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31. 发明专利

JP4089663B2 Robot joint servo 有权
公开(公告)号：JP4089663B2
公开(公告)日：2008-05-28
申请号：JP2004231293
申请日：2004-08-06
申请人：双葉電子工業株式会社
发明人：大治小澤 , 騰河野 , 康之鈴木
IPC分类号： B25J19/00 , B25J9/08 , H02K7/116
CPC分类号： B25J9/102 , B25J9/08

32. 发明专利

JP2006051568A Articulated robot 有权
标题翻译：结构机器人
公开(公告)号：JP2006051568A
公开(公告)日：2006-02-23
申请号：JP2004234761
申请日：2004-08-11
申请人： Nippon Telegr & Teleph Corp , 日本電信電話株式会社
发明人： KAWANO HIROSHI
IPC分类号： B25J19/00 , B25J9/08 , H02N2/00
摘要： PROBLEM TO BE SOLVED: To provide an articulated robot capable of regulating the preload of an ultra-sonic motor properly using a small and simple mechanism. SOLUTION: The articulated robot is equipped with a stator 1 configured so that piezoelectric elements 11, 12, 13, 14 and a stator flange 4 with its peripheral end overhung are laminated and a hollow hole 1a is formed penetrating through the elements 11, 12, 13, 14 and the flange 4 in one string and having an opening in the center of the both end face, a rotor 2 placed on the vibratory end face of the stator 1 and furnished with a through hole 2a penetrating in the extension of the hollow hole 1a in the stator 1, and a wire 3 threaded through the hollow hole 1a and the through hole 2a in series and having two ends fixed to and tightened over two fixing members confronting each other in such a way as capable of transmitting the tension to the stator 1 and the rotor 2, respectively, in cooperation. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够使用小而简单的机构适当地调节超声波马达的预载的铰接式机器人。解决方案：铰接机器人配备有定子1，其被配置为使得压电元件11,12,13,14和其周端悬臂的定子凸缘4被层压，并且形成穿透元件11的中空孔1a ，12,13,14以及凸缘4，并且在两端面的中心具有开口，转子2设置在定子1的振动端面上，并具有贯穿该延伸部的通孔2a 定子1中的中空孔1a的导线3和穿过中空孔1a和通孔2a的导线3串联连接，并且具有两个端部固定并紧固在彼此面对的两个固定构件上以能够传递的方式分别对定子1和转子2的张力进行配合。版权所有（C）2006，JPO＆NCIPI

33. 发明专利

JP2006000955A Robot arm, and its rotating joint device and wrist device 有权
标题翻译：机器人ARM及其旋转接头设备和手持设备
公开(公告)号：JP2006000955A
公开(公告)日：2006-01-05
申请号：JP2004178953
申请日：2004-06-16
申请人： National Institute Of Advanced Industrial & Technology , 独立行政法人産業技術総合研究所
发明人： SAITO FUMITOMO
IPC分类号： B25J17/00 , B25J9/08 , B25J17/02 , H02G11/00
摘要： PROBLEM TO BE SOLVED: To form a structure minimizing restrictions on joint operation and easily avoiding interference between an arm and environment regarding a robot arm for a nonmanufacturing industrial field and to form a structure allowing operation adapted to external force to improve human safety and environmental safety. SOLUTION: A rotating joint device has an angle detector, a torque detector, an actuator and a local controller 8 to drive two rotatably connected links, and is provided with a slip ring mechanism for maintaining electrical connection between the links while sliding with the rotation of joints. A control command to the actuator is computed on the local controller, and the robot arm is infinitely rotatable while maintaining electrical connection between the links in order to simultaneously realize control on each characteristic of a position, torque, rigidity and viscosity instructed from a master controller, based on angle and torque values obtained from the angle detector and the torque detector. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了形成最小化关节操作限制的结构，并且容易避免臂与环境之间关于非制造工业领域的机器人手臂的干扰并且形成允许适应外力的操作以改善人身安全的结构和环境安全。解决方案：旋转接头装置具有角度检测器，扭矩检测器，致动器和本地控制器8，以驱动两个可旋转连接的链节，并且设置有滑环机构，用于保持连杆之间的电连接，同时滑动关节旋转。在本地控制器上计算对致动器的控制命令，并且机器人臂可无级旋转，同时保持连杆之间的电连接，以便同时实现从主控制器指示的位置，扭矩，刚性和粘度的每个特性的控制基于从角度检测器和扭矩检测器获得的角度和扭矩值。版权所有（C）2006，JPO＆NCIPI

34. 发明专利

JP2005014097A Industrial robot arm 审中-公开
标题翻译：工业机器人ARM
公开(公告)号：JP2005014097A
公开(公告)日：2005-01-20
申请号：JP2003177897
申请日：2003-06-23
申请人： Nachi Fujikoshi Corp , 株式会社不二越
发明人： ONO KOJI
IPC分类号： B25J17/00 , B25J9/08
摘要： PROBLEM TO BE SOLVED: To provide an articulated industrial robot arm which is simple in structure, and free in configuration.
SOLUTION: First and second axial units (1, 2) of the robot arm are comprised of reduction gear-integrated motors (10, 20), respectively, which each have a reduction gear mechanism built therein in one body. According to the configuration of the robot arm, the second axial unit (2) has a static portion of the motor directly fixed to a reduction gear mechanism output shaft of the motor of the first axial unit (1). Alternatively the second axial unit is linked to the first axial unit (1) via a bracket (21). The bracket has the static portion or a reduction gear mechanism output shaft of the motor (20) of the second axial unit fixed to one side thereof, and has the other side thereof fixed to the reduction gear mechanism output shaft of the motor (10) of the first axial unit.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供结构简单，结构自由的铰接式工业机器人手臂。解决方案：机器人臂的第一和第二轴向单元（1,2）分别由减速齿轮集成电动机（10,20）组成，每个减速齿轮一体机中内置有减速齿轮机构。根据机器人臂的结构，第二轴向单元（2）具有直接固定在第一轴向单元（1）的电机的减速齿轮机构输出轴上的马达的静止部分。或者，第二轴向单元经由支架（21）连接到第一轴向单元（1）。支架具有固定在其一侧的第二轴向单元的电动机（20）的静止部分或减速齿轮机构输出轴，并且另一侧固定到电动机（10）的减速齿轮机构输出轴上，的第一轴向单元。版权所有（C）2005，JPO＆NCIPI

35. 发明专利

JP2003191185A ROBOTIC TOY WITH POSABLE JOINT 审中-公开
公开(公告)号：JP2003191185A
公开(公告)日：2003-07-08
申请号：JP2002237406
申请日：2002-08-16
申请人： XEROX CORP
发明人： DUFF DAVID G , YIM MARK H , HOMANS SAMUEL B , ROUFAS KIMON D , SUH JOHN W
IPC分类号： A63H11/00 , A63H33/04 , B25J9/08 , B25J9/16 , B25J13/00 , B25J17/02
摘要： PROBLEM TO BE SOLVED: To provide a modular robotic toy constituting system with a joint capable of taking up a programmed posture by recording the continuity of postures. SOLUTION: This robotic toy comprises a plurality of robot joint modules for the robotic toy constituting system collected. In this system, each of the robot joint modules has memory capability, an actuator, a joint sensor, a communication sensor and a central processing unit. This system is provided with a distributed control unit, which is at least partially defined by a plurality of central processing units, each of which is included in each of the robot joint module. COPYRIGHT: (C)2003,JPO

36. 发明专利

JP3294878B2 失效
公开(公告)号：JP3294878B2
公开(公告)日：2002-06-24
申请号：JP22305392
申请日：1992-08-21
IPC分类号： B25J9/08 , B25J15/04

37. 发明专利

JP2002019395A POSITIONING APPARATUS, HOLDING APPARATUS AND PRESENTATION APPARATUS 失效
公开(公告)号：JP2002019395A
公开(公告)日：2002-01-23
申请号：JP2000331895
申请日：2000-10-31
申请人： NICHIRYOKU CO LTD
发明人： TERAMURA HISAYOSHI , CHISAKI SHINICHI , KAZUMI YOSHIO
IPC分类号： B44C3/00 , A47F5/04 , A47F5/06 , A47F7/00 , A47G33/00 , A47G33/02 , B25J9/08 , F16B12/10
摘要： PROBLEM TO BE SOLVED: To reduce the construction labor of an altar in the place of meeting by constituting the altar by arranging a large number of modules when the altar is constituted by decorating the altar with a large quantity of flowers. SOLUTION: A drawing shows a structure of modules. A shaft 4 is attached to the upper surface part of a stand comprising a frame 10 at a desired position through attaching members 6 and poles 3 are erected on the shaft at desired positions through sliders 5. Bases are mounted on the upper parts of the poles and a desired number of flowers are inserted in the bases. Shafts and poles of which the number corresponds to the distribution state of flowers constituting the altar are provided to the modules and have a large number of click holes along the longitudinal direction thereof and the positions of the sliders on the shaft and the heights of the poles are regulated and held by the click locking mechanisms in the sliders.

38. 发明专利

JPH10166286A ROBOT DEVICE, CONNECTING DEVICE AND ACTUATOR MODULE 失效
公开(公告)号：JPH10166286A
公开(公告)日：1998-06-23
申请号：JP34270296
申请日：1996-12-06
申请人： SONY CORP
发明人： NOMA HIDEKI
IPC分类号： B62D57/032 , B25J5/00 , B25J9/08 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To easily constitute the whole of devices by providing an electric connection means electrically connecting a module at the same time as a mechanical connection. SOLUTION: The locations of guide rails 63 and 72 are aligned and an insert part 64 is aligned to the height of a groove 74. Continuously, the insert part 64 is slid in parallel with the direction of the groove 79 and is inserted up to the depth, and connection parts 39 and 40 are mechanically fixed each other. At the same time as this, the tips of latch members 66 and 67 are fitted into a stopper part 76, the side surface 75 of the groove 74 is pressed with repulsive force, and a metallic plug 68 is electrically connected with a lead wire, etc., within the body of a functional module which is mechanically connected with the upper surface side of the connection part 39 at a prescribed location of the upper surface. A metallic jack is electrically connected with a lead wire, etc., within the casing of the function module which is mechanically connected with the lower surface side of the connection part 40 at a prescribed location of the lower surface.

39. 发明专利

JP2700539B2 失效
公开(公告)号：JP2700539B2
公开(公告)日：1998-01-21
申请号：JP26915795
申请日：1995-09-22
IPC分类号： B25J17/02 , B25J9/08 , B25J15/08 , B25J19/00

40. 发明专利

JP2699510B2 失效
公开(公告)号：JP2699510B2
公开(公告)日：1998-01-19
申请号：JP1334989
申请日：1989-01-23
IPC分类号： B25J9/06 , B25J9/00 , B25J9/04 , B25J9/08 , B25J9/10 , B25J19/00

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