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1. 发明专利

JP2005238411A Multi-articulated robot and control method of multi-articulated robot 审中-公开
标题翻译：多机器人的多机器人和控制方法
公开(公告)号：JP2005238411A
公开(公告)日：2005-09-08
申请号：JP2004053829
申请日：2004-02-27
申请人： Japan Aerospace Exploration Agency , Koonan Engineering Kk , コーナンエンジニアリング株式会社 , 独立行政法人宇宙航空研究開発機構
发明人： NAKAJIMA ATSUSHI , OKAMOTO OSAMU , UENO JUNICHI , NAGANO HIROAKI , USUI YASUKI , RENBUTSU KATSUHIKO , ISAKI MITSUHARU , MASUDA KEIJI
IPC分类号： B25J9/06 , B25J9/10 , B25J17/00
摘要： PROBLEM TO BE SOLVED: To provide a multi-articulated robot for reducing a dangerous feeling, by improving safety when a joint part rotates.
SOLUTION: This multi-articulated robot has a driving part 4 for connecting a plurality of units 1 oppositely arranged on the obverse and reverse of an offset rotational surface 91 and formed of relatively rotatably connected driven side arm 11 and driving side arm 41, slantingly forming the respective offset rotational surfaces 91 at a desired angle to a longitudinal directional shaft A of the connected units 1, setting a rotary shaft B of the offset rotational surface 91 at a right angle to the offset rotational surface 91 and relatively rotating the driven side arm 11 and the driving side arm 41 of the respective units 1 around the rotary shaft B of the offset rotational surface 91, and a control part 7 for controlling the driving part 4. An external shape of the driven side arm 11 and the driving side arm 41 is formed in a curved surface shape forming a true circle with the rotary shaft B of the offset rotational surface 91 as the center in an end part opposed to the offset rotational surface 91.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于减少危险感觉的多关节机器人，通过提高接头部分旋转时的安全性。解决方案：该多关节机器人具有用于连接多个单元1的驱动部分4，该多个单元1相对地设置在偏移旋转表面91的正面和反向上并且由相对可旋转地连接的从动侧臂11和驱动侧臂41 将相应的偏移旋转表面91以所需的角度倾斜地连接到连接单元1的纵向方向轴A，将偏移旋转表面91的旋转轴B与偏移旋转表面91成直角，并相对旋转各单元1的驱动侧臂11和偏移旋转面91的旋转轴B的驱动侧臂41以及用于控制驱动部4的控制部7.从动侧臂11的外形驱动侧臂41形成为以与偏移旋转体相对的端部中的偏移旋转表面91的旋转轴B为中心形成真圆的曲面形状版权所有（C）2005，JPO＆NCIPI

2. 发明专利

JP2005193344A Control method of articulated robot 有权
标题翻译：机器人控制方法
公开(公告)号：JP2005193344A
公开(公告)日：2005-07-21
申请号：JP2004003403
申请日：2004-01-08
申请人： Japan Aerospace Exploration Agency , Japan Science & Technology Agency , Kohnan Electronic Corp , コーナン電子株式会社 , 独立行政法人宇宙航空研究開発機構 , 独立行政法人科学技術振興機構
发明人： NAKAJIMA ATSUSHI , OKAMOTO OSAMU , UENO JUNICHI , NAGANO HIROAKI , USUI YASUKI , RENBUTSU KATSUHIKO , ISAKI MITSUHARU , MASUDA KEIJI
IPC分类号： B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a robot system capable of performing arbitrary work in a passage including a narrow part, through it is impossible in a conventional robot, by allowing a hand of the robot to advance in the passage toward the necessary direction on the basis of guidance by various sensors.
SOLUTION: This robot 2 of the robot system 1 is a multi-joint robot having a multi-joint structure formed by successively connecting a plurality of arms 13a-13j by means of rotary joints 14a and offset joints 15e. The advancing direction of the hand 16 is determined on the basis of detection of a searching sensor 20 (21) mounted on a tip end part, and the arms 13a-13j are successively operated to take the same position and attitude as the hand 16, and can pass through the narrow part by receiving the inheritance control of squirming motion. A computer 3 for controlling constitutes the network 4 by the joints of the robot 2 and a wiring distributed in the arms 13a-13j.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种能够在包括狭窄部分的通道中进行任意工作的机器人系统，通过在常规机器人中不可能通过使机器人的手在向通道中前进到必要的位置方向根据各种传感器的指导。解决方案：机器人系统1的机器人2是具有通过旋转接头14a和偏移接头15e连续地连接多个臂13a-13j而形成的多关节结构的多关节机器人。基于安装在前端部的检测传感器20（21）的检测来确定手16的行进方向，并且臂13a-13j被连续地操作以采取与手16相同的位置和姿态，并可以通过接收动作的继承控制来通过狭窄的部分。用于控制的计算机3通过机器人2的接头和布置在臂13a-13j中的配线构成网络4。版权所有（C）2005，JPO＆NCIPI

3. 发明专利

JP2003025269A Offset rotational joint unit with rotation correction mechanism 审中-公开
标题翻译：具有旋转校正机构的偏移联接单元
公开(公告)号：JP2003025269A
公开(公告)日：2003-01-29
申请号：JP2001211999
申请日：2001-07-12
申请人： Koonan Engineering Kk , National Aerospace Laboratory Of Japan , コーナンエンジニアリング株式会社 , 独立行政法人航空宇宙技術研究所
发明人： OKAMOTO OSAMU , NAKATANI TERUOMI , YAMAGUCHI ISAO , SUZUKI SEIZO , UENO JUNICHI , USUI YASUKI , NAGANO HIROAKI , RENBUTSU KATSUHIKO , ISAKI MITSUHARU , KISHIMOTO TADASHI
IPC分类号： B25J17/00 , B25J17/02 , B25J19/00 , B25J19/06
CPC分类号： B25J17/0291 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： PROBLEM TO BE SOLVED: To obtain an offset rotational joint unit with a rotation correction mechanism, applicable for a double arm mechanism of care giving assist robot or the like, which can perform bending action of a two-dimensional surface by only a rotational mechanism and can cope with high load weighting. SOLUTION: One set of offset rotational joint unit 4 is constituted by a first arm 1, a rotation correction arm 2 driven to rotate with an axis of this first arm 1 serving as the center, and a second arm 3 driven to rotate with an axis diagonal to this rotation correction arm 2 serving as the center. A rotation correction joint mechanism part 5 connecting the first arm 1 and the rotation correction arm 2 and an offset rotation joint mechanism part 6 connecting the rotation correction arm 2 and the second arm 3 are driven by a single motor 12, by reverse rotation with the rotation correction joint mechanism part synchronized according to rotation of the offset rotation joint mechanism part, the second arm performs bending action in a two-dimensional surface relating to the first arm by only a rotational mechanism.
摘要翻译：要解决的问题：获得具有旋转校正机构的偏移旋转关节单元，其适用于仅通过旋转机构执行二维表面的弯曲作用的辅助机器人等的辅助双臂机构，可以应付高负载加权。解决方案：一组偏置旋转接头单元4由第一臂1，被驱动以第一臂1的轴线作为中心旋转的旋转校正臂2和驱动为与轴线旋转的第二臂3构成对应于该旋转校正臂2作为中心。连接第一臂1和旋转校正臂2的旋转校正关节机构部分5和连接旋转校正臂2和第二臂3的偏移旋转关节机构部分6由单个电动机12驱动，通过反向旋转旋转校正关节机构部分根据偏移旋转关节机构部分的旋转而同步，第二臂仅通过旋转机构在与第一臂相关的二维表面中执行弯曲作用。

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