公开(公告)号：US09643323B2

公开(公告)日：2017-05-09

申请号：US14442202

申请日：2013-08-28

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka ,  Yoshimasa Endo

IPC: B25J15/08 ,  B25J15/00 ,  B25J15/10

CPC classification number: B25J15/0009 ,  B25J15/10

Abstract: Provided is a robot hand that is capable of gripping an object and manipulating the gripped object in a manner similar to that of a human hand, and that makes it possible to reduce the number of actuators. This robot hand is provided with: a first actuator (31) that imparts driving force to a first finger link (11) so that the first finger link (11) pivots relative to a base section (1); and a second actuator (32) that imparts driving force to at least one of a second finger link (12) and a third finger link (13) so that the second finger link (12) pivots relative to the first finger link (11) and the third finger link (13) pivots relative to the second finger link (12).

公开(公告)号：US20160311117A1

公开(公告)日：2016-10-27

申请号：US15102811

申请日：2014-12-08

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka

IPC: B25J15/00 ,  B25J15/06 ,  B25J15/10

CPC classification number: B25J15/0009 ,  B25J15/0616 ,  B25J15/10 ,  Y10S901/40

Abstract: A hand mechanism including a first multi-joint finger, a second multi-joint finger, and a single-joint finger rotatable about a center of a predetermined connecting portion together with the first and second multi-joint fingers. The mechanism executes a first mode in which the respective entire fingers of the first and second multi-joint fingers are rotated in an identical direction using a connecting portion with respect to an attachment member when driven by a driving actuator, and a second mode in which a finger section other than a first predetermined finger section included in the first multi-joint finger is rotated with respect to the first predetermined finger section and a finger section other than a second predetermined finger section included in the second multi-joint finger is rotated with respect to the second predetermined finger section, when the rotation of the first and second predetermined finger sections are inhibited in the first mode.

Abstract translation: 一种手动机构，包括第一多关节指状物，第二多关节指状物以及可与第一和第二多关节指形物一起围绕预定连接部分的中心旋转的单关节手指。 该机构执行第一模式，其中当由驱动致动器驱动时，第一和第二多关节指状物的各个指状物在相同方向上使用相对于附接构件的连接部分旋转;以及第二模式，其中 包括在第一多关节手指中的除了第一预定手指部分之外的手指部分相对于第一预定手指部分旋转，并且包括在第二多关节手指中的除了第二预定手指部分之外的手指部分旋转， 相对于第二预定手指部分，当在第一模式中禁止第一和第二预定手指部分的旋转时。

公开(公告)号：US09446514B2

公开(公告)日：2016-09-20

申请号：US14401892

申请日：2013-04-11

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka

IPC: B62D57/02 ,  B62D57/032 ,  B25J9/10

CPC classification number: B25J9/1065 ,  B62D57/02 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/28 ,  Y10T74/20329

Abstract: Provided is a lower limb structure for a legged robot with which a load on an actuator for driving a knee joint can be reduced. The lower limb structure for the legged robot comprises: a hip joint main body (18); a thigh portion (12a); a hip joint coupling (22) for connecting the thigh portion (12a) to the hip joint main body (18); and a knee joint main body (19) joined to the thigh portion (12a). The lower limb structure for the legged robot provides a thigh portion auxiliary link (31) having one end portion joined to the hip joint main body (18) or the hip joint coupling (22) to be rotatable about one pitch axis and the other end portion joined to the knee joint main body (19) to be rotatable about another pitch axis. A knee joint actuator (4) increases and decreases a length from the one end portion to the other end portion of the thigh portion auxiliary link (31).

Abstract translation: 提供了一种用于腿式机器人的下肢结构，能够减少用于驱动膝关节的致动器上的负载。 腿式机器人的下肢结构包括：髋关节主体（18）; 大腿部分（12a）; 用于将大腿部分（12a）连接到髋关节主体（18）的髋关节联接器（22）; 和连接到大腿部（12a）的膝关节主体（19）。 用于腿式机器人的下肢结构提供大腿部辅助连杆（31），其具有连接到髋关节主体（18）或髋关节联接器（22）的一个端部，以可绕一个俯仰轴线旋转，而另一端 接合到膝关节主体（19）的部分可以围绕另一个俯仰轴线旋转。 膝关节致动器（4）从大腿部辅助连杆（31）的一端部延伸到另一端部的长度减小。

公开(公告)号：US20160008146A1

公开(公告)日：2016-01-14

申请号：US14421704

申请日：2013-04-04

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka ,  Yoshimasa Endo

IPC: A61F2/58 ,  A61F2/70

CPC classification number: A61F2/583 ,  A61F2/588 ,  A61F2/68 ,  A61F2/70 ,  A61F2002/5039 ,  A61F2002/701 ,  A61F2220/0041 ,  A61F2220/0091 ,  B25J15/0009 ,  Y10S901/39

Abstract: An articulated mechanism system includes a plurality of fingers (articulated mechanisms) arranged in parallel, each of which has a mounting member, a first digital part rotatably connected to the mounting member by a first connecting part, a second digital part rotatably connected to the first digital part by a second connecting part, and a first driving part rotatably connected to the second digital part by a fourth connecting part and connected to a third connecting part. By extruding the third connecting part toward the fourth connecting part, the first digital part and the second digital part are integrally rotated about the first connecting part, or the second digital part is rotated about the second connecting part when the rotation of the first digital part is blocked. The third connecting parts are driven by a single driving mechanism for the same distance and in the same direction at a time.

Abstract translation: 铰接机构系统包括平行布置的多个指状物（关节式机构），每个手指具有安装构件，第一数字部分通过第一连接部分可旋转地连接到安装构件，第二数字部分可旋转地连接到第一 数字部分由第二连接部分和第一驱动部分通过第四连接部分可旋转地连接到第二数字部分并连接到第三连接部分。 通过将第三连接部朝向第四连接部挤出，第一数字部和第二数字部围绕第一连接部一体地旋转，或者第二数字部在第一数字部的旋转时绕第二连接部旋转 被封锁。 第三连接部件由单个驱动机构一次驱动相同的距离和相同的方向。

公开(公告)号：US20210360989A1

公开(公告)日：2021-11-25

申请号：US17282045

申请日：2019-10-15

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka ,  Yoshiyuki Yamanoue ,  Ryuta Sakai ,  Katsuya Tsujinaka ,  Kana Kozawa

IPC: A41D13/002 ,  B25J19/00

Abstract: A humanoid robot (1) includes a heat discharge garment (5) that covers the humanoid robot (1), and an air blower provided in the humanoid robot (1) or the heat discharge garment (5) to blow external air into the humanoid robot (1) or the heat discharge garment (5). An air blowing flow path (101) is provided between the heat discharge garment (5) and an outer shell of the humanoid robot (1).

公开(公告)号：US10022860B2

公开(公告)日：2018-07-17

申请号：US15512290

申请日：2015-09-18

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka

IPC: G05G11/00 ,  B25J9/12 ,  B25J9/00 ,  B25J17/02

Abstract: A rotational driving mechanism for driving a rotary member mounted on a rotatable base member includes: a first link unit that has a first link body and is mounted through a first support part on the base member, the first link unit further having an input part to which an output of the linear motion actuator is inputted at one side of the first link body, and an output part located in the first link body at an opposite side of the input part across the first support part; and a second link unit that has a second link body and is mounted through a second support part on the output part of the first link unit, the second link unit being further mounted through a third support unit on the rotary member or a connecting member joined thereto in such a manner as to be free to rotate.

公开(公告)号：US20170282356A1

公开(公告)日：2017-10-05

申请号：US15512256

申请日：2015-09-18

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka

IPC: B25J5/00

CPC classification number: B25J5/00 ,  B25J9/0009 ,  G06N3/008

Abstract: A support structure for an upper half body of a robot includes: a columnar backbone part extending in an upward direction from a haunch bone part of a robot; an upper half body support part connected to the backbone part; and a driving unit on which an arm unit of the robot is rotatably mounted and which has an accommodation space receiving at least a predetermined actuator for driving said arm unit to rotate from the outside of the arm unit, wherein the driving unit is connected to the upper half body support part and the haunch bone part at a first connection point on the upper half body support part which is away a predetermined distance from a connection point of the upper half body support part and the backbone part to a side thereof, and at a second connection point on the haunch bone part, respectively.

公开(公告)号：US09468540B2

公开(公告)日：2016-10-18

申请号：US14421704

申请日：2013-04-04

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka ,  Yoshimasa Endo

IPC: B25J15/08 ,  A61F2/58 ,  B25J15/00 ,  A61F2/68 ,  A61F2/70 ,  A61F2/50

CPC classification number: A61F2/583 ,  A61F2/588 ,  A61F2/68 ,  A61F2/70 ,  A61F2002/5039 ,  A61F2002/701 ,  A61F2220/0041 ,  A61F2220/0091 ,  B25J15/0009 ,  Y10S901/39

Abstract: An articulated mechanism system includes a plurality of fingers (articulated mechanisms) arranged in parallel, each of which has a mounting member, a first digital part rotatably connected to the mounting member by a first connecting part, a second digital part rotatably connected to the first digital part by a second connecting part, and a first driving part rotatably connected to the second digital part by a fourth connecting part and connected to a third connecting part. By extruding the third connecting part toward the fourth connecting part, the first digital part and the second digital part are integrally rotated about the first connecting part, or the second digital part is rotated about the second connecting part when the rotation of the first digital part is blocked. The third connecting parts are driven by a single driving mechanism for the same distance and in the same direction at a time.

Abstract translation: 铰接机构系统包括平行布置的多个指状物（关节式机构），每个手指具有安装构件，第一数字部分通过第一连接部分可旋转地连接到安装构件，第二数字部分可旋转地连接到第一 数字部分由第二连接部分和第一驱动部分通过第四连接部分可旋转地连接到第二数字部分并连接到第三连接部分。 通过将第三连接部朝向第四连接部挤出，第一数字部和第二数字部围绕第一连接部一体地旋转，或者第二数字部在第一数字部的旋转时绕第二连接部旋转 被封锁。 第三连接部件由单个驱动机构一次驱动相同的距离和相同的方向。

公开(公告)号：US09375851B2

公开(公告)日：2016-06-28

申请号：US14352521

申请日：2012-10-19

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka

IPC: B25J17/02

CPC classification number: B25J17/0258 ,  B25J17/0266 ,  Y10T74/20335

Abstract: An articular structure for a robot according includes: a first intermediate link (26a) supported on a first member (22) to be rotatable about a first axis; a first arm (25a) having one end connected to a second member (23) with a ball joint interposed therebetween and the other end connected to the first intermediate link (26a) with a ball joint interposed therebetween; a first actuator (28a) for rotating the first intermediate link (26a) about the first axis; a second intermediate link (26b) supported on the first member (22) to be rotatable about a second axis; a second arm (25b) having one end connected to the second member (23) with a ball joint interposed therebetween and the other end connected to the second intermediate link (26b) with a ball joint interposed therebetween; and a second actuator (28b) for rotating the second intermediate link (26b) about the second axis.

Abstract translation: 一种用于机器人的关节结构，包括：第一中间连杆（26a），其被支撑在第一构件（22）上以围绕第一轴线旋转; 第一臂（25a），其一端连接到第二构件（23），球形接头插入其中，另一端与第一中间连杆（26a）连接，球形接头插入其间; 第一致动器（28a），用于围绕第一轴线旋转第一中间连杆（26a）; 第二中间连杆（26b），其支撑在所述第一构件（22）上以围绕第二轴线旋转; 第二臂（25b），其一端与第二构件（23）连接，并且插入其间具有球形接头，另一端与第二中间连杆（26b）连接，插入其间的球形接头; 以及用于使第二中间连杆（26b）围绕第二轴线旋转的第二致动器（28b）。

公开(公告)号：US20140238177A1

公开(公告)日：2014-08-28

申请号：US14352521

申请日：2012-10-19

Applicant: THK CO., LTD.

Inventor： Masaki Nagatsuka

IPC: B25J17/02

CPC classification number: B25J17/0258 ,  B25J17/0266 ,  Y10T74/20335

Abstract: An articular structure for a robot according includes: a first intermediate link (26a) supported on a first member (22) to be rotatable about a first axis; a first arm (25a) having one end connected to a second member (23) with a ball joint interposed therebetween and the other end connected to the first intermediate link (26a) with a ball joint interposed therebetween; a first actuator (28a) for rotating the first intermediate link (26a) about the first axis; a second intermediate link (26b) supported on the first member (22) to be rotatable about a second axis; a second arm (25b) having one end connected to the second member (23) with a ball joint interposed therebetween and the other end connected to the second intermediate link (26b) with a ball joint interposed therebetween; and a second actuator (28b) for rotating the second intermediate link (26b) about the second axis.

Abstract translation: 一种用于机器人的关节结构，包括：第一中间连杆（26a），其被支撑在第一构件（22）上以围绕第一轴线旋转; 第一臂（25a），其一端连接到第二构件（23），球形接头插入其中，另一端与第一中间连杆（26a）连接，球形接头插入其间; 第一致动器（28a），用于围绕第一轴线旋转第一中间连杆（26a）; 第二中间连杆（26b），其支撑在所述第一构件（22）上以围绕第二轴线旋转; 第二臂（25b），其一端与第二构件（23）连接，并且插入其间具有球形接头，另一端与第二中间连杆（26b）连接，插入其间的球形接头; 以及用于使第二中间连杆（26b）围绕第二轴线旋转的第二致动器（28b）。