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公开(公告)号：US06976401B2
公开(公告)日：2005-12-20
申请号：US10190538
申请日：2002-07-09
申请人： Osamu Okamoto , Teruomi Nakaya , Isao Yamaguchi , Seizo Suzuki , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki , Tadashi Kishimoto
发明人： Osamu Okamoto , Teruomi Nakaya , Isao Yamaguchi , Seizo Suzuki , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki , Tadashi Kishimoto
CPC分类号： B25J17/0291 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit 4 is composed of a first arm 1, a rotation correction arm 2 rotationally driven around the axial line of the first arm, and a second arm 3 rotationally driven around an axial line obliquely intersecting with the rotation correction arm. A rotation correction joint mechanism 5 linking the first arm 1 and the rotation correction arm 2 and an offset rotary joint mechanism 6 linking the rotation correction arm 2 and the second arm 3 are driven by a single motor 12, and the rotation correction joint mechanism 5 rotates synchronously and in the reverse direction, following the rotation of the offset rotary joint mechanism 6, thereby allowing the second arm 3 to execute a bending motion in a two-dimensional plane with respect to the first arm 1 only by virtue of rotary mechanisms.
摘要翻译： 一种具有旋转校正机构的偏移旋转接头单元，其中只能通过旋转机构在二维平面中执行弯曲运动，并且可以支撑高负载重量并且适用于双臂机构 如护理助理机器人。 一个偏移旋转接头单元4由第一臂1，围绕第一臂的轴线旋转驱动的旋转校正臂2和与旋转校正臂倾斜相交的轴线旋转地驱动的第二臂3组成。 连接第一臂1和旋转校正臂2的旋转校正关节机构5和连接旋转校正臂2和第二臂3的偏移旋转关节机构6由单个电动机12驱动，旋转校正关节机构5 在偏移旋转接头机构6的旋转之后，同步且相反方向旋转，从而允许第二臂3仅通过旋转机构相对于第一臂1在二维平面中执行弯曲运动。
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2.发明授权公开(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
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