| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 21 | 超市购物智能机器人 | CN201710359157.7 | 2017-05-19 | CN107414781A | 2017-12-01 | 罗天洪; 杨春; 夏文艳 |
| 本发明公开了一种超市购物智能机器人，包括机器人本体和控制系统；所述机器人本体包括圆筒形的机身、设置于所述机身两端的行走轮、用于驱动行走轮转动的行走驱动系统、设置于所述机身内用于承装商品的箱体以及用于封闭箱体的箱盖；所述控制系统包括用于与超市中央服务器进行通讯的机器人无线模块、用于保持所述机器人本体平衡的机器人自平衡模块、用于实现机器人定位功能的自定位模块、用于确定用户与机器人本体相对位置的机器人追踪模块以及用于控制所述机器人本体在行走时躲避障碍物的机器人避障模块，本机器人能够承装商品自主行走，从而使购物者解放双手，改善购物者的购物体验。 | ||||||
| 22 | 机器人及机器人的维护方法 | CN201410658084.8 | 2014-11-18 | CN104723321B | 2017-01-04 | 香川隆太 |
| 本发明提供安全地进行维护的机器人及机器人的维护方法。机器人包括：基台、回转底座、臂、平衡器、第一安装部和多个第二安装部。所述回转底座连结于所述基台，且能够相对于所述基台回转。所述臂连结于所述回转底座，且基端部能够相对于所述回转底座转动。所述平衡器连结于所述回转底座及所述臂，且对回转底座与臂之间施力。所述第一安装部安装有限制所述平衡器的轴向位移的夹具的一端，且设置在所述平衡器与所述臂的连结部分。所述多个第二安装部中的、任一个第二安装部上安装有所述夹具的另一端，且所述多个第二安装部隔开规定间隔地设置在所述回转底座上。 | ||||||
| 23 | 一种新型的工业机器人 | CN201610672139.X | 2016-08-16 | CN106142134A | 2016-11-23 | 沈燕洁 |
| 本发明公开了一种新型的工业机器人，包括底座、一级旋转控制轴、旋转盘、连接转动轴和角度调节轴，所述底座的下端安置有固定吸盘，所述连接轴与连接主轴之间通过一级旋转控制轴进行连接，所述一级旋转控制轴的右端安置有凸起连接端，所述连接主轴的上端通过二级旋转控制轴与连接轴相连接，所述旋转盘的右端与电动机体相连接，所述连接转动轴的前端安置有连接抓手，且连接抓手的内部镶嵌有角度调节轴，所述角度调节轴的前端安置有抓手。该新型的工业机器人，结合现有的机器人手臂进行创新设计，在结构上保留原有的功能性，通过添加旋转控制轴和调节装置进连接，使得现有的机械手臂在结构上更加的灵活，整个机器人的实用性得到大幅度的提高。 | ||||||
| 24 | 机器人平衡系统 | CN201610643563.1 | 2016-08-05 | CN106042003A | 2016-10-26 | 利友荣 |
| 本发明涉及一种机器人平衡系统，包括滑动块、检测机器人失衡状态的传感器、根据所述失衡状态给出驱动信号的控制模块和根据所述驱动信号控制所述滑动块平行于所述机器人的脚掌伸缩运动的驱动电机；该系统检测到机器人的失衡状态后，将该失衡状态转化为驱动电机的控制信号，由该驱动电机控制相应的滑动块平行于所述机器人的脚掌作伸缩运动，可以有效的实现行走式机器人在运动，站立状态下的平衡，结构简单可行。 | ||||||
| 25 | 一种码垛机器人平衡缸 | CN201610012482.1 | 2016-01-05 | CN105459156A | 2016-04-06 | 陆由斌; 石江涛; 孙昊阳 |
| 本发明公开一种码垛机器人平衡缸，包括平衡缸桶、平衡缸上盖、平衡缸下盖、平衡缸导套总成、平衡缸轴、弹簧底座、内弹簧、外弹簧、平衡缸连接关节和相关结构件构成；平衡缸上盖装配在平衡缸桶的上端；平衡缸下盖装配在平衡缸桶的下端；平衡缸导套总成装配在平衡缸下盖上；平衡缸轴装配在平衡缸导套总成上；弹簧底座装配在平衡缸轴上；内弹簧和外弹簧装配在弹簧底座和平衡缸下盖上；平衡缸连接关节装配在平衡缸轴上，本发明通过4个螺孔用于调节平衡缸上盖和平衡缸连接轴两连接孔的孔距，方便整机装配，平衡缸上盖连接孔内设有调心滚子轴承，便于平衡缸装配；平衡缸导套内设计有储油腔，有效解决平衡缸轴表面点蚀问题。 | ||||||
| 26 | 机器人 | CN201510454381.5 | 2015-07-29 | CN105313114A | 2016-02-10 | 堤真吾; 田中谦太郎; 一番个濑敦 |
| 本发明提供一种臂部与平衡器等周围部件不容易产生干涉的机器人。具体而言，机器人具备：基台部；臂部，介由大致水平地设置的旋转轴，基端与基台部可旋转地连结；及平衡器，一侧与基台部，另一侧与臂部分别旋转自如地连结。基台部在与旋转轴相比更靠臂部的顶端侧的位置上具备连结平衡器的一侧的一侧连结部。 | ||||||
| 27 | 搬运系统及搬运系统的搬运方法 | CN201380041187.3 | 2013-09-06 | CN104507646A | 2015-04-08 | 桥本康彦 |
| 搬运系统（1）具备机械手（4）和悬吊装置（3）。机械手（4）形成为使工件（2）在水平方向上移动而进行搬运的结构。悬吊装置（3）具有悬吊机构（16）、升降单元（15）和支持机构（10）。悬吊机构（16）形成为悬吊工件（2）的结构，升降单元（15）形成为使工件（2）升降的结构。又，支持机构（10）以使悬吊机构（16）能够在水平方向上移动的形式支持悬吊机构（16）。 | ||||||
| 28 | 机器人 | CN201410366578.9 | 2014-07-29 | CN104339368A | 2015-02-11 | 高桥真义; 白木知行; 伊藤雅人; 榊芳梨; 金森贵彦 |
| 本发明提供一种机器人，其能够节省空间。实施方式涉及的机器人具备基座部、回转基座、臂部、平衡器以及装备缆线。上述回转基座相对于上述基座部连结成能够绕规定的回转轴回转。上述臂部相对于上述回转基座连结成基端部能够绕与上述回转轴大致垂直的旋转轴旋转。上述平衡器分别与上述回转基座和上述臂部连结。上述装备缆线被上述平衡器支承，并且沿着上述臂部配置在该平衡器的外侧。 | ||||||
| 29 | 机器人 | CN201410366331.7 | 2014-07-29 | CN104339367A | 2015-02-11 | 高桥真义; 白木知行; 伊藤雅人; 榊芳梨 |
| 本发明提供一种机器人，其能够节省空间。实施方式涉及的机器人具备基座部、回转基座、臂部、第1安装部和第2安装部。上述回转基座相对于上述基座部连结成能够绕规定的回转轴回转。上述臂部相对于上述回转基座连结成基端部能够绕与上述回转轴大致垂直的旋转轴旋转。上述第1安装部设置于上述回转基座，并且配置在比上述回转基座靠回转径向外侧的位置、且是比上述旋转轴靠上述基座部侧的位置，用于安装平衡器的一部分。上述第2安装部设置于上述臂部，用于安装上述平衡器的另一部分。 | ||||||
| 30 | 用于平衡力的高性能装置 | CN01815723.8 | 2001-09-12 | CN1263585C | 2006-07-12 | 克里斯蒂安·萨莱斯; 让-马克·洛里奥 |
| 本发明公开了一种用于平衡力的装置，其包括一关节机构(10)，该关节机构是由一近端臂(12)和一远端臂(14)构成的，近端臂(12)由一支撑件支持着，并铰支到一第一铰链销(20)上，远端臂(14)安装在近端臂上，并铰支在一第二铰链销(24)上，第二铰接销的延伸方向平行于第一铰接销，远端臂具有一自由端(26)，该自由端上支撑着一个载荷(F)。装置包括一第一高通带平衡装置(18)，其具有一第一输出轴(20)，第一平衡装置作用在近端臂上，并包括一第二高通带平衡装置(18)，其具有一第二输出轴(22)，并作用在远端臂(14)上，还包括一高通带协调装置，其间置在第一平衡装置与第二平衡装置之间，用于协调近端臂与远端臂各自的转动运动。 | ||||||
| 31 | 机器人 | CN03126488.3 | 2003-09-28 | CN1238163C | 2006-01-25 | 安川裕介; 福谷裕彦 |
| 本发明的机器人对正在呼叫机器人的用户的语音进行响应，移动到用户所在的位置。然后，当用户按下开关时，机器人识别出用户希望发送紧急呼叫并且拨打用于发送紧急呼叫的预登记电话号码。当受话方应答时，机器人读出预定消息并将预定消息作为语音消息传送给受话方，并且将电话转换到免提状态以使用户能够不拿着电话交谈。 | ||||||
| 32 | 用于平衡力的高性能装置 | CN01815723.8 | 2001-09-12 | CN1458875A | 2003-11-26 | 克里斯蒂安·萨莱斯; 让-马克·洛里奥 |
| 本发明公开了一种用于平衡力的装置，其包括一关节机构(10)，该关节机构是由一近端臂(12)和一远端臂(14)构成的，近端臂(12)由一支撑件支持着，并铰支到一第一铰链销(20)上，远端臂(14)安装在近端臂上，并铰支在一第二铰链销(24)上，第二铰接销的延伸方向平行于第一铰接销，远端臂具有一自由端(26)，该自由端上支撑着一个载荷(F)。装置包括一第一高通带平衡装置(18)，其具有一第一输出轴(20)，第一平衡装置作用在近端臂上，并包括一第二高通带平衡装置(18)，其具有一第二输出轴(22)，并作用在远端臂(14)上，还包括一高通带协调装置，其间置在第一平衡装置与第二平衡装置之间，用于协调近端臂与远端臂各自的转动运动。 | ||||||
| 33 | Powered ankle-foot prosthesis | US13970094 | 2013-08-19 | US10137011B2 | 2018-11-27 | Hugh M. Herr; Jeff A. Weber; Kwok Wai Samuel Au; Bruce Wayne Deffenbaugh; Lee Harris Magnusson; Andreas G. Hofmann; Benjamin B. Aisen |
| A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking. | ||||||
| 34 | Continuous slip recovery | US15005687 | 2016-01-25 | US09925667B1 | 2018-03-27 | Stephen Berard; Alex Yu Khripin; Benjamin Swilling |
| The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration. | ||||||
| 35 | Smart kickstand for balancing a mobile robotic arm | US14885292 | 2015-10-16 | US09889562B1 | 2018-02-13 | Justine Rembisz |
| An example system includes a robotic arm coupled to a mobile base. The robotic arm includes a plurality of segments coupled via at least one joint, which includes at least one joint angle sensor. The system also includes a controller configured to carry out operations including receiving, from the at least one joint angle sensor, information indicative of a pose of the robotic arm. The operations include, based on the information indicative of the pose of the robotic arm, determining that a torque induced by the robotic arm is above a predetermined torque threshold. The operations also include causing an adjustable support member to extend out of the mobile base in an orientation that counteracts the torque. | ||||||
| 36 | COBOTIC MANIPULATOR | US15313680 | 2015-05-19 | US20170173802A1 | 2017-06-22 | Olivier DAVID; Philippe GARREC; Sylvain ANDRE |
| Load manipulating device (1) including a load manipulator (10) including at least two segments (13, 18) articulated with respect to each other, comprising a boom segment (13) that is similarly articulated on a frame (12) and a balance segment (18) which comprises an end intended to receive a load (20) to be manipulated, the load manipulating device (1) including balancing means (41, 23, 24) such that the load manipulator (10) is stable in any position, whether or not bearing the load, and guidance means (50, 60, 70) distinct from the balancing means for constraining the position of the load manipulator (10). | ||||||
| 37 | Robot | US14446304 | 2014-07-29 | US09381644B2 | 2016-07-05 | Shingi Takahashi; Tomoyuki Shiraki; Masato Ito; Kaori Sakaki |
| A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a first attachment unit provided to the rotation base, arranged in an outside, in a rotation radius direction, of the rotation base and nearer to the stage unit than the first rotation axis, and formed so that one part of a balancer is attached thereto; and a second attachment unit provided to the arm unit and formed so that another part of the balancer is attached thereto. | ||||||
| 38 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components | US14283323 | 2014-05-21 | US09339397B2 | 2016-05-17 | Hugh M. Herr; Kwok Wai Samuel Au; Daniel Joseph Paluska; Peter Dilworth |
| An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent. | ||||||
| 39 | Artificial human limbs and joints employing actuators, springs, and variable-damper elements | US13171307 | 2011-06-28 | US09333097B2 | 2016-05-10 | Hugh M. Herr; Daniel Joseph Paluska; Peter Dilworth |
| Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes. | ||||||
| 40 | ROBOT | US14811795 | 2015-07-28 | US20160031094A1 | 2016-02-04 | Shingo TSUTSUMI; Kentaro TANAKA; Atsushi ICHIBANGASE |
| A robot includes: a base portion to be installed on an installation surface; an arm portion having a base end coupled to the base portion, the base end being rotatable around a rotation shaft disposed approximately parallel to the installation surface; a balancer having one side rotatably coupled to the base portion and another side rotatably coupled to the arm portion; and a one-side coupling part positioned on a tip side of the arm portion with respect to the rotation shaft in the base portion, the one-side coupling part coupling the one side of the balancer. | ||||||
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