Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Mitsuba Corporation

Susumu Miyazaki

Kazushi Hamaya

Tohru Yumoto

Hisashi Ishida

Hideaki Takahashi

Takuro Koyanagi

Masaki Ishizeki

Kenichi Ogawa

Toru Takenaka

Tetsuya Ishikawa

Hiroshi Gomi

Hiroshi Matsuda

Atsushi Demachi

Toshiyuki Higashi

Makoto Shishido

Yasuhisa Saito

Teruyuki Oka

Toratsugu Kuwahara

Takahide Yoshiike

Yosuke Fujii

Masanori Takeda

Yuichi Uebayashi

Masakazu Kawai

Hironori Waita

Hiroyuki Kaneko

Masao Kanazawa

Masato Hayakawa

Satoshi Shigemi

Ryuma Ujino

Taichi Yamamoto

Tomoko Otani

A rotor includes a rotary shaft having a non-magnetic body, a plurality of rotor cores, and a plurality of permanent magnets disposed between the plurality of rotor cores, wherein a concave section extending in an axial direction is formed in any one of the non-magnetic body and a base end of the rotor core, and a convex section fitted into the concave section is formed at the other, the concave section is formed by a key groove section and a dovetail groove section in communication with each other, the convex section is formed by a key section configured to fit into the key groove section and a dovetail protrusion configured to fit into the dovetail groove section, the key section and the dovetail protrusion being integrally formed with each other, and a gap is formed between the dovetail groove section and the dovetail protrusion in the circumferential direction.

Rotor and motor

An arm link () is rotatably coupled to an upper base body () around a yaw axis through a shoulder joint mechanism (). A fulcrum P of rotation of the arm link () is located within a range of widths of the upper base body () in a vertical direction and a horizontal direction of the upper base body ().

Robot having a base body, a shoulder joint mechanism assembly, and a movable link coupled to the base body through the shoulder joint mechanism assembly

An elastic sectionis configured by a first elastic sectionthat has one end connected to an outer circumferential surface of an inner circumferential section, and the other end connected to an inner circumferential surface of an outer circumferential section, and a second elastic sectionthat is symmetrical to the first elastic sectionabout a line that passes through a center point Pof the inner circumferential sectionand a connection point Pof the inner circumferential sectionand the first elastic section. When the outer circumferential sectionand the inner circumferential sectionrelatively rotate, the first elastic sectionand the second elastic sectionare elastically deformed in such a manner that one is compressed and the other is stretched.

Annular spring, and torque detecting device and robot joint mechanism using the annular spring

A hand device includes: a hand base (); a first finger () which extends from a tip of the hand base () in a longitudinal direction while bending to the hand base (); a second finger () attached to the hand base () so as to face a surface of the hand base () side of a tip of the first finger (); and a drive mechanism () which actuates the second finger () so that a tip of the second finger () approaches or separates from the first finger ().

Hand device, robot arm, and robot

On an inner peripheral surface of an outer peripheral membera recessis formed to which a pipe springis fitted. On an outer peripheral surface of an inner peripheral memberarranged concentrically with and rotatable relatively to the outer peripheral memberon an inner peripheral side of the outer peripheral membera cam surfaceis formed which abuts against the pipe springThe cam surfaceprotrudes in the radial direction as it is farther away in the circumferential direction of the outer peripheral memberfrom the point of contact with the pipe springin the state where no load is applied.

Annular spring and robot joint mechanism using the same

The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.

Legged mobile robot and control system thereof

A first link memberis swingably connected to the base memberon a forward side, and a second link memberis swingably connected to the base memberon a backward side. A third link memberis swingably connected to the output memberon the forward side, and a fourth link memberis swingably connected to the output memberon the backward side. A swinging end of the third link memberis swingably connected to the first link memberon a first connecting axis J, and a swinging end of the fourth link memberon the backward side is swingably connected to the first link memberon a second connecting axis J. A swinging end of the second link memberis swingably connected to the fourth link memberon a third connecting axis J

Link mechanism

A robotis equipped with a legincluding a knee jointconnecting a thigh linkand a crus link. The knee jointis equipped with a connecting rod, one end of which is connected so as to be freely rotatable with respect to an axisof the crus linkand the other end of which is connected so as to be freely rotatable to an axisof the thigh link, and a distance varying mechanismwhich changes the distance between an axisof the crus linkand an axisof the thigh linkby a driving force of an electric motor. When a bending angle of the knee jointis 0 degree, a sum of the distance between the axisand axisand the distance between the axisand the axis, is smaller than the distance between the axisand the axis

Legged mobile robot

A brushless motor according to the present invention is provided with a tubular stator case, a stator core fitted into the stator case, and a rotor rotatably supported via a bearing inside the stator core. The stator core includes a tubular yoke portion and a plurality of split cores which are detachably mounted on the tubular yoke portion. A plurality of commutating-pole teeth which extend radially inward are integrally formed on an inner peripheral surface of the tubular yoke portion at regular intervals in the peripheral direction of the tubular yoke portion; and a root portion of each of the commutating-pole teeth has inclined shoulders which are gradually enlarged radially outward.

Brushless motor

In a legged mobile robot having a body and legs connected to the body, a seating aid is provided at its body so as to enable to sit on a seat. With this, the space occupied by the robot can be decreased to reduce space during storage and transport, and also enhance safety in the course of transport. In addition, maintenance work is simplified because immobilization in the seated condition is possible. Still further, the range of works is expanded to enable deskwork and the like. Further, the seating aid is provided at a location that is rearward of a center of gravity of the robot when the robot is seated. With this, the moment acting on the robot about the center of gravity during seating does not operate to tilt the robot rearward and, therefore, the robot can be enabled to keep a stable posture from before to after sitting down.

A brushless motor is provided with: a tubular stator case; a stator core; a rotor rotatably supported via a bearing inside the stator core; a bracket which closes an opening at one end of the stator case; a coil bobbin around which a coil is wound is mounted on an inner peripheral surface of the stator core; a lead wire which feeds power to the coil; and a wiring substrate which relays a connection between one end of the lead wire and the coil, wherein: a drawn-out hole is formed on the bracket at the position corresponding to the connection point of said one end of the lead wire and the wiring substrate such that the other end of the lead wire is drawn outward; and a harness guide is provided on a peripheral edge of the drawn-out hole such that the drawn lead wire is bent and fixed.

A legged mobile robot and a control program for the robot cancel a spin force, which is generated by motions of a lower body (), a leg () or the like, by a twisting motion of an upper body () relative to the lower body () and a swinging motion of an arm ().

Legged mobile robot and control program for the robot

A brushless motor according to the present invention is provided with: a tubular stator case; a stator core fitted into the stator case; and a rotor rotatably supported via a bearing inside the stator core, wherein: an inner flange portion which extends radially inward is formed at a peripheral edge of an opening of one end of the stator case; and a bracket is fixed to the inner flange portion while contacting therewith so as to close the opening.

A leg type mobile robot includes a foot joined to a distal end of a leg through a second joint. The foot includes a foot flat portion having a ground contact end of the foot, a movable portion joined to the second joint and configured to be movable in a first direction with respect to the foot flat portion, a shock absorber comprising first and second end portions allowed to move closer to or away from each other in a second direction, the first end portion of the shock absorber being joined to a first point of the movable portion, and a motion direction conversion mechanism configured to convert a motion of the movable portion in the first direction to a motion of the second end portion of the shock absorber in the second direction with respect to the first point of the movable portion.

Leg type mobile robot

A brushless motor according to the present invention is provided with: a tubular stator case; a stator core; and a rotor. The stator core includes a tubular yoke portion and a plurality of split cores. A plurality of dovetail grooves are formed in an inner peripheral surface of the yoke portion; each split core has a coil bobbin which has a mounting hole so as to penetrate in a radial direction, and a split teeth which is mounted into the mounting hole of the coil bobbin. The coil bobbin has a winding portion, and flange portions, and a clearance portion into which a winding starting end of the coil is strayed from the winding portion is formed on the inside of the one of the flange portions by reducing the thickness of the flange portion such that.

Growing community of inventors

Wako, Japan

Susumu Miyazaki