Abstract: A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.

Abstract: A leg type mobile robot, in which a downsizing and wait-saving of floor reaction force detector to be installed on the foot is enabled. The center Pb of the force sensor is disposed on the position Pa where the distance to the remotest position of ground area provided on the bottom of each plate spring part S1 to S4 is minimum in the standing-still state of the robot R, and the distance L1, L2, L3, and L4 to the remotest point of the ground area of each plate spring part S1, S2, S3, and S4 is equal. The center Pc of the ankle joint is offset in a rearward direction with respect to the position Pa in a plane view.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: This brushless motor according to the present invention is provided with: a tubular stator case; a stator core; a rotor; a plurality of teeth which are integrally formed on an inner peripheral surface of the stator core; a coil bobbin mounted between the mutually adjacent teeth, which has a winding portion around which a coil is wound; a lead wire; and a wiring substrate which relays a connection between the lead wire and the coil, wherein: the coil bobbin has flange portions; one of the flange portions which is located on the inward in the radial direction has an enlarged member which protrudes outward from the surface of the flange portion; a pair of terminals which is connected to the wiring substrate is provided on the enlarged portion so as to be located more inward than a tip of the tooth in the radial direction.

Abstract: An assist device 11 is equipped with a spring means 21 (gas spring), and a piston 24 in a cylinder 23 moves upward or downward according to a relative displacement motion (flexing or stretching motion) of a thigh 4 and a crus 5 at a knee joint 8 of a leg 3 of a robot. Air chambers 25 and 26 above and below the piston 24 are filled with gases. If a flexing degree at the knee joint 8 is a predetermined value or less, then the air chambers 25 and 26 are brought into communication through a groove 28 in the cylinder 23, and the spring means 21 does not generate an elastic force, but if the flexing degree exceeds the predetermined value, then the air chambers 25 and 26 are hermetically sealed from each other and the spring means 21 produces an elastic force, the elastic force acting on the knee joint 8 as assisting driving force. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction.

Abstract: A leg type mobile robot (R) including an body (R2), legs (R1) each connected to the body (R2) via a first joint (12, 13), and foots (R17) each connected to an end part of the leg part (R1) via a second joint (15, 16), the foot (17) including a foot portion (61) having a lower end part having a ground area (64, 66) grounded on a floor surface, the foot portion (61) including a plate spring part (62) supporting empty weight while bending at the time of being grounded.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: This brushless motor according to the present invention is provided with: a tubular stator case; a stator core; a rotore; a plurality of teeth which are integrally formed on an inner peripheral surface of the stator core; a coil bobbin mounted between the mutually adjacent teeth, which has a winding portion around which a coil is wound; a lead wire; and a wiring substrate which relays a connection between the lead wire and the coil, wherein: the coil bobbin has flange portions; one of the flange portions which is located on the inward in the radial direction has an enlarged member which protrudes outward from the surface of the flange portion; a pair of terminals which is connected to the wiring substrate is provided on the enlarged portion so as to be located more inward than a tip of the tooth in the radial direction.

Abstract: 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.

Abstract: 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.

Abstract: The brushless motor is provided with: a tubular stator case; a stator core; a rotor; a plurality of teeth which extend radially inward and are integrally formed on an inner peripheral surface of the stator core; a coil bobbin which is mounted between the mutually adjacent teeth; a lead wire which feed power to the coil; and a wiring substrate which relays a connection between the lead wire and the coil, wherein: the coil bobbin has flange portions which protrude outward from peripheral edges of the both ends of the coil bobbin; one of the flange portions of the coil bobbin has an enlarged member which protrudes outward from the surface of the flange portion; the enlarged member has a guide portion which holds the winding end of the coil; and the wiring substrate is connected the coil bobbin while contacting therewith in an axial direction of the stator core.

Abstract: 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.

Abstract: In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.

Abstract: To provide a leg type mobile robot, in which a downsizing and wait-saving of floor reaction force detector to be installed on the foot is enabled. The center Pb of the force sensor is disposed on the position Pa where the distance to the remotest position of ground area provided on the bottom of each plate spring part S1 to S4 is minimum in the standing-still state of the robot R, and the distance L1, L2, L3, and L4 to the remotest point of the ground area of each plate spring part S1, S2, S3, and S4 is equal. The center Pc of the ankle joint is offset in a rearward direction with respect to the position Pa in a plane view.

Abstract: An assist device 11 is equipped with a spring means 21 (gas spring), and a piston 24 in a cylinder 23 moves upward or downward according to a relative displacement motion (flexing or stretching motion) of a thigh 4 and a crus 5 at a knee joint 8 of a leg 3 of a robot. Air chambers 25 and 26 above and below the piston 24 are filled with gases. If a flexing degree at the knee joint 8 is a predetermined value or less, then the air chambers 25 and 26 are brought into communication through a groove 28 in the cylinder 23, and the spring means 21 does not generate an elastic force, but if the flexing degree exceeds the predetermined value, then the air chambers 25 and 26 are hermetically sealed from each other and the spring means 21 produces an elastic force, the elastic force acting on the knee joint 8 as assisting driving force. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction.