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    • 1. 发明授权
    • Robot actuator and humanoid robot having the same
    • 机器人执行器和类人机器人具有相同的功能
    • US08579343B2
    • 2013-11-12
    • US12860346
    • 2010-08-20
    • Kang Min ParkJa Woo LeeYong Jae Kim
    • Kang Min ParkJa Woo LeeYong Jae Kim
    • B25J15/00
    • B25J15/0009B25J9/102
    • 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.
    • 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。
    • 4. 发明申请
    • COMPLIANT JOINT
    • 合作伙伴
    • US20090092442A1
    • 2009-04-09
    • US12110817
    • 2008-04-28
    • Young Bo SHIMJa Woo LeeYoun Baek LeeJeong Hun KimKyung Shik RohHyun Kyu Kim
    • Young Bo SHIMJa Woo LeeYoun Baek LeeJeong Hun KimKyung Shik RohHyun Kyu Kim
    • F16C11/12
    • B25J19/063Y10T403/54Y10T403/602Y10T403/604
    • 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.
    • 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。
    • 6. 发明申请
    • HUMANOID ROBOT
    • 人类机器人
    • US20100011899A1
    • 2010-01-21
    • US12411441
    • 2009-03-26
    • Yong Jae KimJa Woo LeeKang Min Park
    • Yong Jae KimJa Woo LeeKang Min Park
    • B25J17/02B25J18/00
    • B25J15/0009B25J9/104Y10T74/20323Y10T74/20335
    • 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.
    • 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。
    • 7. 发明授权
    • Robot, robot hand, and method of controlling robot hand
    • 机器人,机器人手和控制机器人手的方法
    • US08260458B2
    • 2012-09-04
    • US12382122
    • 2009-03-09
    • Yong Jae KimJa Woo LeeKang Min Park
    • Yong Jae KimJa Woo LeeKang Min Park
    • G05B19/18
    • B25J15/0009B25J9/1612B25J13/081B25J13/086
    • 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.
    • 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。