公开(公告)号：US06408224B1

公开(公告)日：2002-06-18

申请号：US09708667

申请日：2000-11-09

申请人： Osamu Okamoto ,  Teruomi Nakaya ,  Heihachiro Kamimura ,  Isao Yamaguchi

发明人： Osamu Okamoto ,  Teruomi Nakaya ,  Heihachiro Kamimura ,  Isao Yamaguchi

IPC分类号： G06F1900

CPC分类号： B25J9/1661 ,  B25J9/1664 ,  B25J17/025 ,  G05B2219/33219 ,  G05B2219/34015 ,  G05B2219/36417 ,  G05B2219/39078 ,  G05B2219/40114 ,  G05B2219/40299 ,  G05B2219/40442 ,  G05B2219/40543 ,  G05B2219/40584 ,  Y10T29/53091 ,  Y10T29/53178 ,  Y10T29/53191 ,  Y10T74/19126 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20329

摘要： In a rotary articulated robot having at least a plurality of offset rotary joints in which a drive arm and driven arm are driven in rotation about an offset rotary axis inclined with respect to the arm axis, a hollow rotary shaft that is driven in rotation by a motor is arranged rotatably, being inclined, at the leading end of the arm of either the drive arm or driven arm while a rotor member to which turning effort from the hollow shaft is transmitted is fixed at the base of the other arm, said hollow rotary shaft and said rotor member constituting a high reduction ratio transmission/torque increasing mechanism. The method of control is that the operation of the joints is determined by dividing the operating region of the end effector into a plurality of blocks, the operating conditions of each joint necessary for movement to a prescribed block are converted to database form for each block, the teaching of operating points in the prescribed block region is converted to database form and a track is generated to the block of the operating region on the basis of the block region data; and when a reference point of the block is reached, the in-block operating point data is fetched.

摘要翻译： 在具有至少多个偏移旋转接头的旋转关节式机器人中，驱动臂和从动臂围绕相对于臂轴线倾斜的偏移旋转轴线旋转驱动，空心旋转轴由旋转轴旋转驱动 电动机可旋转地布置在驱动臂或从动臂的臂的前端处，同时来自中空轴的转向力的转子构件被固定在另一个臂的底部，所述中空旋转体 轴和所述转子构件构成高减速比的变速/转矩增加机构。 控制方法是通过将末端执行器的操作区域划​​分为多个块来确定关节的操作，将移动到规定块所需的每个关节的操作条件转换为每个块的数据库形式， 将规定块区域中的操作点的教导转换为数据库形式，并且基于块区域数据将轨道生成到操作区域的块; 并且当达到块的参考点时，获取块内工作点数据。

公开(公告)号：US06922610B2

公开(公告)日：2005-07-26

申请号：US10424711

申请日：2003-04-29

申请人： Osamu Okamoto ,  Teruomi Nakaya ,  Seizo Suzuki ,  Isao Yamaguchi ,  Heihachiro Kamimura ,  Kotaro Matsumoto ,  Sachiko Wakabayashi ,  Shuichi Sasa

发明人： Osamu Okamoto ,  Teruomi Nakaya ,  Seizo Suzuki ,  Isao Yamaguchi ,  Heihachiro Kamimura ,  Kotaro Matsumoto ,  Sachiko Wakabayashi ,  Shuichi Sasa

IPC分类号： B25J5/00 ,  B25J9/06 ,  B25J13/08 ,  B25J17/02 ,  B62D57/028 ,  B64G1/16 ,  B64G1/62 ,  G06F19/00

CPC分类号： B62D57/028 ,  B25J9/06 ,  B25J17/025 ,  B64G1/16 ,  B64G1/62

摘要： A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. A robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.

摘要翻译： 获得具有对于行星式着陆车辆，极限作战机器人等要求的各种功能的机器人，特别是提供一种用于机器人的腿部结构，其能够在翻倒时自身起床，便于起飞和着陆在不均匀 地面，具有行走功能，具有能够进行三维操作的手功能。 机器人包括主机器人体和安装在该主体上的至少三个腿，用于使主机器人体的三维运动，例如自立行动或行走动作; 每个腿由具有连接在一起的多个所述偏移旋转接头的多关节臂构成，并且具有安装在臂的前端的接地构件，使得每个腿能够独立控制三维运动， 驾驶。

公开(公告)号：US06430475B2

公开(公告)日：2002-08-06

申请号：US09828988

申请日：2001-04-10

申请人： Osamu Okamoto ,  Teruomi Nakaya ,  Heihachiro Kamimura ,  Isao Yamaguchi ,  Seizo Suzuki ,  Kazuyoshi Yabuuchi ,  Jyunichi Ueno ,  Yasuoki Usui ,  Hiroaki Nagano ,  Katsuhiko Renbutsu ,  Mitsuharu Izaki

发明人： Osamu Okamoto ,  Teruomi Nakaya ,  Heihachiro Kamimura ,  Isao Yamaguchi ,  Seizo Suzuki ,  Kazuyoshi Yabuuchi ,  Jyunichi Ueno ,  Yasuoki Usui ,  Hiroaki Nagano ,  Katsuhiko Renbutsu ,  Mitsuharu Izaki

IPC分类号： G06F1900

CPC分类号： G01L5/228 ,  A61G12/00 ,  B25J9/0003 ,  B25J9/06 ,  B25J13/084 ,  G01L1/205

摘要： The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened. Moreover, after executing local processing, through the use of an encoder and pressure-sensitive sheet sensor provided in each of the joints, in addition to the information processing means, [this data] is sent to the CPU, whereby the central operation processing load is lightened.

摘要翻译： 本发明提供了一种接触传感器，其能够确定具有圆柱形形状的每个关节单元的整个表面上的压力分布，其两端部以偏移角切割并构成机器人手臂。 为了提供通过使用来自这些传感器的检测值来实现机器人手臂的实时驱动控制的技术，通过形成压敏片传感器，电极的交叉点分布在每个接头的整个表面上，其中 排列成平行的列电极和以缠绕线形状布置的行电极组合在一起，这些接头具有两个端部以偏移角切割的圆柱形形状。 此外，通过制造覆盖行和列的规定宽度的电极结构，信号输出端子的数量减少，操作处理负荷减轻。 此外，在执行本地处理之后，通过使用设置在每个关节中的编码器和压敏片传感器，除了信息处理装置之外，将该数据发送到CPU，由此中央操作处理负载 减轻了