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公开(公告)号：US12126237B2
公开(公告)日：2024-10-22
申请号：US17405353
申请日：2021-08-18
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Kenichi Shirato , Masahiro Ozawa , Kazuhide Takata
Abstract: A linear vibration motor and a linear vibration system include a housing, a moving member, a drive unit including a driving coil and driving magnets, and a bias unit including a biasing electromagnet and biasing magnets. The moving member vibrates in a first direction substantially orthogonal to a winding axis of the driving coil with Lorentz force generated by a magnetic field formed by the driving coil and a magnetic field formed by the driving magnets. The biasing electromagnet and the biasing magnets are disposed such that the same poles substantially face each other, and the moving member is biased in the first direction by a magnetic spring generated from a repulsive force between the biasing electromagnet and the biasing magnets. Moreover, a magnetic spring constant of the magnetic spring varies with variation in a value of a current flowing through a biasing coil.
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公开(公告)号：US09089460B2
公开(公告)日：2015-07-28
申请号：US14657014
申请日：2015-03-13
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Kenichi Shirato , Shigeru Tsuji , Masayuki Kubo
CPC classification number: A61G5/04 , A61G5/1089 , A61H3/04 , A61H2003/043 , A61H2201/5007 , A61H2201/5069 , G05B15/02 , G05D1/0891
Abstract: A pushcart in which a user can adjust a balance direction based on his/her own sense even on a slope. The pushcart includes a pair of wheels, driving units, a pair of wheels are supported on a main body unit in a rotatable manner, a grip portion provided on another side of the main body unit, and a support portion that is connected to the main body unit on one side so as to be capable of rotating in a pitch direction and supports assist wheels in a rotatable manner on another side. An angle formed between the main body unit and a direction orthogonal to the ground surface is estimated based on detected angle between the main body and the support portion. An attitude of the main body unit in the pitch direction is controlled based on a target pitch angle corrected using a correction value.
Abstract translation: 用户可以根据自己的感觉即使在坡度上也可以调整平衡方向的手推车。 手推车包括一对车轮，驱动单元，一对轮以可旋转的方式支撑在主体单元上，夹持部分设置在主体单元的另一侧，以及支撑部分，其连接到主体 主体单元能够以俯仰方向旋转并且以可旋转的方式在另一侧支撑辅助轮。 基于主体和支撑部之间的检测角度，估计在主体单元和与地面垂直的方向之间形成的角度。 基于使用校正值校正的目标俯仰角来控制主体单元在俯仰方向上的姿势。
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公开(公告)号：US20150183463A1
公开(公告)日：2015-07-02
申请号：US14658566
申请日：2015-03-16
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Kenichi Shirato , Shigeru Tsuji
CPC classification number: B62D11/003 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62D11/02 , B62K11/007
Abstract: Provided is a pushcart that can automatically change a yaw rotation range. A first main wheel (11A) and a second main wheel (11B) are respectively driven and controlled so that a change of angle in a yaw direction falls within a range of given target values (a first target value and a second target value). In the case where a yaw angular velocity ω is determined to be in a range from −α to α, a control unit (21) controls the first main wheel (11A) and the second main wheel (11B) so that the yaw angular velocity ω becomes 0, and corrects the yaw angular velocity to 0 (or a value near 0). Accordingly, the yaw angular velocity ω falls within the range from the first target value to the second target value (−α to α).
Abstract translation: 提供了可以自动改变偏航旋转范围的手推车。 分别驱动和控制第一主轮（11A）和第二主轮（11B），使得偏航方向上的角度变化落在给定目标值（第一目标值和第二目标值）的范围内。 在偏航角速度ω被确定在-α至α的范围内的情况下，控制单元（21）控制第一主轮（11A）和第二主轮（11B），使得偏航角速度 ω变为0，并将偏航角速度校正为0（或接近0的值）。 因此，偏航角速度ω落在从第一目标值到第二目标值（-α〜α）的范围内。
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公开(公告)号：US20170129523A1
公开(公告)日：2017-05-11
申请号：US15409886
申请日：2017-01-19
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Yoshitaka Hane , Kenichi Shirato
CPC classification number: B62B5/0414 , A61H3/04 , A61H2003/002 , A61H2003/046 , A61H2201/0188 , A61H2201/1253 , A61H2201/1463 , A61H2201/1635 , A61H2201/5002 , A61H2201/5061 , A61H2201/5069 , A61H2201/5071 , A61H2201/5079 , A61H2201/5084 , A61H2201/5092 , B62B3/04 , B62B5/0033 , B62B5/06
Abstract: A handcart (includes a main body unit, a pair of main wheels provided to the main body unit, a grip unit that is provided to the main body unit and gripped by a user, a grip switch that detects whether the user is gripping the grip unit, a tilt angle sensor, a camera, an acceleration sensor, or other devices that detect the state of the cart body, and a wheel lock mechanism that locks the main wheels if the grip switch does not detect user's gripping of the grip unit and if the cart body is in a predetermined state, for example, if it is detected by the acceleration sensor or other devices that the cart body is moving. This configuration provides a handcart that locks the wheels without necessarily compromising usability.
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公开(公告)号：US20150183482A1
公开(公告)日：2015-07-02
申请号：US14656957
申请日：2015-03-13
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Masayuki Kubo , Kenichi Shirato , Shigeru Tsuji
CPC classification number: B62K3/007 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/1633 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62H1/12 , B62K11/007 , G05D1/0891
Abstract: Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion (10) is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller (21) shifts to a second control mode in which the rotation of main wheels (11) is driven and controlled so that an angle of the main body portion (10) with respect to the vertical direction becomes θ1′ which is greater than θ1. In the second control mode, the main wheels (11) and an auxiliary wheel (13) are in contact with the ground.
Abstract translation: 提供一种移动体，其构造成在不设置辅助轮或辅助轮不与地面接触的状态下使用时防止其主体翻倒。 在第一控制模式中，通过一直执行倒立摆控制，主体部分（10）的姿势保持恒定。 例如，在用户操作切换开关的情况下，控制器（21）转移到主轮（11）的旋转被驱动和控制的第二控制模式，使得主体部（10 ）相对于垂直方向变为“1”，大于“the”; 1。 在第二控制模式中，主轮（11）和辅助轮（13）与地面接触。
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Patent Agency Ranking
公开(公告)号：US10183687B2
公开(公告)日：2019-01-22
申请号：US15094172
申请日：2016-04-08
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Masayuki Kubo , Kenichi Shirato
Abstract: A pushcart includes a steering unit, a main wheel, a dolly portion, an auxiliary wheel, a connecting unit, a slope angle sensor, a gyrosensor, and a case. On one end of the steering unit, there is provided a cylinder-shaped hinge unit that is supported in a rotatable manner at the other end of the connecting unit on the opposite side to the main wheels, and a holding portion is provided on the other end of the steering unit. A controller performs inverted pendulum control in which the main wheels are rotated based on the detection results of the gyrosensor and the slope angle sensor.
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公开(公告)号：US10052253B2
公开(公告)日：2018-08-21
申请号：US15185306
申请日：2016-06-17
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Kenichi Shirato , Shigeru Tsuji , Masayuki Kubo , Yoshitaka Hane
CPC classification number: A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/0192 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , A61H2201/5092
Abstract: A support unit is connected to a shaft of a main wheel and thus is always maintained in parallel to or at a predetermined angle to a road surface, independently of an inclination angle of a main body. Accordingly, an incline estimating unit regards an inclination angle θ3 being a value in an inclination sensor as being equal to an inclination angle θ2 of the road surface (or in a case where the support unit is inclined a predetermined angle to the road surface, an angle from θ3 to the predetermined angle is subtracted from or added to the crossing angle) and outputs the estimated inclination angle θ2 of the road surface to a target inclination angle determining unit.
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公开(公告)号：US09751551B2
公开(公告)日：2017-09-05
申请号：US15058749
申请日：2016-03-02
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Kenichi Shirato
CPC classification number: B62B5/0069 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62B1/00 , B62B1/10 , B62B5/0033 , B62B5/02
Abstract: A pushcart configured to perform inverted pendulum control is made likely to negotiate a step.In a first control mode, a main body is maintained to have a constant posture by performing the inverted pendulum control all the time. For example, when a user operates a selector switch, the control mode is changed to a second control mode in which offset torque is added so that an amount of torque applied to a wheel driver unit becomes larger. In this case, because the pushcart moves faster than usual, even if there exists a step that is hard to negotiate in the state of usual inverted pendulum control, the pushcart is likely to negotiate that step.
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公开(公告)号：US09463836B2
公开(公告)日：2016-10-11
申请号：US14656957
申请日：2015-03-13
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Masayuki Kubo , Kenichi Shirato , Shigeru Tsuji
CPC classification number: B62K3/007 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/1633 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62H1/12 , B62K11/007 , G05D1/0891
Abstract: Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion (10) is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller (21) shifts to a second control mode in which the rotation of main wheels (11) is driven and controlled so that an angle of the main body portion (10) with respect to the vertical direction becomes θ1′ which is greater than θ1. In the second control mode, the main wheels (11) and an auxiliary wheel (13) are in contact with the ground.
Abstract translation: 提供一种移动体，其构造成在不设置辅助轮或辅助轮不与地面接触的状态下使用时防止其主体翻倒。 在第一控制模式中，通过一直执行倒立摆控制，主体部分（10）的姿势保持恒定。 例如，在用户操作切换开关的情况下，控制器（21）转移到主轮（11）的旋转被驱动和控制的第二控制模式，使得主体部（10 ）相对于垂直方向成为大于θ1的θ1'。 在第二控制模式中，主轮（11）和辅助轮（13）与地面接触。
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公开(公告)号：US20210384810A1
公开(公告)日：2021-12-09
申请号：US17405353
申请日：2021-08-18
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Kenichi Shirato , Masahiro Ozawa , Kazuhide Takata
IPC: H02K33/18
Abstract: A linear vibration motor and a linear vibration system include a housing, a moving member, a drive unit including a driving coil and driving magnets, and a bias unit including a biasing electromagnet and biasing magnets. The moving member vibrates in a first direction substantially orthogonal to a winding axis of the driving coil with Lorentz force generated by a magnetic field formed by the driving coil and a magnetic field formed by the driving magnets. The biasing electromagnet and the biasing magnets are disposed such that the same poles substantially face each other, and the moving member is biased in the first direction by a magnetic spring generated from a repulsive force between the biasing electromagnet and the biasing magnets. Moreover, a magnetic spring constant of the magnetic spring varies with variation in a value of a current flowing through a biasing coil.
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