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公开(公告)号：US20090173177A1
公开(公告)日：2009-07-09
申请号：US10585000
申请日：2005-11-15
CPC分类号： B25J17/0258 , Y10T74/20317 , Y10T74/20323 , Y10T74/20335
摘要： A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor 30 for causing the assembly a rotary motion, wherein the first motor 10 and the second motor 20 are disposed so that the output shaft of the first motor 10 and the output shaft of the second motor 20 are in parallel with each other and are orthogonal to the robot link, and the third motor 30 is disposed so that the output shaft of the third motor 30 is shifted with respect to the central axis of the rotary motion of the assembly 51.
摘要翻译： 一种机器人的联接结构，用于移动组件51以相对于机器人连接件连接到机器人连杆，该接头结构包括用于使组件进行纵向摆动的第一电动机10，用于引起组件的第二电动机20 横向摆动运动，以及用于使组件旋转运动的第三电动机30，其中第一电动机10和第二电动机20被布置成使得第一电动机10的输出轴和第二电动机20的输出轴为 彼此平行并且与机器人连杆正交，并且第三电动机30被设置成使得第三电动机30的输出轴相对于组件51的旋转运动的中心轴线移动。
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公开(公告)号：US07938038B2
公开(公告)日：2011-05-10
申请号：US10585000
申请日：2005-11-15
CPC分类号： B25J17/0258 , Y10T74/20317 , Y10T74/20323 , Y10T74/20335
摘要： A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor 30 for causing the assembly a rotary motion, wherein the first motor 10 and the second motor 20 are disposed so that the output shaft of the first motor 10 and the output shaft of the second motor 20 are in parallel with each other and are orthogonal to the robot link, and the third motor 30 is disposed so that the output shaft of the third motor 30 is shifted with respect to the central axis of the rotary motion of the assembly 51.
摘要翻译： 一种机器人的联接结构，用于移动组件51以相对于机器人连接件连接到机器人连杆，该接头结构包括用于使组件进行纵向摆动的第一电动机10，用于引起组件的第二电动机20 横向摆动运动，以及用于使组件旋转运动的第三电动机30，其中第一电动机10和第二电动机20被布置成使得第一电动机10的输出轴和第二电动机20的输出轴为 彼此平行并且与机器人连杆正交，并且第三电动机30被设置成使得第三电动机30的输出轴相对于组件51的旋转运动的中心轴线移动。
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公开(公告)号：US20060015214A1
公开(公告)日：2006-01-19
申请号：US10532113
申请日：2003-10-17
申请人： Zenta Sugawara , Hiroshi Matsuda
发明人： Zenta Sugawara , Hiroshi Matsuda
IPC分类号： G06F19/00
CPC分类号： B25J9/106 , B25J5/00 , B25J17/0241 , Y10T74/20329
摘要： In a robot joint structure, a first main link (42) and a second main link (44) are connected through two movable links including a first movable link (70) and a second movable link (72), and the two movable links are arranged to cross. With this, it becomes possible to increase the overall driven angle of the joint (36) relative to the input, expand the range of motion of the joint in the bending direction, and also raise the critical value of the driven speed (rotational speed).
摘要翻译： 在机器人接头结构中，第一主连杆（42）和第二主连杆（44）通过包括第一可动连杆（70）和第二可动连杆（72）的两个活动连杆连接， 安排交叉 由此，能够使接头（36）相对于输入部的整体驱动角度增大，扩大接头在弯曲方向上的运动范围，并且提高从动速度（转速）的临界值， 。
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公开(公告)号：US07581465B2
公开(公告)日：2009-09-01
申请号：US10532113
申请日：2003-10-17
申请人： Zenta Sugawara , Hiroshi Matsuda
发明人： Zenta Sugawara , Hiroshi Matsuda
IPC分类号： B25J17/00
CPC分类号： B25J9/106 , B25J5/00 , B25J17/0241 , Y10T74/20329
摘要： In a robot of an elbow joint of a humanoid robot, a first main link and a second main link are connected through a first movable link and a second movable link, and the two movable links are arranged to cross. Specifically, in a quadrangle whose apices are formed by rotation axes A, B, C and D, when assuming that rotation axes diagonally opposed to each other are A and C, and B and D, the rotation axes A and C are connected through the first movable link and the rotation axes B and D are connected through the second movable link in such a manner that the first and second movable links are disposed to cross, and that the rotation axis A is driven by the actuator to drive the first movable link, such that the first and second main links are displaced relative to each other. In addition, the first movable link is rotatably connected to a first plate and a second plate through the rotation axis A, while the second movable link is rotatably connected to the first plate through the rotation axis B. With this, it becomes possible to increase the overall driven angle of the joint relative to the input, expand the range of motion of the joint in the bending direction, and also raise the critical value of the driven speed (i.e., rotational speed).
摘要翻译： 在人形机器人的肘关节的机器人中，第一主连杆和第二主连杆通过第一可动连杆和第二可移动连杆连接，并且两个可动连杆被布置为交叉。 具体地说，在旋转轴线A，B，C，D形成顶点的四边形中，当假设旋转轴线彼此相对的是A和C以及B和D时，旋转轴线A和C通过 第一可动连杆和旋转轴线B和D通过第二可移动连杆以这样的方式连接，使得第一和第二可移动连杆设置为交叉，并且旋转轴线A由致动器驱动以驱动第一可动连杆 使得第一和第二主链路相对于彼此移位。 此外，第一可动连杆通过旋转轴线A可旋转地连接到第一板和第二板，而第二可动连杆通过旋转轴线B可旋转地连接到第一板。由此，可以增加 接头相对于输入的总驱动角度，扩大接头在弯曲方向上的运动范围，并提高驱动速度（即转速）的临界值。
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公开(公告)号：US08740822B2
公开(公告)日：2014-06-03
申请号：US12935725
申请日：2009-02-06
申请人： Yutaka Hiki , Zenta Sugawara , Jun Ashihara
发明人： Yutaka Hiki , Zenta Sugawara , Jun Ashihara
IPC分类号： A61H3/00
CPC分类号： A61H3/008 , A61H1/024 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5071
摘要： An actuator is reduced in weight without impairing a walking assist function, and this reduces the inertial moment of a leg link. A drive crank arm on the output shaft of the actuator and a driven crank arm fixed to a second link portion so as to be concentric to the joint shaft of a third joint portion are connected to each other via a connection link. The connection link is placed so that a line connecting a pivot portion at which the drive crank arm is pivotally mounted and a pivot portion at which the driven crank arm is pivotally mounted obliquely crosses a line connecting the output shaft of the actuator and the joint shaft of the third joint portion.
摘要翻译： 致动器的重量减轻而不损害行走辅助功能，并且这降低了腿连杆的惯性力矩。 致动器的输出轴上的驱动曲柄臂和固定到第二连杆部分以与第三关节部分的关节轴同心的从动曲柄臂经由连接杆彼此连接。 连接连杆被放置成使得连接枢转部分的驱动曲柄臂枢转地安装的线和从动曲柄臂枢转地安装的枢转部分倾斜地穿过连接致动器的输出轴的线和关节轴 的第三关节部分。
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公开(公告)号：US20110028874A1
公开(公告)日：2011-02-03
申请号：US12935725
申请日：2009-02-06
申请人： Yutaka Hiki , Zenta Sugawara , Jun Ashihara
发明人： Yutaka Hiki , Zenta Sugawara , Jun Ashihara
IPC分类号： A61F5/00
CPC分类号： A61H3/008 , A61H1/024 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5071
摘要： An actuator (91) is reduced in weight without impairing a walking assist function, and this reduces the inertial moment of a leg link (3). A drive crank arm (92) on the output shaft of the actuator (91) and a driven crank arm (93) fixed to a second link portion (7) so as to be concentric to the joint shaft of a third joint portion (8) are connected to each other via a connection link (94). The connection link (94) is placed so that a line connecting a pivot portion (94a) at which the drive crank arm (92) is pivotally mounted and a pivot portion (94b) at which the driven crank arm (93) is pivotally mounted obliquely crosses a line connecting the output shaft of the actuator (91) and the joint shaft of the third joint portion (8).
摘要翻译： 致动器（91）的重量减轻而不损害行走辅助功能，这降低了腿部连杆（3）的惯性力矩。 在致动器（91）的输出轴上的驱动曲柄臂（92）和固定到第二连杆部分（7）上以与第三接头部分（8）的接合轴同心的从动曲柄臂（93） ）经由连接链路（94）彼此连接。 连接连杆（94）被放置成使得连接驱动曲柄臂（92）枢转地安装的枢转部分（94a）的线和驱动曲柄臂（93）枢转地安装在其上的枢转部分（94b） 倾斜地穿过连接致动器（91）的输出轴和第三关节部分（8）的关节轴的线。
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