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    ROBOT HAND APPARATUS, ROBOT HAND SYSTEM, AND HOLDING METHOD
    1.
    发明申请
    ROBOT HAND APPARATUS, ROBOT HAND SYSTEM, AND HOLDING METHOD 审中-公开

    公开(公告)号：US20190030728A1

    公开(公告)日：2019-01-31

    申请号：US16039293

    申请日：2018-07-18

    Applicant: Panasonic Intellectual Property Management Co., Ltd.

    Inventor： TAKAYUKI NAGATA ,  YASUNAO OKAZAKI ,  KATSUHIKO ASAI ,  KAZUO INOUE

    IPC: B25J15/06 ,  B25J9/16

    Abstract: A robot hand apparatus includes a first holder having a bendable first sucking surface that sucks an object using negative pressure; and a second holder having a bendable second sucking surface that sucks the object using negative pressure. The first holder and the second holder are arranged such that the first sucking surface opposes the second sucking surface. When the first holder and the second holder hold the object, in a state in which the first sucking surface is bent at a first position and the second sucking surface is bent at a second position, the object is sucked to a region of the first sucking surface between the first position and a distal end of the first holder, and the object is sucked to a region of the second sucking surface between the second position and a distal end of the second holder.

    ACTUATOR BODY, METHOD FOR DRIVING ACTUATOR, AND GRIPPING HAND USING THE SAME
    2.
    发明申请
    ACTUATOR BODY, METHOD FOR DRIVING ACTUATOR, AND GRIPPING HAND USING THE SAME 审中-公开

    公开(公告)号：US20180017088A1

    公开(公告)日：2018-01-18

    申请号：US15641056

    申请日：2017-07-03

    Applicant: Panasonic Intellectual Property Management Co., Ltd.

    Inventor： KATSUHIKO ASAI ,  JUN OZAWA ,  TAKAYUKI NAGATA ,  KAZUO INOUE

    IPC: F15B15/10 ,  B25J15/12

    CPC classification number: F15B15/10 ,  B25J15/12 ,  F15B15/103

    Abstract: An actuator body includes a tube that has a space therein and is wound spirally about a first axis. The tube has a plurality of first portions and a plurality of second portions, the tube has one or more grooves in at least one of an outer circumferential surface and an inner circumferential surface thereof, and the one or more grooves are provided spirally about a longitudinal axis of the tube, the space is in contact with the inner circumferential surface, and the outer circumferential surface is a surface opposite to the inner circumferential surface, each of the plurality of first portions has higher torsional rigidity than each of the plurality of second portions, the plurality of first portions are aligned along the first axis, and the plurality of first portions do not overlap the plurality of second portions.

    ACTUATOR AND METHOD FOR DRIVING THE ACTUATOR
    5.
    发明申请
    ACTUATOR AND METHOD FOR DRIVING THE ACTUATOR 审中-公开

    公开(公告)号：US20180058480A1

    公开(公告)日：2018-03-01

    申请号：US15671918

    申请日：2017-08-08

    Applicant: Panasonic Intellectual Property Management Co., Ltd.

    Inventor： KATSUHIKO ASAI ,  TAKAYUKI NAGATA ,  KAZUO INOUE

    IPC: F15B15/10 ,  F15B15/06

    CPC classification number: F15B15/103 ,  F15B15/06

    Abstract: An actuator includes a displaceable portion, first to fourth artificial muscles, a pressure adjuster that changes a pressure of a fluid filled in the first and second artificial muscles, an open-close valve that allows a fluid to flow into or out of the third and fourth artificial muscles, and a controller that drives the pressure adjuster and controls the open-close valve. Each of the first to fourth artificial muscles includes a coiled elastic tube. In an outer circumferential surface of the tube, grooves are helically formed about an axis of the tube. The tube is filled with a fluid. In the first artificial muscle, a direction in which the tube is coiled is opposite to a direction in which the grooves extend helically. In each of the second to fourth artificial muscles, a direction in which the tube is coiled is the same as a direction in which the grooves extend helically.

    ACTUATOR, ACTUATOR APPARATUS, AND METHOD OF DRIVING ACTUATOR
    6.
    发明申请
    ACTUATOR, ACTUATOR APPARATUS, AND METHOD OF DRIVING ACTUATOR 有权
    执行器，执行器装置和驱动执行器的方法

    公开(公告)号：US20170067491A1

    公开(公告)日：2017-03-09

    申请号：US15244066

    申请日：2016-08-23

    Applicant: Panasonic Intellectual Property Management Co., Ltd.

    Inventor： KATSUHIKO ASAI ,  TAKAYUKI NAGATA ,  KAZUO INOUE

    IPC: F15B15/10

    CPC classification number: F15B15/103

    Abstract: An actuator converts the pressure of a fluid into a change in the length of the actuator and is formed such that an elastic tube is spirally wound. The tube is wound around the axis of the actuator. One or more grooves are spirally formed on the outer surface of the tube along the axial center of the tube. When the fluid contained in the inside of the tube is pressurized, a torsional force is applied to the tube along the spirals of the one or more grooves and causes the actuator to contract in the axial direction. Even when an external force acts in a direction in which the actuator is bent, the volume of the inside of the tube is not substantially varied. Accordingly, the actuator can be allowed to freely move in a bending direction.

    Abstract translation: 致动器将流体的压力转换成致动器的长度的变化，并且形成为使得弹性管螺旋缠绕。 管围绕致动器的轴线缠绕。 一个或多个凹槽沿着管的轴向中心螺旋地形成在管的外表面上。 当容纳在管内部的流体被加压时，扭转力沿着一个或多个凹槽的螺旋施加到管，并且致动器沿轴向收缩。 即使当外力在致动器弯曲的方向上作用时，管的内部的体积也不会发生实质变化。 因此，可以使致动器沿弯曲方向自由移动。

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