| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 81 | Mechanisms for employment with robotic extensions | US14047624 | 2013-10-07 | US09138897B1 | 2015-09-22 | Curt Michael Salisbury; Kevin J. Dullea |
| Technologies pertaining to a robotic hand are described herein. A protection apparatus is positioned in a joint of the robotic hand, where movement of a link about the joint is driven by a motor. The protection apparatus absorbs torque about the joint caused by an external force. At least a portion of the robotic hand can be covered by an anthropomorphic skin. An apparatus suitable for controlling operation of the robotic hand is also described herein. | ||||||
| 82 | ROBOT AND SUBSTRATE HANDLING APPARATUS INCLUDING THE SAME | US14643702 | 2015-03-10 | US20150251323A1 | 2015-09-10 | Byeongsang KIM; Kang-Min PARK; Jungjun PARK; JaeChul HWANG |
| The robot including a main body, an arm connected to the main body, a hand connected to the arm, the hand including a hand base and a finger, and a hand bracket unit between the hand base and the finger or between the hand base and the arm, may be provided. The hand bracket unit may include a vibration damping member provided between the hand base and the finger or between the hand base and the arm, thereby damping vibration of the hand base or the finger. | ||||||
| 83 | ROBOT AND ABUTMENT MEMBER FOR ROBOT | US14515819 | 2014-10-16 | US20150115515A1 | 2015-04-30 | Masaru TAKAHASHI |
| An abutment member having an abutment section abutting a work stand on which a workpiece to which an arm performs work is placed is provided on a front surface of a robot body. | ||||||
| 84 | FORCE LIMITING DEVICE AND METHOD | US14063602 | 2013-10-25 | US20150114165A1 | 2015-04-30 | Nicolas Lauzier; Clement Gosselin; Dalong Gao; Martin Grenier; Robin Stevenson |
| The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object. | ||||||
| 85 | Compliant solid-state bumper for robot | US14277270 | 2014-05-14 | US09004553B2 | 2015-04-14 | Stephen A. Hickey; Andrew Pastore; Chikyung Won; Roger Dale Gamble; Andrew Beaulieu |
| A robot bumper including a bumper body having a forward surface and a top surface angling away from the forward surface. The bumper body conforms to a shape of a received robot chassis. The robot bumper also includes a force absorbing layer disposed on the bumper body, a membrane switch layer comprising a plurality of electrical contacts arranged along the top surface of the bumper body, and a force transmission layer disposed between the force absorbing layer and the membrane switch layer. The force transmission layer includes a plurality of force transmitting elements configured to transmit force to the membrane switch layer. | ||||||
| 86 | Robotic finger assemblies | US13427770 | 2012-03-22 | US08936289B1 | 2015-01-20 | Matthew V. Kozlowski; Stuart D. Harshbarger; Matthew S. Johannes |
| A plurality of interconnected phalanges form robotic fingers configured to grasp an object. The phalanges interact with a resilient compliant element for adjustable resilient cushioning of movement of the phalanges. | ||||||
| 87 | ARTICULATION MODULE FOR A ROBOT AND CONTROL METHOD FOR THE SAME | US14195119 | 2014-03-03 | US20140316571A1 | 2014-10-23 | Yao-Ching TSAI; Jen-Chen WU |
| An articulation module for robot and a control method for the same are provided. A plurality of buffer springs are sleeved on a passive element sleeved on a reduction mechanism. A sensor is sleeved on the buffer springs to form a multi-sleeved articulation module. By detecting a difference angle of the distorted buffer springs, the motor is controlled to rotate along with a resistance direction for ensuring operation safety. | ||||||
| 88 | PLANAR TORSION SPRING FOR ROBOT JOINT | US14056866 | 2013-10-17 | US20140045600A1 | 2014-02-13 | QIUGUO ZHU; Rong Xiong; Jian Chu |
| The present invention discloses a planar torsion spring for a robot joint, including a torsion spring outer ring, a torsion spring inner ring and a plurality of elastic bodies; the elastic bodies are uniformly distributed around the circumference and connected with the torsion spring outer ring and the torsion spring inner ring respectively at their two ends; each elastic body is composed of two symmetrical elastic body units, each elastic body unit includes an outer circular hole slot, an inner circular hole slot and a connecting beam; the connecting beam connects respectively between the torsion spring inner ring and the inner circular hole slot, the inner circular hole slot and the outer circular hole slot, the outer circular hole slot and the torsion spring outer ring; a wide-angle deformation of the torsion spring is achieved through a series of elastic deformation of the inner and outer circular hole slot. | ||||||
| 89 | Companion Robot For Personal Interaction | US14044170 | 2013-10-02 | US20140039680A1 | 2014-02-06 | Colin Angle; Clara Vu; Matthew Cross; Tony L. Campbell |
| A mobile robot that includes a robot body, a drive system having one or more wheels supporting the robot body to maneuver the robot across a floor surface, and a riser having a proximal end and a distal end. The proximal end of the riser disposed on the robot body. The robot also includes a head disposed on the distal end of the riser. The head includes a display and a camera disposed adjacent the display. | ||||||
| 90 | Legged mobile robot and control system thereof | US12397773 | 2009-03-04 | US08583283B2 | 2013-11-12 | Toru Takenaka; Hiroshi Gomi; Susumu Miyazaki; Kazushi Hamaya |
| The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced. | ||||||
| 91 | Medical WorkStation And Operating Device For The Manual Movement Of A Robot Arm | US13062637 | 2009-09-04 | US20110282493A1 | 2011-11-17 | Tobias Ortmaier |
| The invention relates to a medical workstation and an operating device (1) for the manual movement of a robot arm (M1-M3). The operating device (1) comprises a controller (5) and at least one manual mechanical input device (E1-E3) coupled to the controller (5). The controller (5) is designed to generate signals for controlling a movement of at least one robot arm (M1-M3) provided for treating a living being (P) based on a manual movement of the input device (E1-E3) such that the robot arm (M1-M3) carries out a movement corresponding to the manual movement. The input device (E1, E2) comprises at least one mechanical damping unit (27, 40), which generates a force and/or torque during a manual movement of the input device (E1, E2) for at least partially suppressing a partial movement resulting from a tremor of the person operating the input device (E1, E2). | ||||||
| 92 | JOINT STRUCTURE | US12911920 | 2010-10-26 | US20110236125A1 | 2011-09-29 | SHANG-XUAN SONG |
| A joint structure includes a sleeve, a connecting shaft, a plurality of elastic pieces and a cross-limiting stopper. The sleeve defines a receiving shaft hole and a first cross slot communicating with the receiving shaft hole. The connecting shaft is partially assembled and received within the receiving shaft hole of the sleeve, the connecting shaft defines a second cross slot corresponding to the first cross slot. The plurality of elastic pieces is elastically received within a space formed between the sleeve and connecting shaft. The cross-limiting stopper is mounted to and partially received within the second cross slot, and partially received in the first cross slot, to enable the connecting shaft to be radially and adjustably installed within the sleeve and prevent the connecting shaft from rotating relative to the sleeve. | ||||||
| 93 | FORCE LIMITING DEVICE AND METHOD | US12627407 | 2009-11-30 | US20110126660A1 | 2011-06-02 | Nicolas Lauzier; Clement Gosselin; Dalong Gao; Martin Grenier; Robin Stevenson |
| The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object. | ||||||
| 94 | CUSHION MECHANISM | US12650900 | 2009-12-31 | US20110121499A1 | 2011-05-26 | HAN-ZHENG ZHANG; JIAN LI; LIANG WEI |
| A cushion mechanism includes a four-bar linkage and at least one hinge assembly. The four-bar linkage includes a first link member, a second link member, a third link member, and a fourth link member forming a quadrangle. The at least one hinge assembly connects two joined link members. The at least one hinge assembly includes a shaft extending through the two joined link members, a fixing member, a rotating member, and an elastic member. The fixing member, the rotating member, and the elastic member are sleeved on the shaft. One of the fixing member and the rotating member forms a protrusion, and the other defines a slot receiving the protrusion. | ||||||
| 95 | GRIPPER WITH ADJUSTABLE BUMPER STOPS | US12953073 | 2010-11-23 | US20110062734A1 | 2011-03-17 | ANTHONY JENKINS; MICHAEL A. FILIPIAK; CONRAD EARL WALDORF |
| A gripper assembly including at least one gripper jaw and an actuator operative for moving the at least one gripper jaw. A support is fixed relative to the actuator for supporting the at least one gripper jaw, wherein the support has at least one mount location formed in the support. A stop member is removably affixable to the support at the at least one mount location for limiting movement of the at least one gripper jaw wherein the size of the stop member corresponds to a discrete maximum degree of opening of the at least one gripper jaw. | ||||||
| 96 | Bumper Structure for an Automatic Moving Device | US12715524 | 2010-03-02 | US20100235000A1 | 2010-09-16 | Wei HSU |
| The present invention provides a bumper structure for an automatic moving device which directs the moving device to change directions when bumping into an obstacle. The bumper structure of the present invention comprises a base, an elastic housing and a conductive terminal. A plurality of conductive sheets is formed over the base, wherein the conductive sheets are coupled to the control circuit of a moving device via the base. The elastic housing is formed over the base, with a protruding actuator section formed within the elastic housing, and the actuator section is parallel to the conductive sheets. The conductive terminal is formed at the bottom of the actuator section but is not in contact with the conductive sheets. The elastic housing may provide buffer when bumping into an obstacle, and the force generated by the impact presses the actuator section downwards, allowing conductive terminal of the actuator section to couple with the plurality of conductive sheets, thereby connects the plurality of conductive sheets and sends a signal to the control circuit of the moving device, directing the moving device to change directions. | ||||||
| 97 | Leg type mobile robot | US12068074 | 2008-02-01 | US07753146B2 | 2010-07-13 | Susumu Miyazaki; Makoto Shishido |
| A leg type mobile robot includes a foot joined to a distal end of a leg through a second joint. The foot includes a foot flat portion having a ground contact end of the foot, a movable portion joined to the second joint and configured to be movable in a first direction with respect to the foot flat portion, a shock absorber comprising first and second end portions allowed to move closer to or away from each other in a second direction, the first end portion of the shock absorber being joined to a first point of the movable portion, and a motion direction conversion mechanism configured to convert a motion of the movable portion in the first direction to a motion of the second end portion of the shock absorber in the second direction with respect to the first point of the movable portion. | ||||||
| 98 | PLANAR TORSION SPRING | US12331844 | 2008-12-10 | US20100145510A1 | 2010-06-10 | Chris A. Ihrke; Adam H. Parsons; Joshua S. Mehling; Bryan Kristian Griffith |
| A torsion spring comprises an inner mounting segment. An outer mounting segment is located concentrically around the inner mounting segment. A plurality of splines extends from the inner mounting segment to the outer mounting segment. At least a portion of each spline extends generally annularly around the inner mounting segment. | ||||||
| 99 | Leg type mobile robot | US10544305 | 2005-04-28 | US07600591B2 | 2009-10-13 | Toru Takenaka; Keizo Matsumoto; Hiroshi Gomi; Kazushi Hamaya |
| A leg type mobile robot (R) including an body (R2), legs (R1) each connected to the body (R2) via a first joint (12, 13), and foots (R17) each connected to an end part of the leg part (R1) via a second joint (15, 16), the foot (17) including a foot portion (61) having a lower end part having a ground area (64, 66) grounded on a floor surface, the foot portion (61) including a plate spring part (62) supporting empty weight while bending at the time of being grounded. | ||||||
| 100 | Legged mobile robot | US11225013 | 2005-09-14 | US07472765B2 | 2009-01-06 | Masato Hayakawa; Susumu Miyazaki; Satoshi Shigemi |
| In a legged mobile robot having an electric motor installed at a location between a foot and each leg to drive the ankle joint, a force sensor installed at the location between the foot and each leg to detect a floor reaction force acting from a floor surface on which the foot lands, and a cushioning member attached to the foot sole to cushioning impact that occurs when the foot lands on the floor surface, conductive members are disposed in depressions formed at the cushioning member, such that the conductive members contact the floor surface when the cushioning member contracts, thereby discharging and removing static electric charge electrified on the foot. | ||||||
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