公开(公告)号：US08021071B2

公开(公告)日：2011-09-20

申请号：US12110817

申请日：2008-04-28

申请人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Kyung Shik Roh ,  Hyun Kyu Kim ,  Hyun Seok Yang ,  Dong Jun Hyun

发明人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Kyung Shik Roh ,  Hyun Kyu Kim ,  Hyun Seok Yang ,  Dong Jun Hyun

IPC分类号： F16D7/00

CPC分类号： B25J19/063 ,  Y10T403/54 ,  Y10T403/602 ,  Y10T403/604

摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.

摘要翻译： 能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。 柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸 凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。 因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

公开(公告)号：US20090092442A1

公开(公告)日：2009-04-09

申请号：US12110817

申请日：2008-04-28

申请人： Young Bo SHIM ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Kyung Shik Roh ,  Hyun Kyu Kim

发明人： Young Bo SHIM ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Kyung Shik Roh ,  Hyun Kyu Kim

IPC分类号： F16C11/12

CPC分类号： B25J19/063 ,  Y10T403/54 ,  Y10T403/602 ,  Y10T403/604

摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.

摘要翻译： 能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。 柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸 凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。 因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

公开(公告)号：US08235827B2

公开(公告)日：2012-08-07

申请号：US12320359

申请日：2009-01-23

申请人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Yeon Taek Oh ,  Soo Sang Yang ,  Hyun Seok Yang ,  Dong Jun Hyun

发明人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Yeon Taek Oh ,  Soo Sang Yang ,  Hyun Seok Yang ,  Dong Jun Hyun

IPC分类号： F16D3/62

CPC分类号： F16D7/044 ,  B25J17/0208 ,  Y10T464/30

摘要： Disclosed is a compliant joint achieving passive compliance. The compliant joint includes a housing and a rotating member mutually rotatably provided; and a cam provided between the housing and the rotating member, and connected to the housing and the rotating member respectively. The cam is connected to the rotating member to rotate together with the rotation of the rotating member, or be independent of the rotating member so as to move in the axial direction of the rotating member separately from the rotating member. The cam is connected to the housing such that the cam can maintain the connection with the housing when external force below a designated value is applied to the rotating member, and release the connection with the housing in the case that external force more than the designated value is applied to the rotating member.

摘要翻译： 公开了一种符合被动遵守的合规联合体。 柔性接头包括可相互旋转地设置的壳体和旋转构件; 以及设置在所述壳体和所述旋转构件之间并且分别连接到所述壳体和所述旋转构件的凸轮。 凸轮连接到旋转构件，与旋转构件的旋转一起旋转，或者独立于旋转构件，以便与旋转构件分开地沿着旋转构件的轴向方向移动。 凸轮连接到壳体，使得当外部力低于指定值时，凸轮可以保持与壳体的连接，并且在外力超过指定值的情况下释放与壳体的连接 被施加到旋转构件。

公开(公告)号：US20090233720A1

公开(公告)日：2009-09-17

申请号：US12320359

申请日：2009-01-23

申请人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Yeon Taek Oh ,  Soo Sang Yang

发明人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Yeon Taek Oh ,  Soo Sang Yang

IPC分类号： F16D7/04

CPC分类号： F16D7/044 ,  B25J17/0208 ,  Y10T464/30

摘要： Disclosed is a compliant joint achieving passive compliance. The compliant joint includes a housing and a rotating member mutually rotatably provided; and a cam provided between the housing and the rotating member, and connected to the housing and the rotating member respectively. The cam is connected to the rotating member to rotate together with the rotation of the rotating member, or be independent of the rotating member so as to move in the axial direction of the rotating member separately from the rotating member. The cam is connected to the housing such that the cam can maintain the connection with the housing when external force below a designated value is applied to the rotating member, and release the connection with the housing in the case that external force more than the designated value is applied to the rotating member.

摘要翻译： 公开了一种符合被动遵守的合规联合体。 柔性接头包括可相互旋转地设置的壳体和旋转构件; 以及设置在所述壳体和所述旋转构件之间并且分别连接到所述壳体和所述旋转构件的凸轮。 凸轮连接到旋转构件，与旋转构件的旋转一起旋转，或者独立于旋转构件，以便与旋转构件分开地沿着旋转构件的轴向方向移动。 凸轮连接到壳体，使得当外部力低于指定值时，凸轮可以保持与壳体的连接，并且在外力超过指定值的情况下释放与壳体的连接 被施加到旋转构件。

公开(公告)号：US20100011899A1

公开(公告)日：2010-01-21

申请号：US12411441

申请日：2009-03-26

申请人： Yong Jae Kim ,  Ja Woo Lee ,  Kang Min Park

发明人： Yong Jae Kim ,  Ja Woo Lee ,  Kang Min Park

IPC分类号： B25J17/02 ,  B25J18/00

CPC分类号： B25J15/0009 ,  B25J9/104 ,  Y10T74/20323 ,  Y10T74/20335

摘要： Disclosed is a humanoid robot capable of improving power transmission efficiency of a wire and movement displacement of a wrist joint by modifying the structure of the wrist joint serving as a passage for wires. The humanoid robot includes a robot hand including a power transmission device for transferring gripping force to finger members. The power transmission device includes connection members connecting an actuator to finger joints and guide members for guiding the connection members. The guide members include a first guide member coupled to a robot arm and a second guide member coupled to a hand body. The connection members are alternately wound around the first and second guide members. The gripping force is enhanced whereby a length of the connection members provided between the first and second guide members is constantly maintained even if the second guide member is shifted from the first guide member.

摘要翻译： 公开了一种类人机器人，其能够通过改变用作线路的通道的腕关节的结构来改善电线的传动效率和腕关节的移动位移。 人形机器人包括机器人手，其包括用于将夹持力传递到手指部件的动力传递装置。 动力传递装置包括将致动器连接到手指接头的连接构件和用于引导连接构件的引导构件。 引导构件包括联接到机器人臂的第一引导构件和联接到手主体的第二引导构件。 连接构件交替地缠绕在第一和第二引导构件周围。 提高夹持力，即使第二引导构件从第一引导构件偏移，也能够一直保持设置在第一和第二引导构件之间的连接构件的长度。

公开(公告)号：US08260458B2

公开(公告)日：2012-09-04

申请号：US12382122

申请日：2009-03-09

申请人： Yong Jae Kim ,  Ja Woo Lee ,  Kang Min Park

发明人： Yong Jae Kim ,  Ja Woo Lee ,  Kang Min Park

IPC分类号： G05B19/18

CPC分类号： B25J15/0009 ,  B25J9/1612 ,  B25J13/081 ,  B25J13/086

摘要： Disclosed are a robot, a robot hand, and a method of controlling the robot hand, in which the robot hand rapidly and correctly approaches an object to be gripped and safely grips the object regardless of the shape and material of the object. The method of controlling a robot hand, which has a palm, and a plurality of fingers, each having a plurality of segments, connected to the palm, includes causing the palm to approach an object using at least one first distance sensor installed on the palm; causing the plurality of fingers to approach the object using at least one second distance sensor installed on the plurality of fingers; and causing the palm and the plurality of fingers to come into contact the object to grip the object.

摘要翻译： 本发明公开了一种机器人手和控制机器人手的方法，其中机器人手快速且正确地接近待抓握的物体，并且安全地夹持物体，而与物体的形状和材料无关。 控制连接到手掌上的具有手掌和多个手指的机器人手的方法，包括使用安装在手掌上的至少一个第一距离传感器使手掌接近物体 ; 使用安装在所述多个手指上的至少一个第二距离传感器使所述多个手指接近所述物体; 并且使得手掌和多个手指接触物体以夹持物体。

公开(公告)号：US08579343B2

公开(公告)日：2013-11-12

申请号：US12860346

申请日：2010-08-20

申请人： Kang Min Park ,  Ja Woo Lee ,  Yong Jae Kim

发明人： Kang Min Park ,  Ja Woo Lee ,  Yong Jae Kim

IPC分类号： B25J15/00

CPC分类号： B25J15/0009 ,  B25J9/102

摘要： Disclosed herein are a robot actuator and a humanoid robot having the same. The robot actuator includes a rotation driving source, a ball screw member including a ball screw part connected to the rotation driving source and a nut part connected to the ball screw part, a guide member separated in parallel from the ball screw part, a slider member movably supported by the guide member, and a connection member connecting the slider member and the nut part to move the slider member in connection with movement of the nut part, and the connection member is relatively movably connected to at least one of the nut part and the slider member. Therefore, efficiency in force reflection and back-drivability of the actuator is improved.

摘要翻译： 这里公开了一种机器人致动器和具有该机器人致动器的人形机器人。 机器人致动器包括旋转驱动源，滚珠丝杠构件，其包括与旋转驱动源连接的滚珠丝杠部和与滚珠丝杠部连接的螺母部，与滚珠丝杠部平行地分离的引导构件，滑动构件 可动地由引导构件支撑;以及连接构件，其连接滑动构件和螺母部，以使滑动构件与螺母部的移动相关联地移动，并且连接构件相对于可动地连接到螺母部和 滑块构件。 因此，促进器的力反射效率和反向驱动性提高。

公开(公告)号：US08419096B2

公开(公告)日：2013-04-16

申请号：US12984945

申请日：2011-01-05

申请人： Yong Jae Kim ,  Ja Woo Lee ,  Kang Min Park

发明人： Yong Jae Kim ,  Ja Woo Lee ,  Kang Min Park

IPC分类号： B25J15/00

CPC分类号： B25J15/0009 ,  B25J9/104

摘要： A robot hand may have an improved structure so that movements of some of joints of a finger structure do not influence operations of other joints. A meta phalangeal (MP) roll joint unit rotated in a roll direction and an MP pitch joint unit rotated in a pitch direction of an MP joint unit are separately arranged to form an offset. Movable angles of the respective joint units are widened, and the joint units are precisely controlled. Overall friction within the robot hand is reduced, and a robot having the hand is stabilized.

摘要翻译： 机器人手可以具有改进的结构，使得手指结构的一些关节的运动不影响其他关节的操作。 分别布置沿辊方向旋转的跖指（MP）卷边关节单元和沿MP关节单元的俯仰方向旋转的MP间距关节单元以形成偏移。 各个接头单元的可动角度变宽，接头单元被精确地控制。 机器人手中的整体摩擦减少，并且具有手的机器人稳定。

公开(公告)号：US20100147098A1

公开(公告)日：2010-06-17

申请号：US12588765

申请日：2009-10-27

申请人： Kang Min Park ,  Ja Woo Lee ,  Yong-Jae Kim

发明人： Kang Min Park ,  Ja Woo Lee ,  Yong-Jae Kim

IPC分类号： B25J15/08 ,  B25J17/02

CPC分类号： B25J15/0009 ,  B25J9/104

摘要： A robot has a structure in which finger joints do not interfere with each other. The robot includes a first actuator driving the finger joint, a first power transmission, a second actuator driving the finger joint, and a second power transmission. The first actuator and the first power transmission are coupled with a wrist joint so that the position of the first actuator and the first power transmission is changed. Accordingly, even if the wrist joint operates, the distance between the first actuator and the finger joint is constantly maintained.

摘要翻译： 机器人具有其中手指关节不彼此干涉的结构。 机器人包括驱动指关节的第一致动器，第一动力传递装置，驱动手指关节的第二致动器和第二动力传递装置。 第一致动器和第一动力传动装置与腕关节联接，使得第一致动器和第一动力传动装置的位置改变。 因此，即使腕关节动作，也能够始终保持第一致动器与手指关节之间的距离。

公开(公告)号：US08523509B2

公开(公告)日：2013-09-03

申请号：US12588765

申请日：2009-10-27

申请人： Kang Min Park ,  Ja Woo Lee ,  Yong-Jae Kim

发明人： Kang Min Park ,  Ja Woo Lee ,  Yong-Jae Kim

IPC分类号： B25J15/12 ,  B25J17/02 ,  B25J15/10 ,  B25J18/00 ,  F16H29/20

CPC分类号： B25J15/0009 ,  B25J9/104

摘要： A robot has a structure in which finger joints do not interfere with each other. The robot includes a first actuator driving the finger joint, a first power transmission, a second actuator driving the finger joint, and a second power transmission. The first actuator and the first power transmission are coupled with a wrist joint so that the position of the first actuator and the first power transmission is changed. Accordingly, even if the wrist joint operates, the distance between the first actuator and the finger joint is constantly maintained.

摘要翻译： 机器人具有其中手指关节不彼此干涉的结构。 机器人包括驱动指关节的第一致动器，第一动力传递装置，驱动手指关节的第二致动器和第二动力传递装置。 第一致动器和第一动力传动装置与腕关节联接，使得第一致动器和第一动力传动装置的位置改变。 因此，即使腕关节动作，也能够始终保持第一致动器与手指关节之间的距离。