, an angular command to joint motors is corrected. A joint structure of the robot is described, wherein the axes of the drive joints are arranged at right-angles to one another to thereby enable accurate positional control to be effected using Cartesian coordinates.
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公开(公告)号：US5445235A
公开(公告)日：1995-08-29
申请号：US67314
申请日：1993-05-26
CPC分类号： B60R21/34 , B25J19/0075 , B25J19/06 , B62D57/02
摘要： An impact absorber for a legged mobile robot having a body and two legs each connected to the body for absorbing impact arising when the robot collides with pipes or other objects in its walking environment so as to protect both the robot and the object. In a first embodiment, the impact absorber comprises a balloon disposed around the body and filled with air. When the balloon comes into contact with the object, it is deflated so as to absorb impact arising from the contact. In a second embodiment, the impact absorber comprises a cylinder fixed to the robot leg and a piston slidably disposed in the cylinder so as to define a chamber filled with an oil. A flat member is fixed to the rod of the piston and when it comes into contact with the object, the piston is thrust into the cylinder so as to absorb the impact. The impact absorber may be a resilient material coating on the robot to cushion the impact when the robot comes into contact with the object, or it may include air bags.
摘要翻译： 一种用于腿式移动机器人的冲击吸收器，其具有主体和两个腿，每个腿连接到主体，用于吸收机器人在其行走环境中与管道或其他物体碰撞时产生的冲击，以保护机器人和物体。 在第一实施例中，冲击吸收器包括设置在身体周围并充满空气的球囊。 当气球与物体接触时，它被放气以吸收由接触引起的冲击。 在第二实施例中，冲击吸收器包括固定到机器人腿部的圆柱体和可滑动地设置在气缸中以便限定填充有油的腔室的活塞。 平面构件固定在活塞杆上，当与物体接触时，活塞被推入气缸中以吸收冲击。 冲击吸收器可以是机器人上的弹性材料涂层，以在机器人与物体接触时缓冲冲击，或者其可以包括气囊。
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公开(公告)号：US5258680A
公开(公告)日：1993-11-02
申请号：US897106
申请日：1992-06-11
申请人： Tadanobu Takahashi , Hiroshi Gomi , Masato Hirose , Masao Nishikawa , Masaru Ozawa , Takashi Hotta
发明人： Tadanobu Takahashi , Hiroshi Gomi , Masato Hirose , Masao Nishikawa , Masaru Ozawa , Takashi Hotta
CPC分类号： H02K3/04 , H02K15/0478
摘要： An armature winding structure for use in an electric motor includes a web-shaped strand bundle composed of a plurality of parallel strands. The strand bundle has a plurality of longitudinally spaced bends and a plurality of straight strand bundle segments. Adjacent ones of the strand bundle segments are positioned one on each side of one of the bends. The strand bundle segments are transversely staggered on one side of the strand bundle successively from one end to the other of the strand bundle, by intervals each substantially equal to the width of the strand bundle. The strand bundle segments thus staggered are longitudinally folded over along fold lines extending respectively across or near the bends transversely of the strand bundle, thereby providing a plate-like winding in which the strand bundle segments lie adjacent to one another.
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公开(公告)号：US5261316A
公开(公告)日：1993-11-16
申请号：US774463
申请日：1991-10-10
申请人： Masao Nishikawa , Masaru Ozawa , Masato Hirose
发明人： Masao Nishikawa , Masaru Ozawa , Masato Hirose
摘要： An articulated mechanism for use as an articulated arm of an industrial robot, for example, includes a plurality of arms interconnecting articulations having respective fluid pressure angular displacement motors for angularly displacing the arms relatively to each other. The motors have sidewalls forming working chambers, where an inner surface of the sidewall is exposed to working fluid pressure tending to bow the sidewall outward, and an outer surface of the sidewall has a plurality of counteracting pressure chambers which apply a counteracting pressure force against the sidewall to oppose the outward bowing force, the counteracting pressure force increasing in pressure surface area as the piston is displaced within the motor chamber.
摘要翻译： 例如，用作工业机器人的铰接臂的铰接机构包括多个臂，其将具有相应的流体压力角位移电动机的关节连接起来，用于相对于彼此角度地移位臂。 电动机具有形成工作室的侧壁，其中侧壁的内表面暴露于倾向于向外侧向侧壁弯曲的工作流体压力，并且侧壁的外表面具有多个反作用压力室，其施加抵抗 侧壁反对向外的弯曲力，当活塞在电动机室内移动时，压力表面积的反作用力增加。
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公开(公告)号：US5107754A
公开(公告)日：1992-04-28
申请号：US291795
申请日：1988-12-29
申请人： Masao Nishikawa , Masaru Ozawa , Masato Hirose
发明人： Masao Nishikawa , Masaru Ozawa , Masato Hirose
摘要： An articulated mechanism for use as an articulated arm of an industrial robot, for example, includes a plurality of arms interconnecting articulations having respective fluid pressure angular displacement motors for angularly displacing the arms relatively to each other. A plurality of pipes are positioned in the arms, respectively, for supplying a fluid under pressure to the articulations, and a plurality of oil passages are disposed in the articulations, respectively, and branched from the pipes, respectively, to supply the fluid under pressure to the fluid pressure motors.
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公开(公告)号：US4960040A
公开(公告)日：1990-10-02
申请号：US290246
申请日：1988-12-23
申请人： Tomoharu Kamagai , Masato Hirose , Masao Nishikawa
发明人： Tomoharu Kamagai , Masato Hirose , Masao Nishikawa
CPC分类号： B25J19/0029 , B25J9/06 , B25J9/14
摘要： An arm structure for use in an articulated mechanism such as an industrial robot comprises a plurality of links operatively interconnected by articulations having respective actuators and actuatable by the actuators under a fluid pressure. Each of the links comprises a hollow cylindrical casing and an accumulator comprising a pipe extending axially through the casing and a rubber tube disposed around the pipe. The tube is radially inflatable by the pressure of the fluid supplied into the space between the pipe and the tube through small holes defined in the wall of the pipe and the cylindrical casing is pressurized.
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