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1. 发明申请

US20050166687A1 Method and device for detecting low rigidity 审中-公开
标题翻译：检测低刚性的方法和装置
公开(公告)号：US20050166687A1
公开(公告)日：2005-08-04
申请号：US10500853
申请日：2003-01-17
申请人： Kenji Kaneko , Kazuhito Yokoi , Shuuji Kajita , Fumio Kanehiro , Kiyoshi Fujiwara , Hirohisa Hirukawa , Shigehiko Ota , Toshikazu Kawasaki , Kazuhiko Akachi , Takakatsu Isozumi
发明人： Kenji Kaneko , Kazuhito Yokoi , Shuuji Kajita , Fumio Kanehiro , Kiyoshi Fujiwara , Hirohisa Hirukawa , Shigehiko Ota , Toshikazu Kawasaki , Kazuhiko Akachi , Takakatsu Isozumi
IPC分类号： B25J19/02 , G01G23/00 , G01L1/02 , G01L1/26
CPC分类号： G01G23/005 , G01L1/26
摘要： A method for detecting a low rigid force and a device therefor are provided in that even a large impact force is applied, by integrating an impact absorbing unit with the force detection mechanism, a force detection mechanism may not be damaged. To that end, between a pair of substrates 2a and 2b opposing each other and undergoing displacement in a direction changing the space between them by an impact force applied thereto, at least one absorption detection mechanism 3 integrally including an impact absorbing unit 4 and a force detecting unit 5 is interposed, so that a force applied between both the substrates 2a and 2b is detected by the force detecting unit 5 while an impact force applied between both the substrates 2a and 2b being absorbed by an elastic force of the impact absorbing unit 4.
摘要翻译：提供了一种用于检测低刚性力的方法及其装置，其特征在于，即使施加较大的冲击力，通过将冲击吸收单元与力检测机构相集成，力检测机构也不会被损坏。为此，在一对彼此相对的基板2a和2b之间，通过施加到其上的冲击力沿着改变它们之间的空间的方向发生位移;至少一个吸收检测机构3，其一体地包括冲击吸收单元4和插入力检测单元5，使得通过力检测单元5检测施加在两个基板2a和2b之间的力，同时施加在两个基板2a和2b之间的冲击力被弹性力吸收的冲击吸收单元4。

2. 发明申请

US20060011391A1 Supplementary support structure for robot 有权
标题翻译：机器人补充支撑结构
公开(公告)号：US20060011391A1
公开(公告)日：2006-01-19
申请号：US10513827
申请日：2003-05-07
申请人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
发明人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0091
摘要： A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.
摘要翻译：一种辅助支撑结构，其支撑机器人（1）的主体，包括接触部件（7），其设置在远端上的接头（2c）附近的部分中，具有设置在其上的手（3）（1）的臂（2）与支撑机器人（1）的表面（例如地板表面）接触并且位于具有接触部件的部件之间的部件（ 7）和臂（2）的近端。因此，辅助支撑结构可以避免由支撑结构产生的手的重量的增加，从而消除用于手或臂的驱动系统的额外的负载，并且因此实现驱动系统的简化和减小尺寸。此外，支撑结构可以增加手的形状或功能设计的自由度，从而改善机器人的功能。

3. 发明授权

US07896112B2 Supplementary support structure for robot 有权
标题翻译：机器人补充支撑结构
公开(公告)号：US07896112B2
公开(公告)日：2011-03-01
申请号：US10513827
申请日：2003-05-07
申请人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
发明人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0091
摘要： A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.
摘要翻译：一种辅助支撑结构，其支撑机器人（1）的主体，包括接触部件（7），该接触部件设置在远端上的接头（2c）附近，具有设置在其上的手（3）所述机器人（1）的臂（2）与所述机器人（1）所支撑的表面（例如地板表面）接触，并且所述部件位于具有所述接触部件（7））和臂（2）的近端。因此，辅助支撑结构可以避免由支撑结构产生的手的重量的增加，从而消除用于手或臂的驱动系统的额外的负载，并且因此实现驱动系统的简化和减小尺寸。此外，支撑结构可以增加手的形状或功能设计的自由度，从而改善机器人的功能。

4. 发明申请

US20060237241A1 Impact absorbing mechanism of walking robot 有权
标题翻译：步行机器人的冲击吸收机理
公开(公告)号：US20060237241A1
公开(公告)日：2006-10-26
申请号：US10527728
申请日：2003-09-10
申请人： Shigehiko Ohta , Toshikazu Kawasaki , Takakatsu Isozumi
发明人： Shigehiko Ohta , Toshikazu Kawasaki , Takakatsu Isozumi
IPC分类号： G06F19/00 , B62D51/06
CPC分类号： B25J19/0091 , Y10T74/20354
摘要： An impact absorbing mechanism, provided to a foot 5 of an extremity of each of two movable legs 2 of a bipedal walking robot 1 having the two movable legs 2, includes: an upper base plate 5-a joined to a foot joint 4 of each of the movable legs 2; a lower base plate 5b positioned below the upper base plate, and being opposite to the upper base plate; and three elastic members 6 anisotropic in terms of elasticity, which are arranged at equal intervals in the circumferential direction about the yaw axis YA extending in a direction perpendicular to the upper base plate 5a, between the upper base plate 5a and the lower base plate 5b, each of which allows the lower base plate 5b to make elastic displacement relative to the upper base plate 5a in the same direction as axis YA extends, while each of which inhibits the lower base plate 5b from making elastic displacement relative to the upper base plate 5a in directions orthogonal to the yaw axis direction, and which join the upper base plate 5a and the lower base plate 5b elastically. This can simplify a calculation by a CPU concerning control of the walking of the walking robot. This can prevent disturbance, which would otherwise occur due to the friction resistance stemming from the physical interference by the rigid members. In addition, this can prevent the 6-axis force sensor from being broken, and can also prevent an equivalent to the breakage.
摘要翻译：设置有具有两个可动支脚2的双足步行机器人1的两个可动腿部2的末端的脚部5的冲击吸收机构包括：上基板5，其连接到每个脚踏接头4 的可动腿2; 位于上基板下方并与上基板相对的下基板5b; 和三个弹性构件6在弹性方面各向异性，这些弹性构件在围绕在垂直于上基板5a的方向延伸的偏转轴线YA的圆周方向上以等间隔布置在上基板5a和下基座每一个都允许下基板5b相对于上基板5a在与YA延伸方向相同的方向上产生弹性位移，而每个板限制下基板5b产生弹性位移相对于上基板5a在与偏转轴方向正交的方向上弹性地接合上基板5a和下基板5b。这可以简化CPU关于步行机器人步行控制的计算。这可以防止由于刚性构件的物理干扰引起的摩擦阻力而引起的干扰。另外，这样可以防止6轴力传感器破损，也可以防止相当于破损。

5. 发明授权

US07525275B2 Impact absorbing mechanism of walking robot 有权
标题翻译：步行机器人的冲击吸收机理
公开(公告)号：US07525275B2
公开(公告)日：2009-04-28
申请号：US10527728
申请日：2003-09-10
申请人： Shigehiko Ohta , Toshikazu Kawasaki , Takakatsu Isozumi
发明人： Shigehiko Ohta , Toshikazu Kawasaki , Takakatsu Isozumi
IPC分类号： B25J5/00 , G06F19/00
CPC分类号： B25J19/0091 , Y10T74/20354
摘要： An impact absorbing mechanism, provided to a foot 5 of an extremity of each of two movable legs 2 of a bipedal walking robot 1 having the two movable legs 2, includes: an upper base plate 5-a joined to a foot joint 4 of each of the movable legs 2; a lower base plate 5b positioned below the upper base plate, and being opposite to the upper base plate; and three elastic members 6 anisotropic in terms of elasticity, which are arranged at equal intervals in the circumferential direction about the yaw axis YA extending in a direction perpendicular to the upper base plate 5a, between the upper base plate 5a and the lower base plate 5b, each of which allows the lower base plate 5b to make elastic displacement relative to the upper base plate 5a in the same direction as axis YA extends, while each of which inhibits the lower base plate 5b from making elastic displacement relative to the upper base plate 5a in directions orthogonal to the yaw axis direction, and which join the upper base plate 5a and the lower base plate 5b elastically. This can simplify a calculation by a CPU concerning control of the walking of the walking robot. This can prevent disturbance, which would otherwise occur due to the friction resistance stemming from the physical interference by the rigid members. In addition, this can prevent the 6-axis force sensor from being broken, and can also prevent an equivalent to the breakage.
摘要翻译：设置有具有两个可动支脚2的双足步行机器人1的两个可动腿部2的末端的脚部5的冲击吸收机构包括：上基板5-a，其连接到每个脚踏接头4 的可动腿2; 位于上基板下方并与上基板相对的下基板5b; 三个弹性构件6在弹性方面各向异性，沿着与上基板5a垂直的方向延伸的偏转轴线YA在周向上等间隔配置在上基板5a和下基板5b之间每个允许下基板5b相对于上基板5a沿与轴线YA延伸的相同方向进行弹性位移，同时每个都抑制下基板5b相对于上基板的弹性位移 5a在与偏转轴方向正交的方向上弹性地接合上基板5a和下基板5b。这可以简化CPU关于步行机器人步行控制的计算。这可以防止由于刚性构件的物理干扰引起的摩擦阻力而引起的干扰。另外，这样可以防止6轴力传感器破损，也可以防止相当于破损。

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