公开(公告)号：US20120091990A1

公开(公告)日：2012-04-19

申请号：US13275391

申请日：2011-10-18

申请人： Shohei TSUKADA ,  Yohei KUME ,  Hideo KAWAKAMI ,  Tohru NAKAMURA

发明人： Shohei TSUKADA ,  Yohei KUME ,  Hideo KAWAKAMI ,  Tohru NAKAMURA

IPC分类号： G01R19/00

CPC分类号： H01H3/141 ,  A61G7/05 ,  A61G2203/32 ,  A61G2203/74 ,  G06F3/045 ,  G06F3/047 ,  G06F2203/04103 ,  H01H2211/016

摘要： The contact sensor includes a conductive fabric, an insulative spacer having multiple openings, and a conductive sheet of a sheet-shaped conductor. The insulative spacer is interposed between the conductive fabric and the conductive sheet. Upon contact of a soft object such as a human body portion on the conductive fabric with force equal to or greater than a certain strength, the insulative spacer sinks in the soft object with the conductive fabric interposed therebetween. The conductive fabric is deformable in conformity with insulative pieces of the insulative spacer, such that touching of a portion of the conductive fabric on the conductive sheet provides detection of contact of the soft object.

摘要翻译： 接触传感器包括导电织物，具有多个开口的绝缘间隔件和片状导体的导电片。 绝缘间隔件置于导电织物和导电片之间。 当导电织物上的诸如人体部分的柔软物体在等于或大于一定强度的力下接触时，绝缘隔离物沉入软物体中，导电织物插入其间。 导电织物可以与绝缘间隔物的绝缘片一致地变形，使得导电片上的导电织物的一部分的接触提供了软物体接触的检测。

公开(公告)号：US20120137807A1

公开(公告)日：2012-06-07

申请号：US13397212

申请日：2012-02-15

申请人： Osamu MIZUNO ,  Akinobu OKUDA ,  Tohru NAKAMURA

发明人： Osamu MIZUNO ,  Akinobu OKUDA ,  Tohru NAKAMURA

IPC分类号： F16H1/16

CPC分类号： B25J15/0009 ,  B25J9/102 ,  F16H1/16 ,  Y10T74/19637 ,  Y10T74/19828 ,  Y10T74/20317 ,  Y10T74/20329

摘要： The joint mechanism includes a first link, a second link, a third link, a shaft supported on the second link to be rotatable about an axis thereof, and movable in an axis direction thereof, a first worm and a second worm mounted on the shaft, a first worm wheel in mesh with the first worm to pivotally move the first link with respect to the second link, and a second worm wheel in mesh with the second worm to pivotally move the third link with respect to the second link. The first link and the third link are pivotally moved in opposite directions to each other by rotating the shaft, and pivotally moved in identical directions to each other by moving the shaft in the axis direction.

摘要翻译： 所述关节机构包括：第一连杆，第二连杆，第三连杆，支撑在所述第二连杆上的轴，以绕其轴线旋转并且可沿其轴线方向移动;第一蜗杆和安装在所述轴上的第二蜗杆 与所述第一蜗杆啮合的第一蜗轮，以相对于所述第二连杆枢转地移动所述第一连杆;以及与所述第二蜗杆啮合的第二蜗轮，以相对于所述第二连杆枢转地移动所述第三连杆。 第一连杆和第三连杆通过旋转轴而以相反的方向枢转运动，并且通过沿着轴线方向移动轴而以相同的方向彼此枢转地运动。

公开(公告)号：US20090312870A1

公开(公告)日：2009-12-17

申请号：US12480985

申请日：2009-06-09

申请人： Akinobu OKUDA ,  Osamu MIZUNO ,  Tohru NAKAMURA

发明人： Akinobu OKUDA ,  Osamu MIZUNO ,  Tohru NAKAMURA

IPC分类号： G05B15/00 ,  B25J18/00

CPC分类号： B25J9/102 ,  F16H1/16 ,  Y10T74/20305

摘要： A manipulator is provided with a first link, a second link, first and second differential input shafts rotatably supported on the first link, a differential output shaft rotatably supported on the second link, a differential gear mechanism for rotating the differential output shaft about two axes orthogonal to each other in accordance with the sum or difference of rotating speeds of the first and second differential input shafts, a first transmitting portion for transmitting a driving force to the first differential input shaft, a second transmitting portion for transmitting a driving force to the second differential input shaft, a first shaft rotational angle sensor for detecting rotational angle information of the first differential input shaft, a second shaft rotational angle sensor for detecting rotational angle information of the second differential input shaft, and a controller for detecting the reception of an external force by the first or second link based on an output signal of the first or second shaft rotational angle sensor. Each of the first and second transmitting portions includes a rotatable worm elastically held at a specified position in such a manner as to be movable in a translation direction of a rotation axis and a worm wheel engaged with the worm. The worm makes a translational movement in accordance with the external force received by the first or second link.

摘要翻译： 机械手设置有第一连杆，第二连杆，可旋转地支撑在第一连杆上的第一和第二差动输入轴，可旋转地支撑在第二连杆上的差动输出轴，用于使差动输出轴绕两个轴旋转的差动齿轮机构 根据第一和第二差速器输入轴的转速的总和或差异彼此正交;用于将驱动力传递到第一差分输入轴的第一传递部分，用于将驱动力传递到第一差分输入轴的第二传递部分， 第二差速器输入轴，用于检测第一差动输入轴的旋转角度信息的第一轴转角传感器，用于检测第二差动输入轴的旋转角度信息的第二轴旋转角度传感器，以及用于检测第二差动输入轴的接收的控制器 基于输出信号的第一或第二链路的外力 的第一或第二轴转角传感器。 第一和第二传递部分中的每一个包括以可旋转轴线的平移方向和与蜗杆接合的蜗轮可移动的方式弹性地保持在指定位置的可旋转蜗杆。 蜗杆根据第一或第二连杆接收到的外力进行平移运动。