公开(公告)号：US07946767B2

公开(公告)日：2011-05-24

申请号：US12168235

申请日：2008-07-07

申请人： Ryuta Nakajima ,  Tsuyoshi Nomoto ,  Takuya Hosobata

发明人： Ryuta Nakajima ,  Tsuyoshi Nomoto ,  Takuya Hosobata

IPC分类号： F16C32/06

CPC分类号： F16C29/025 ,  F16C32/0618 ,  F16C32/0666 ,  F16C33/748 ,  F16C2380/18

摘要： A hydrostatic bearing configured to slide along a sliding surface of a structural body in a non-contact manner, the hydrostatic bearing includes a jetting part having a jetting surface configured to jet air onto the sliding surface; and a suction part having a suction surface configured to suction the air jetted from the jetting surface onto the sliding surface. The suction surface is situated at one of an internal circumferential side and an external circumferential side of the jetting part and is positioned higher than a lower end of the jetting part.

摘要翻译： 静压轴承构造成以非接触方式沿着结构体的滑动表面滑动，静压轴承包括具有喷射表面的喷射表面的喷射部分，喷射表面被配置为将空气喷射到滑动表面上; 以及具有吸引表面的抽吸部件，其被构造成将从喷射表面喷射的空气吸入滑动表面。 吸引面位于喷射部的内周侧和外周侧之一，并且位于比喷射部的下端高的位置。

公开(公告)号：US20090016651A1

公开(公告)日：2009-01-15

申请号：US12168235

申请日：2008-07-07

申请人： RYUTA NAKAJIMA ,  Tsuyoshi Nomoto ,  Takuya Hosobata

发明人： RYUTA NAKAJIMA ,  Tsuyoshi Nomoto ,  Takuya Hosobata

IPC分类号： F16C32/06

CPC分类号： F16C29/025 ,  F16C32/0618 ,  F16C32/0666 ,  F16C33/748 ,  F16C2380/18

摘要： A hydrostatic bearing configured to slide along a sliding surface of a structural body in a non-contact manner, the hydrostatic bearing includes a jetting part having a jetting surface configured to jet air onto the sliding surface; and a suction part having a suction surface configured to suction the air jetted from the jetting surface onto the sliding surface. The suction surface is situated at one of an internal circumferential side and an external circumferential side of the jetting part and is positioned higher than a lower end of the jetting part.

摘要翻译： 静压轴承构造成以非接触方式沿着结构体的滑动表面滑动，静压轴承包括具有喷射表面的喷射表面的喷射部分，喷射表面被配置为将空气喷射到滑动表面上; 以及具有吸引表面的抽吸部件，其被构造成将从喷射表面喷射的空气吸入滑动表面。 吸引面位于喷射部的内周侧和外周侧之一，并且位于比喷射部的下端高的位置。

公开(公告)号：US20090200090A1

公开(公告)日：2009-08-13

申请号：US11630784

申请日：2005-07-28

申请人： Atsuo Takanishi ,  Kenji Hashimoto ,  Akihiro Ohta ,  Takuya Hosobata ,  Yusuke Sugahara ,  Yutaka Mikuriya ,  Masamiki Kawase ,  Hiroyuki Sunazuka ,  Chiaki Tanaka ,  Yoichi Takamoto ,  Katsuyuki Baba ,  Shigeaki Ino

发明人： Atsuo Takanishi ,  Kenji Hashimoto ,  Akihiro Ohta ,  Takuya Hosobata ,  Yusuke Sugahara ,  Yutaka Mikuriya ,  Masamiki Kawase ,  Hiroyuki Sunazuka ,  Chiaki Tanaka ,  Yoichi Takamoto ,  Katsuyuki Baba ,  Shigeaki Ino

IPC分类号： B62D57/032 ,  B25J5/00 ,  B25J13/08

CPC分类号： B25J13/085 ,  B25J19/0004

摘要： The present invention provides a multiple-point grounding type foot portion supporting mechanism having excellent reliability, in which the respective supporting points passively follow unevenness of the grounding surface such as a road surface, and which is capable of quickly supporting foot bottoms at polygonal points and preventing falling over even on a grounding surface having level differences by fixing the supporting points when all supporting points are grounded. The multiple-point grounding type foot portion supporting mechanism includes: base portions each disposed on the foot bottom of the foot portion of a walking robot; three or more foot bottom supporting portions each having its one end part disposed and protruding downward from the bottom face of the base portion, each of which independently moves upward when being grounded and is slidably or rotatably supported; grounding sensors each disposed at the base portion or the foot bottom supporting portion, which detect grounding of the respective foot bottom supporting portions; and lock mechanisms disposed at the base portion, which control and brake the movements of all foot bottom supporting portions when the grounding sensors detect grounding of all foot bottom supporting portions.

摘要翻译： 本发明提供一种具有优异的可靠性的多点接地型脚部支撑机构，其中各个支撑点被动地跟随诸如路面的接地面的不平坦，并且能够在多边形点处快速地支撑脚底部， 当所有支撑点接地时，通过固定支撑点来防止甚至在具有电平差的接地表面上落下。 多点接地型脚部支撑机构包括：各自设置在步行机器人的脚部的脚底部的基部; 三个或更多个脚底部支撑部分，每个底部支撑部分的一个端部从基部的底面设置并向下突出，每个底部支撑部分在接地时独立地向上移动并且可滑动或可旋转地支撑; 接地传感器，每个接地传感器设置在基部或底部底部支撑部分处，其检测相应的脚底支撑部分的接地; 以及设置在基部的锁定机构，当接地传感器检测到所有脚底支撑部分的接地时，其控制和制动所有脚底支撑部分的运动。

公开(公告)号：US07948198B2

公开(公告)日：2011-05-24

申请号：US12219846

申请日：2008-07-29

申请人： Takuya Hosobata

发明人： Takuya Hosobata

IPC分类号： H02K41/00

CPC分类号： H01L21/682 ,  G03F7/70766 ,  H01L21/68785 ,  Y10S248/913

摘要： Increasing in size of a reaction force cancel system is suppressed. The reaction force cancel system is provided in a stage device including: a surface plate having a plurality of plate surfaces with different heights from each other, and installed on a floor via a vibration-isolating spring; and stages disposed on the plate surfaces respectively, and moving on the plate surfaces, and cancels reaction forces generated on the surface plate upon movements of the stages. In addition, the reaction force cancel system includes a first and a second reaction force canceling actuator that apply counter-thrusts to the surface plate, and a control section that controls the magnitudes of the counter-thrusts. In the reaction force cancel system, the heights of action points of counter-thrusts in the surface plate are different from each other, and the control section controls the counter-thrusts so as to counterbalance the reaction forces as resultant forces and resultant moments.

摘要翻译： 抑制了反作用力取消系统的大型化。 反作用力取消系统设置在舞台装置中，包括：具有彼此不同高度的多个板表面的表面板，并且经由防振弹簧安装在地板上; 以及分别设置在板表面上并在板表面上移动的台阶，并且在阶段的移动时消除在表面板上产生的反作用力。 此外，反作用力取消系统包括将反推力施加到表面板的第一和第二反作用力消除致动器，以及控制反推力的大小的控制部。 在反作用力取消系统中，表面板中的反推力的作用点的高度彼此不同，并且控制部分控制反推力，以将反作用力作为合力和合成力矩平衡。

公开(公告)号：US07944166B2

公开(公告)日：2011-05-17

申请号：US12219847

申请日：2008-07-29

申请人： Takuya Hosobata ,  Kazuya Hioki

发明人： Takuya Hosobata ,  Kazuya Hioki

IPC分类号： G05B11/32

CPC分类号： H01L21/682 ,  G03F7/70766 ,  G03F7/70825 ,  G03F7/709

摘要： Stabilization of a stage in a movable stage apparatus is enhanced, and increasing in size of the movable stage apparatus is suppressed. A reaction force cancel system is provided in the movable stage apparatus where a stage moves on a surface plate installed on a floor via a vibration-isolating spring, and cancels a reaction force generated on the surface plate upon movement of the stage. The reaction force cancel system includes a reaction force canceling actuator for applying a counter-thrust that is a force for reducing the reaction force to the surface plate. The reaction force canceling actuator is arranged at a lower position than a top surface of the surface plate so that the surface plate hangs over the reaction force canceling actuator.

摘要翻译： 增加了可移动平台装置中的平台的稳定性，并且抑制了可移动平台装置的尺寸的增加。 在可移动平台装置中设置有反作用力取消系统，其中台架通过隔振弹簧在安装在地板上的平板上移动，并且在台架移动时抵消在表面板上产生的反作用力。 反作用力取消系统包括反作用力消除致动器，用于施加作为将反作用力减小到表面板的力的反作用力。 反作用力消除致动器布置在比表面板的顶表面更低的位置处，使得表面板悬挂在反作用力取消致动器上。

公开(公告)号：US20090284207A1

公开(公告)日：2009-11-19

申请号：US12219847

申请日：2008-07-29

申请人： Takuya Hosobata ,  Kazuya Hioki

发明人： Takuya Hosobata ,  Kazuya Hioki

IPC分类号： G05B5/01

CPC分类号： H01L21/682 ,  G03F7/70766 ,  G03F7/70825 ,  G03F7/709

摘要： Stabilization of a stage in a movable stage apparatus is enhanced, and increasing in size of the movable stage apparatus is suppressed. A reaction force cancel system is provided in the movable stage apparatus where a stage moves on a surface plate installed on a floor via a vibration-isolating spring, and cancels a reaction force generated on the surface plate upon movement of the stage. The reaction force cancel system includes a reaction force canceling actuator for applying a counter-thrust that is a force for reducing the reaction force to the surface plate. The reaction force canceling actuator is arranged at a lower position than a top surface of the surface plate so that the surface plate hangs over the reaction force canceling actuator.

摘要翻译： 增加了可移动平台装置中的平台的稳定性，并且抑制了可移动平台装置的尺寸的增加。 在可移动平台装置中设置有反作用力取消系统，其中台架通过隔振弹簧在安装在地板上的平板上移动，并且在台架移动时抵消在表面板上产生的反作用力。 反作用力取消系统包括反作用力消除致动器，用于施加作为将反作用力减小到表面板的力的反作用力。 反作用力消除致动器布置在比表面板的顶表面更低的位置处，使得表面板悬挂在反作用力取消致动器上。

公开(公告)号：US20090278411A1

公开(公告)日：2009-11-12

申请号：US12219846

申请日：2008-07-29

申请人： Takuya Hosobata

发明人： Takuya Hosobata

IPC分类号： H02K41/035

CPC分类号： H01L21/682 ,  G03F7/70766 ,  H01L21/68785 ,  Y10S248/913

摘要： Increasing in size of a reaction force cancel system is suppressed. The reaction force cancel system is provided in a stage device including: a surface plate having a plurality of plate surfaces with different heights from each other, and installed on a floor via a vibration-isolating spring; and stages disposed on the plate surfaces respectively, and moving on the plate surfaces, and cancels reaction forces generated on the surface plate upon movements of the stages. In addition, the reaction force cancel system includes a first and a second reaction force canceling actuator that apply counter-thrusts to the surface plate, and a control section that controls the magnitudes of the counter-thrusts. In the reaction force cancel system, the heights of action points of counter-thrusts in the surface plate are different from each other, and the control section controls the counter-thrusts so as to counterbalance the reaction forces as resultant forces and resultant moments.

摘要翻译： 抑制了反作用力取消系统的大型化。 反作用力取消系统设置在舞台装置中，包括：具有彼此不同高度的多个板表面的表面板，并且经由防振弹簧安装在地板上; 以及分别设置在板表面上并在板表面上移动的台阶，并且在阶段的移动时消除在表面板上产生的反作用力。 此外，反作用力取消系统包括将反推力施加到表面板的第一和第二反作用力消除致动器，以及控制反推力的大小的控制部。 在反作用力取消系统中，表面板中的反推力的作用点的高度彼此不同，并且控制部分控制反推力，以将反作用力作为合力和合成力矩平衡。