公开(公告)号：JP2002202820A

公开(公告)日：2002-07-19

申请号：JP2000399979

申请日：2000-12-28

Applicant: KAWADA KOGYO KK

Inventor： TANABE YASUTADA ,  SHIMADA TERUO

IPC: B25J3/00 ,  G05D15/01 ,  G09B9/048

Abstract: PROBLEM TO BE SOLVED: To optionally set and vary characteristics of a reaction force applied to an input part. SOLUTION: This system is equipped with an actuator 1 which has a servomotor rotating a screw shaft of a ball screw mechanism and supplies a reaction force to the input part while displacing the input part by the relative movement between a screw shaft and a ball nut through the operation of the servomotor, a load cell 4d which outputs an external force signal showing the strength of the external force applied to the input part, a potentiometer 1g which outputs a position signal showing the position of the input part, a driver 2a which operates the servomotor so that the difference between a position command signal and the position signal is eliminated, a reaction force controller 2b which generates and outputs the position command signal according to the difference between the signal generated by adding a position signal made variable in value according to a reaction force/displacement gradient command signal, a speed signal found from the position signal through differentiation processing and made adjustable in value according to an attenuation factor command signal, and a stationary reaction force command signal and the external force signal, and a computer 3 which outputs the reaction force/displacement gradient command signal, the attenuation factor command signal, and stationary reaction force command signal according to arbitrary settings.

公开(公告)号：JP2010110038A

公开(公告)日：2010-05-13

申请号：JP2008276799

申请日：2008-10-28

Applicant: Kawada Kogyo Kk ,  川田工業株式会社

Inventor： MIYAMORI GO ,  SHIMADA TERUO

IPC: H02J7/34 ,  B25J19/00 ,  B25J19/06

Abstract: PROBLEM TO BE SOLVED: To obtain a power supply system for a robot, which reconciles the safety and the usefulness of the robot by adjusting its outputtable power, according to the degree of required safety, while materializing a large motor peak current.
SOLUTION: This power supply system for robot includes at least one power converting circuit, which includes a plurality of operation modes different in motor output level and gets DC power serving as drive power for motors on each shaft from a commercial AC power source, and a battery, which is charged with electricity from the power converting circuit. In the operation mode large in motor output level among the plurality of operation modes, the output from the battery is connected in parallel with output from the commercial AC power source.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：为了获得机器人的供电系统，其通过调节其可输出功率来调节机器人的安全性和有用性，根据所需的安全性，同时实现大的电动机峰值电流。 该解决方案：该机器人电源系统包括至少一个功率转换电路，其包括电动机输出电平不同的多个操作模式，并且获得用于来自商用AC电源的每个轴上的用于电动机的驱动力的DC功率 以及从电力转换电路充电的电池。 在多种操作模式中的电动机输出电平大的操作模式中，来自电池的输出与商用AC电源的输出并联连接。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2004105301A

公开(公告)日：2004-04-08

申请号：JP2002269028

申请日：2002-09-13

Applicant: Kawada Kogyo Kk ,  川田工業株式会社

Inventor： HIRAI MASAYUKI ,  SHIMADA TERUO

IPC: A61G3/00

Abstract: PROBLEM TO BE SOLVED: To enable a person sitting in a wheelchair to be comfortable during moving on a vehicle without spoiling the operability of the wheelchair itself.
SOLUTION: A wheelchair vibration-absorbing support device which supports the wheelchair 2 mounted on the vehicle for reducing the vibration of the wheelchair 2 is provided with: a vibration-absorbing mechanism 6 arranged on the floor 1a of an automobile to be erected or flattened for vertically moving a wheelchair support part 6a when erected; a vibration-absorbing mechanism locking part 8 for locking the vibration-absorbing mechanism 6 on the floor 1a standing in a state where the mechanism 6 can be unlocked; a wheelchair locking part 9 which positions the wheelchair 2 on the floor 1a at a position where the wheelchair support part 6a of the mechanism 6 in a standing state and a supported pin 2e of the wheelchair 2 engage with each other in a state where the wheelchair 2 can be unlocked; an acceleration sensor 11 for detecting the vertical movement of the support part 6a; and a vibration-absorbing mechanism controller which controls the mechanism 6 to operate based on the detecting result of the sensor 11 so that the support part 6a may vertically move while supporting the pin 2e so as to cancel the vertical movement of the support part 6a accompanying to the vertical movement of the floor 1a.
COPYRIGHT: (C)2004,JPO

公开(公告)号：JP2004024301A

公开(公告)日：2004-01-29

申请号：JP2002181170

申请日：2002-06-21

Applicant: Kawada Kogyo Kk ,  川田工業株式会社

Inventor： HIRAI MASAYUKI ,  SATO YUJI ,  SHIMADA TERUO

IPC: A63G31/04

Abstract: PROBLEM TO BE SOLVED: To enable a person riding on a target item oscillated by each of motion bases to physically feel the oscillation of the motion base in synchronism with either an image or an audio sound not in compliance with a bad or good physical state but in compliance with his or her preference even in the case that an oscillation instruction signal common to a plurality of motion bases is sent from a signal source together with either an image signal or an audio signal.
SOLUTION: There is provided a controller for motion bases in which a seat of item on which a person rides is oscillated by an actuator 1, wherein the actuator 1 is operated in response to a common motion signal sent from a broadcasting station B to a plurality of motion bases M1, M2 together with an image signal and an audio signal characterized in that there are provided a motion control unit 6 for outputting a drive signal for driving the actuator 1, and a riding comfortable feeling adjuster 5 mounted on the motion bases M1, M2, operated by a person seated on a seat unit for changing the motion signal sent from the broadcasting station B and supplying it to the motion control unit 6.
COPYRIGHT: (C)2004,JPO

公开(公告)号：JP2007015050A

公开(公告)日：2007-01-25

申请号：JP2005198293

申请日：2005-07-07

Applicant: Kawada Kogyo Kk ,  川田工業株式会社

Inventor： HIRATA MASARU ,  SHIMADA TERUO

IPC: B25J19/00 ,  B25J5/00 ,  H05K7/00

Abstract: PROBLEM TO BE SOLVED: To provide technology to solve difficulty of routing of various wiring in the inside of a mobile robot.
SOLUTION: A structure to bury the flexible printed wiring 152 in a layer structure is adopted as an outer-sheath 141 of an upper leg part 121 on the man type two-leg walking mobile robot. Wiring is carried out by installing the outer-sheath 141. In this structure, it is possible to reduce the wiring in the upper leg part 121 by an amount of the wiring buried in the outer-sheath 141.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供技术来解决移动机器人内部的各种布线路由的难度。 解决方案：采用将柔性印刷布线152埋入层结构中的结构作为人型双腿步行移动机器人上的上腿部121的外鞘141。 通过安装外护套141进行布线。在这种结构中，可以减少上部腿部121中的布线一定数量的埋在外鞘141中的布线。版权所有（C） ）2007，JPO＆INPIT

公开(公告)号：JP2004106602A

公开(公告)日：2004-04-08

申请号：JP2002268995

申请日：2002-09-13

Applicant: Kawada Kogyo Kk ,  川田工業株式会社

Inventor： TANABE YASUTADA ,  SHIMADA TERUO

IPC: B60N2/50 ,  F16F15/02 ,  G05D19/02

Abstract: PROBLEM TO BE SOLVED: To enhance reliability by reducing sensors which may cause trouble, and to make a control device inexpensive by simplifying the control.
SOLUTION: This base isolation device reduces vibration of a wheelchair 2 mounted on an automobile. The device is provided with a ball screw type electric base isolation mechanism 6 provided on a floor 1 of the automobile to vertically move the wheelchair 2 and having driving force suitable for weight of the wheelchair 2 and a sitting person, an acceleration sensor 11 for detecting upper and lower acceleration of the wheelchair 2, and a base isolation mechanism control device 12 to impart an acceleration signal from the acceleration sensor 11 as a position command signal to the base isolation mechanism 6 to cancel the vertical movement of the wheelchair 2 according to vertical movement of the floor 1 of the automobile.
COPYRIGHT: (C)2004,JPO