CN112498517B - Three-degree-of-freedom robot leg structure - Google Patents
Three-degree-of-freedom robot leg structure Download PDFInfo
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- CN112498517B CN112498517B CN202011492687.7A CN202011492687A CN112498517B CN 112498517 B CN112498517 B CN 112498517B CN 202011492687 A CN202011492687 A CN 202011492687A CN 112498517 B CN112498517 B CN 112498517B
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- joint motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The utility model provides a three degree of freedom robot leg structure, includes first joint assembly, second joint assembly and third joint motor module, and the structure of first joint assembly is: the joint motor comprises a first joint motor support, a first joint motor module is fixed outside the first joint motor support, a crank is mounted at the output end of the first joint motor module, an output rod is hinged to the head of the crank, the head of the output rod is hinged to a shank, and a foot end assembly is mounted at the bottom of the shank; the structure of the second joint assembly is as follows: the joint motor comprises a second joint motor support, wherein a second joint motor module is arranged in the second joint motor support, a second joint mounting disc is arranged at the output end of the second joint motor module, the second joint mounting disc is fixed with the first joint motor support through a fastener, a thigh is further arranged at one end of the first joint motor support, and the thigh is hinged with the shank; the output end of the third joint motor module is connected with the second joint motor support, and the work is reliable.
Description
Technical Field
The invention relates to the technical field of foot robots, in particular to a leg structure of a three-degree-of-freedom robot.
Background
In recent years, foot robots have been developed very rapidly and are involved in many fields such as military affairs, medical services, and environmental detection.
The bionic robot has better motion performance and environmental adaptability, and can stably move under complex and variable road conditions, and each leg of the foot type robot is usually designed as an independent power unit and finally integrated together to realize the function of the robot.
The balance problem between the limited battery capacity and the current volume is not solved effectively, so the current research on the foot type robot mainly focuses on the optimization of the mechanical structure, and the robot leg which is as light as possible, stable and safe under the condition of meeting the strength requirement is hopefully designed.
Disclosure of Invention
The applicant aims at the defects in the prior art and provides a three-degree-of-freedom robot leg structure, so that the leg structure can meet the strength requirement and is lighter, more stable and safer.
The technical scheme adopted by the invention is as follows:
a three-degree-of-freedom robot leg structure comprises a first joint assembly, a second joint assembly and a third joint motor module,
the first joint assembly is structurally characterized in that: the joint motor comprises a first joint motor support, wherein a first joint motor module is fixed outside the first joint motor support, a crank is installed at the output end of the first joint motor module, an output rod is hinged to the head of the crank, the head of the output rod is hinged to a shank, and a foot end assembly is installed at the bottom of the shank;
the structure of the second joint assembly is as follows: comprises a second joint motor bracket, a second joint motor module is arranged in the second joint motor bracket, a second joint mounting disc is arranged at the output end of the second joint motor module, the second joint mounting disc is fixed with the first joint motor bracket through a fastener,
one end of the first joint motor bracket is also provided with a thigh, and the thigh is hinged with the shank;
and the output end of the third joint motor module is connected with the second joint motor bracket.
The further technical scheme is as follows:
the structure of the second joint motor support is a square structure and is communicated up and down, the second joint motor module is fixed in the second joint motor support, a large hole is formed in the front end of the second joint motor support, a plurality of small holes are formed in the outer portion of the large hole at intervals, and a motor mounting hole is formed in the side portion of the second joint motor support and used for mounting a third joint motor module.
First joint motor support adopts components of a whole that can function independently assembled structure, and concrete structure is: including the last semi-annular frame and the lower semi-annular frame that correspond from top to bottom, the bottom surface one end of last semi-annular frame is provided with first stabilizer blade, and the other end is provided with first connector, the upper surface one end of lower semi-annular frame is provided with first stabilizer blade and second connector, first stabilizer blade and second stabilizer blade lock joint each other, first connector and second connector lock joint each other to at the outer terminal surface erection connecting block of first connector and second connector of lock joint, insert the thigh in the connecting block.
The thigh structure is as follows: the thigh motor support is characterized by comprising a thigh connecting rod and a thigh adapter, wherein one end of the thigh connecting rod is connected with a first joint motor support, and the other end of the thigh connecting rod is provided with the thigh adapter.
The thigh adaptor is a U-shaped structure, a connecting rod mounting hole is formed in the bottom of the thigh adaptor, an elastic groove is formed in one side of the connecting rod mounting hole, an elastic groove is formed in the direction perpendicular to the elastic groove, a locking hole is formed in one side of the elastic groove, a round hole is formed in the head of the thigh adaptor, and a screw hole is formed in the outer portion of the round hole.
The structure of the shank is as follows: the leg connecting rod and the leg adapter are included, the top of the leg connecting rod is provided with the leg adapter, the top of the leg adapter is hinged to the output rod, the bottom of the leg adapter is provided with the leg connecting rod, and the bottom of the leg connecting rod is provided with the foot end assembly.
The structure of shank adapter is: the connecting rod connecting piece comprises an adapter body, wherein the adapter body is of a T-shaped structure, a shank connecting rod mounting hole is formed in the bottom of the adapter body, a connecting rod cutting groove is formed in one side of the shank connecting rod mounting hole, a connecting rod elastic groove is formed in the direction perpendicular to the connecting rod cutting groove, and a fastening hole is formed in one side of the connecting rod elastic groove; the two ends of the adapter body are provided with inclined planes, the middle of the adapter body is also provided with an arc transition surface, the head of the adapter body is a connecting rod head, and a pin shaft hole is formed in the connecting rod head.
The structure of the foot end assembly is as follows: the rubber foot connecting structure comprises a foot end connecting piece and a rubber foot, wherein the foot end connecting piece is of an L-shaped structure, the rubber foot is installed at the bottom of the foot end connecting piece, a connecting body is installed at the top of the foot end connecting piece in a matched mode, and the inner side of the connecting body and the inner side of the top of the foot end connecting piece are both provided with an inwards concave structure.
The third joint motor module is fixed on the body of the foot type robot.
The first joint motor module and the second joint motor module are arranged side by side, and the third joint motor module and the second joint motor module are arranged vertically.
The thigh and the shank are both made of carbon fiber tubes.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, can conveniently realize the sensitive work of three degrees of freedom of the robot leg through the matching work among all the joint assemblies, and has the advantages of convenient operation, good working reliability, simplified structure and convenient maintenance.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of a second joint motor bracket of the present invention.
Fig. 3 is a schematic structural view of a first joint motor bracket according to the present invention.
Fig. 4 is a schematic structural view of the first joint motor bracket according to another view angle.
Fig. 5 is an exploded view of a first joint motor bracket according to the present invention.
Fig. 6 is a schematic structural view of a thigh adapter of the invention.
Fig. 7 is a schematic structural view of another perspective of the thigh adapter of the invention.
Fig. 8 is a schematic structural view of a lower leg adapter of the present invention.
Figure 9 is a schematic structural view of the foot end assembly of the present invention.
Figure 10 is an exploded view of the foot end assembly of the present invention.
Wherein: 1. a first joint assembly;
11. a first joint motor module; 12. a first joint motor bracket; 13. a crank; 14. connecting blocks;
2. a second joint assembly;
21. a second joint motor module; 22. a second joint motor bracket; 23. a second joint mounting plate;
3. a third joint motor module;
4. an output rod; 5. a thigh;
51. a thigh link; 52. a thigh adapter;
6. a lower leg;
61. a shank link; 62. a shank adaptor;
7. a foot end assembly;
71. a foot end connector; 72. a rubber foot; 73. a linker;
2201. a motor mounting hole; 2202. macropores; 2203. a small hole;
1201. an upper semi-annular frame; 1202. a lower semi-annular frame; 1203. an upper half connector; 1204. an upper half leg; 1205. a lower half connector; 1206. a lower half leg;
5201. a locking hole; 5202. elastic grooving; 5203. a circular hole; 5204. screw holes; 5205. an elastic groove; 5206. a connecting rod mounting hole;
6201. a connecting rod head; 6202. a pin shaft hole; 6203. arc transition; 6204. an adaptor body; 6205. a bevel; 6206. a shank link mounting hole; 6207. cutting a groove by the connecting rod; 6208. a fastening hole; 6209. the connecting rod elasticity groove.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-10, the three-degree-of-freedom robot leg structure of the present embodiment includes a first joint assembly 1, a second joint assembly 2, and a third joint motor module 3,
the first joint assembly 1 has the structure: the joint motor comprises a first joint motor support 12, a first joint motor module 11 is fixed outside the first joint motor support 12, a crank 13 is installed at the output end of the first joint motor module 11, an output rod 4 is hinged to the head of the crank 13, the head of the output rod 4 is hinged to a shank 6, and a foot end assembly 7 is installed at the bottom of the shank 6;
the structure of the second joint assembly 2 is as follows: comprises a second joint motor bracket 22, a second joint motor module 21 is arranged in the second joint motor bracket 22, a second joint mounting disc 23 is arranged at the output end of the second joint motor module 21, the second joint mounting disc 23 is fixed with the first joint motor bracket 12 through a fastener,
one end of the first joint motor bracket 12 is also provided with a thigh 5, and the thigh 5 is hinged with the shank 6;
the output end of the third joint motor module 3 is connected with the second joint motor bracket 22.
The second joint motor support 22 is of a square structure and is vertically communicated, a second joint motor module 21 is fixed inside the second joint motor support 22, a large hole 2202 is formed in the front end of the second joint motor support 22, a plurality of small holes 2203 are formed outside the large hole 2202 at intervals, and a motor mounting hole 2201 is formed in the side portion of the second joint motor support 22 and used for mounting a third joint motor module 3.
First joint motor support 12 adopts components of a whole that can function independently assembled structure, and concrete structure is: the upper half ring frame 1201 and the lower half ring frame 1202 correspond to each other vertically, an upper half supporting leg 1204 is arranged at one end of the bottom surface of the upper half ring frame 1201, an upper half connecting body 1203 is arranged at the other end of the bottom surface of the upper half ring frame 1201, a lower half supporting leg 1206 and a lower half connecting body 1205 are arranged at one end of the upper surface of the lower half ring frame 1202, the upper half supporting leg 1204 and the lower half supporting leg 1206 are buckled with each other, the upper half connecting body 1203 and the lower half connecting body 1205 are buckled with each other, a connecting block 14 is arranged on the outer end face of the buckled upper half connecting body 1203 and the outer end face of the buckled lower half connecting body 1205, and a thigh 5 is inserted into the connecting block 14.
The thigh 5 has the structure: comprises a thigh connecting rod 51 and a thigh adapter 52, wherein one end of the thigh connecting rod 51 is connected with the first joint motor bracket 12, and the other end of the thigh connecting rod 51 is provided with the thigh adapter 52.
The thigh adapter 52 is in a U-shaped structure, a connecting rod mounting hole 5206 is arranged at the bottom of the thigh adapter 52, an elastic groove 5205 is formed beside the connecting rod mounting hole 5206, an elastic groove 5202 is arranged in the direction perpendicular to the elastic groove 5205, a locking hole 5201 is arranged beside the elastic groove 5202, a round hole 5203 is formed in the head of the thigh adapter 52, and a screw hole 5204 is formed in the outer part of the round hole 5203.
The structure of the lower leg 6 is: the leg connecting rod comprises a leg connecting rod 61 and a leg adapter 62, wherein the top of the leg connecting rod 61 is provided with the leg adapter 62, the top of the leg adapter 62 is hinged with the output rod 4, the bottom of the leg adapter 62 is provided with the leg connecting rod 61, and the bottom of the leg connecting rod 61 is provided with the foot end assembly 7.
The shank adaptor 62 is constructed as follows: the connecting piece comprises an adapter body 6204, wherein the adapter body 6204 is of a T-shaped structure, a lower leg connecting rod mounting hole 6206 is formed in the bottom of the adapter body 6204, a connecting rod cutting groove 6207 is formed beside the lower leg connecting rod mounting hole 6206, a connecting rod elastic groove 6209 is formed in the direction perpendicular to the connecting rod cutting groove 6207, and a fastening hole 6208 is formed beside the connecting rod elastic groove 6209; both ends of adaptor body 6204 are provided with inclined surfaces 6205, the middle part of adaptor body 6204 is also provided with an arc transition surface 6203, the head of adaptor body 6204 is a connecting rod head 6201, and a pin shaft hole 6202 is formed on connecting rod head 6201.
The foot end assembly 7 has the structure that: the foot end connecting piece 71 is of an L-shaped structure, the rubber foot 72 is installed at the bottom of the foot end connecting piece 71, the connecting body 73 is installed at the top of the foot end connecting piece 71 in a matched mode, and the inner sides of the connecting body 73 and the top of the foot end connecting piece 71 are both provided with concave structures.
The third joint motor module 3 is fixed on the body of the foot robot.
The first joint motor module 11 and the second joint motor module 21 are arranged in parallel, and the third joint motor module 3 and the second joint motor module 21 are arranged vertically.
The thigh 5 and the shank 6 are both made of carbon fiber tubes.
The specific structure and function of the invention are as follows:
mainly comprises a first joint assembly 1, a second joint assembly 2, a third joint motor module 3, an output rod 4, a thigh 5, a shank 6 and a foot end component 7.
The first joint assembly 1 comprises a first joint motor module 11, a first joint motor bracket 12 and a first joint motor output shaft;
the second joint assembly 2 comprises a second joint motor module 21, a second joint motor bracket 22 and a second joint motor output shaft;
the thigh 5 comprises a thigh link 51 and a thigh adapter 52; the lower leg 6 comprises a lower leg link 61 and a lower leg adaptor 62; the foot end assembly 7 includes a foot end connector 71 and a rubber foot 72.
The first joint assembly 1 is connected with a second joint motor output shaft of a second motor assembly through a first joint motor support 12; the second joint assembly 2 is connected with the third joint motor module 3 through a second joint motor bracket 22; the first joint assembly 1 is connected with the thigh 5 through a first joint motor bracket 12; the thigh 5 is connected with the shank 6 through a thigh adapter 52; the lower leg 6 is connected with the foot end through a foot end connecting piece 71.
The first joint motor module 11 is located outside the first joint motor bracket 12 and connected by bolts. The first joint motor module 11 is connected with an output shaft of the first joint motor through a bolt.
The second joint motor module 21 is located inside the second joint motor bracket 22 and connected by a bolt. The second joint motor module 21 is connected with the output shaft of the second joint motor through a bolt.
The second joint motor support 22 is also an output shaft of the third joint motor module 3, and is connected with the third joint motor module 3 through a bolt, and the third joint motor module 3 drives the whole leg to perform inside and outside turning motion through the output torque of the second joint motor support 22.
The first joint motor module 11 and the second joint motor module 21 are arranged in parallel, and the third joint motor module 3 and the second joint motor module 21 are arranged vertically. The output shaft of the first joint motor is connected with the shank adapter 62 through an output connecting rod, so that the control of the shank 6 is realized, and the rotational inertia of the shank 6 is reduced.
The thigh adapter 52 and the shank adapter 62 are connected in an articulated manner, and hard limiting is implemented through a mechanical structure, so that the protection of the robot legs is increased during design, and the safety is improved.
The shank adaptor 62 is connected with the rubber foot 72 through a bolt, and the connection structure is simple, so that the assembly and disassembly are convenient. The rubber foot 72 is made of chloroprene rubber materials, can absorb a lot of vibration energy as a foot end, has a passive and smooth effect, and is beneficial to the steady walking of the quadruped robot.
The working principle of the invention is as follows:
the power of the first joint motor module 11 controls the front and back movement of the crus 6, the second joint motor module 21 controls the front and back movement of the thighs 5, and the third joint motor module 3 controls the whole leg to complete the inside and outside overturning movement.
The thigh connecting rod 51 and the shank connecting rod 61 are optimized in structural design, and light in weight can be achieved on the premise that the exercise intensity can be met.
The thigh adapter 52 and the shank adapter 62 are connected in an articulated manner, and hard limiting is implemented through a mechanical structure, so that the protection of the robot legs is increased during design, and the safety is improved.
The rubber foot 72 is made of chloroprene rubber materials, can absorb energy of a plurality of vibrations as the foot end component 7, has passive and smooth effect, and is beneficial to the steady walking of the quadruped robot.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (3)
1. A three-degree-of-freedom robot leg structure is characterized in that: comprises a first joint assembly (1), a second joint assembly (2) and a third joint motor module (3),
the first joint assembly (1) is structurally characterized in that: the device comprises a first joint motor support (12), wherein a first joint motor module (11) is fixed outside the first joint motor support (12), a crank (13) is installed at the output end of the first joint motor module (11), the head of the crank (13) is hinged with an output rod (4), the head of the output rod (4) is hinged with a shank (6), and a foot end assembly (7) is installed at the bottom of the shank (6);
the structure of the second joint assembly (2) is as follows: comprises a second joint motor bracket (22), the second joint motor bracket (22) is of a square structure and is vertically communicated, a second joint motor module (21) is arranged in the second joint motor bracket (22), a second joint mounting disc (23) is arranged at the output end of the second joint motor module (21), the second joint mounting disc (23) is fixed with the first joint motor bracket (12) through a fastener,
one end of the first joint motor bracket (12) is also provided with a thigh (5), and the thigh (5) is hinged with the shank (6);
the output end of the third joint motor module (3) is connected with a second joint motor bracket (22); the front end of the second joint motor bracket (22) is provided with a large hole (2202), a plurality of small holes (2203) are arranged outside the large hole (2202) at intervals, and the side part of the second joint motor bracket (22) is provided with a motor mounting hole (2201) for mounting a third joint motor module (3); first joint motor support (12) adopt components of a whole that can function independently assembled structure, and concrete structure is: the upper half ring frame comprises an upper half ring frame (1201) and a lower half ring frame (1202) which correspond to each other up and down, wherein one end of the bottom surface of the upper half ring frame (1201) is provided with an upper half supporting leg (1204), the other end of the bottom surface of the upper half ring frame (1201) is provided with an upper half connecting body (1203), one end of the upper surface of the lower half ring frame (1202) is provided with a lower half supporting leg (1206) and a lower half connecting body (1205), the upper half supporting leg (1204) and the lower half supporting leg (1206) are buckled with each other, the upper half connecting body (1203) and the lower half connecting body (1205) are buckled with each other, a connecting block (14) is arranged on the outer end faces of the buckled upper half connecting body (1203) and lower half connecting body (1205), and a thigh (5) is inserted into the connecting block (14); the thigh (5) has the structure: the thigh connecting rod mechanism comprises a thigh connecting rod (51) and a thigh adapter (52), wherein one end of the thigh connecting rod (51) is connected with a first joint motor support (12), and the other end of the thigh connecting rod (51) is provided with the thigh adapter (52); the thigh adapter (52) is of a U-shaped structure, a connecting rod mounting hole (5206) is formed in the bottom of the thigh adapter (52), an elastic groove (5205) is formed beside the connecting rod mounting hole (5206), an elastic open slot (5202) is formed in the direction perpendicular to the elastic groove (5205), a locking hole (5201) is formed beside the elastic open slot (5202), a round hole (5203) is formed in the head of the thigh adapter (52), and a screw hole (5204) is formed in the outer portion of the round hole (5203); the structure of the shank (6) is as follows: the leg connecting rod mechanism comprises a leg connecting rod (61) and a leg adapter (62), wherein the top of the leg connecting rod (61) is provided with the leg adapter (62), the top of the leg adapter (62) is hinged with an output rod (4), the bottom of the leg adapter (62) is provided with the leg connecting rod (61), and the bottom of the leg connecting rod (61) is provided with a foot end assembly (7); the structure of the shank adaptor (62) is as follows: the connecting piece comprises an adapter body (6204), wherein the adapter body (6204) is of a T-shaped structure, a lower leg connecting rod mounting hole (6206) is formed in the bottom of the adapter body (6204), a connecting rod cutting groove (6207) is formed beside the lower leg connecting rod mounting hole (6206), a connecting rod elastic groove (6209) is formed in the direction perpendicular to the connecting rod cutting groove (6207), and a fastening hole (6208) is formed beside the connecting rod elastic groove (6209); inclined planes (6205) are arranged at two ends of the adapter body (6204), an arc transition surface (6203) is further arranged in the middle of the adapter body (6204), the head of the adapter body (6204) is a connecting rod head (6201), and a pin shaft hole (6202) is formed in the connecting rod head (6201); the structure of the foot end assembly (7) is as follows: the rubber foot connecting structure comprises a foot end connecting piece (71) and a rubber foot (72), wherein the foot end connecting piece (71) is of an L-shaped structure, the rubber foot (72) is installed at the bottom of the foot end connecting piece (71), a connecting body (73) is installed at the top of the foot end connecting piece (71) in a matching mode, and the inner side of the connecting body (73) and the inner side of the top of the foot end connecting piece (71) are both provided with concave structures.
2. The three-degree-of-freedom robot leg structure of claim 1, wherein: the first joint motor module (11) and the second joint motor module (21) are arranged in parallel, and the third joint motor module (3) and the second joint motor module (21) are arranged vertically.
3. The three-degree-of-freedom robot leg structure of claim 1, wherein: the thigh (5) and the shank (6) are both made of carbon fiber tubes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011492687.7A CN112498517B (en) | 2020-12-17 | 2020-12-17 | Three-degree-of-freedom robot leg structure |
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| CN202011492687.7A CN112498517B (en) | 2020-12-17 | 2020-12-17 | Three-degree-of-freedom robot leg structure |
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| CN112498517B true CN112498517B (en) | 2021-11-16 |
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| CN217496321U (en) * | 2021-03-17 | 2022-09-27 | 北京小米移动软件有限公司 | Leg assembly for foot robot and foot robot |
| CN115230840A (en) * | 2021-04-23 | 2022-10-25 | 中国北方车辆研究所 | Bionic leg of four-joint foot type robot |
| CN114852207A (en) * | 2022-04-26 | 2022-08-05 | 中国北方车辆研究所 | Shaft-driven three-degree-of-freedom wheel foot walking mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5200966B2 (en) * | 2009-02-03 | 2013-06-05 | セイコーエプソン株式会社 | Industrial robot |
| CN105501324B (en) * | 2015-12-15 | 2018-02-13 | 中国北方车辆研究所 | The simple small inertia bionic leg of the arms robot Three Degree Of Freedom of fluid motor-driven |
| CN206107391U (en) * | 2016-10-25 | 2017-04-19 | 南京农业大学 | Four -footed robot of three degrees of freedom of electric drive single leg |
| CN106904226B (en) * | 2017-03-10 | 2022-12-23 | 杭州宇树科技有限公司 | Leg power system structure of electric drive quadruped robot |
| CN107651037B (en) * | 2017-09-12 | 2019-04-12 | 北京航空航天大学 | A kind of legged type robot list leg device with hard and soft interchangeable joint |
| CN108082327B (en) * | 2018-01-23 | 2023-08-29 | 杭州云深处科技有限公司 | Robot sole based on force sensor |
| CN210212571U (en) * | 2019-03-05 | 2020-03-31 | 彭爽 | Bionic quadruped robot |
| CN111038617A (en) * | 2020-01-21 | 2020-04-21 | 福州大学 | Single-leg structure of quadruped robot and working method thereof |
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Effective date of registration: 20230310 Address after: 200200 Room 107, Floor 1, Building 1, No. 2588, Hongmei South Road, Minhang District, Shanghai Patentee after: Shanghai Ruishen Technology Co.,Ltd. Address before: 108-4-1501-4, Huishan Avenue, Wuxi City, Jiangsu Province Patentee before: Jiangsu Jicui composite material equipment Research Institute Co.,Ltd. |