| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 1 | 一种具有单向缓冲功能的机器人末端执行保护机构 | CN201610363774.X | 2016-05-26 | CN105881586A | 2016-08-24 | 李常; 范庆麟; 王燕波; 陈志鸿; 张科; 邹河彬; 由晓明 |
| 一种具有单向缓冲功能的机器人末端执行保护机构，夹持机构与气爪固定，气爪上端通过气爪法兰盘安装在下法兰板的下方；下法兰板两端固定安装直线轴承，两个直线轴承的内工作面与导向限位轴配合，导向限位轴穿过下法兰板的部分通过两个下锁紧螺母连接，压缩弹簧穿过导向限位轴，压缩弹簧一端与直线轴承的外端面固定，另一端通过安装在上法兰板下方的弹簧套筒进行固定，弹簧套筒和直线轴承位于下法兰板上方的部分作为压缩弹簧上下两端的导向限位机构，通过压缩弹簧的预紧力使整个末端执行保护机构在正常工作时为刚性结构；导向限位轴穿过上法兰板的部分通过两个上锁紧螺母进行锁紧固定，上法兰板与机械臂固定，气爪接收机械臂上的气体，实现对夹持机构的夹持控制。 | ||||||
| 2 | 具有大刚度范围的可变刚度致动器 | CN201480023936.4 | 2014-04-24 | CN105264255A | 2016-01-20 | 约瑟夫·M·席梅尔; 丹尼尔·加尔斯 |
| 在一个实施方式中，可选比率弹簧包括连接到可旋转轴的可弯曲杆，可弯曲杆具有至少一个拱形部分。可选比率弹簧还包括可连接到联接构件的至少一个旋转接触件，其中旋转接触件围绕轴旋转同时与可弯曲杆的拱形部分保持接触。当旋转接触件旋转时，其改变可旋转轴与联接构件之间的连接刚度。 | ||||||
| 3 | 可変負剛性アクチュエーション | JP2014222790 | 2014-10-31 | JP6164615B2 | 2017-07-19 | ヴォルカン パトウル |
| 4 | リンク機構の制御装置 | JP2012279307 | 2012-12-21 | JP5802191B2 | 2015-10-28 | 織田 豊生 |
| 5 | ロボットキャラクタのための空気圧で作動される従順性があり安全な骨格関節 | JP2015149846 | 2015-07-29 | JP6035385B2 | 2016-11-30 | ジェームズ アール.ロバートソン; フィリップ ジェイ.ジャクソン |
| 6 | Power transmission device | JP2013001654 | 2013-01-09 | JP2014133274A | 2014-07-24 | ODA TOYOO |
| PROBLEM TO BE SOLVED: To provide a power transmission device capable of variably controlling rigidity characteristics and viscous characteristics between two pulley members, which transmit power, with a simple structure that makes the deterioration of the drive efficiency less likely to occur.SOLUTION: A power transmission device 1 includes: roller members 13a, 13b, each of which has an outer peripheral part pressure-welded to a wire member 11 tightly stretched between a first pulley member 2 and a second pulley member 3 and may rotate; a rotation gear 16 which may rotate around revolution axes of the roller members 13a, 13b integrally with a support member 14 supporting the roller members 13a, 13b; a spring worm 17 which meshes with the rotation gear 16; and a first actuator 18 which controls an amount of rotations of the spring worm 17. | ||||||
| 7 | Control apparatus of linkage | JP2012279307 | 2012-12-21 | JP2014121754A | 2014-07-03 | ODA TOYOO |
| PROBLEM TO BE SOLVED: To provide a control apparatus of a linkage capable of preventing damage of a joint mechanism, even when a movable part collides with an external object.SOLUTION: A control apparatus 30 includes a characteristic determination part 34 for determining the target rigidity k_cmd_i of an elastic element 5 of each joint mechanism Ji in the range which is higher than first rigidity k1_i in which the joint maximum elastic energy becomes higher than joint collision kinetic energy and which is lower than second rigidity k2_i in which a first time becomes longer than a second time, and a characteristic control part 35 for controlling so that the rigidity k_i of the elastic element 5 of each joint mechanism Ji agrees with the target rigidity k_cmd_i. | ||||||
| 8 | Variable negative stiffness actuation | US14527077 | 2014-10-29 | US10018238B2 | 2018-07-10 | Volkan Patoglu |
| An actuator includes an effective stiffness. The effective stiffness is based at least in part on non-linear deflection characteristics of buckling. A method of varying an effective stiffness of an actuator includes providing an actuator and varying an effective stiffness of the actuator based at least in part on non-linear deflection characteristics of buckling. Another method of varying an effective stiffness of an actuator includes applying a load to a member. The load causes the member to buckle, and the buckling produces non-linear deflection of the member. The method further includes varying an effective stiffness of an actuator based at least in part on the non-linear deflection of the member. | ||||||
| 9 | Articulation with controllable stiffness and force-measuring device | US14896814 | 2014-05-23 | US10016331B2 | 2018-07-10 | Manuel Javier Cestari Soto; Daniel Sanz Merodio; Elena Garcia Armada |
| The subject matter of the invention is an articulation (1) with controllable stiffness and a force-measuring system, comprising a first device (20) that comprises a frame (4) having a curved face and connected to a first motor element (2), the first device (20) regulating the position of the articulation (1), and a second device (22) that regulates the stiffness of the articulation (1) and comprises a thrust element (15), the movement (D) of which determines the pre-compression of a resistive element (11) and thus the stiffness of the articulation (1); the first motor element (2) causes the frame (4) to rotate such that a wheel (8) of the second device (22) rolls on the curved face of the frame (4), causing the resistive element (11) to be compressed (C) via a transmission rod (7) associated with the wheel (8) and with the resistive element (11). | ||||||
| 10 | Variable stiffness actuator with large range of stiffness | US14786881 | 2014-04-24 | US09840012B2 | 2017-12-12 | Joseph M. Schimmels; Daniel Garces |
| In one embodiment, a selectable-rate spring comprises a flexure bar connected to a rotatable shaft, the flexure bar having at least one arched portion. The selectable-rate spring also includes at least one rotational contactor connectable to a link member, wherein the rotational contactor rotates about an axis while maintaining contact with the arched portion of the flexure bar. As the rotational contactor rotates, it changes the connection stiffness between the rotatable shaft and the link member. | ||||||
| 11 | Variable pliability actuator | US13275644 | 2011-10-18 | US09227328B2 | 2016-01-05 | Antonio Bicchi; Manuel Giuseppe Catalano; Manolo Garabini; Giorgio Grioli |
| A variable pliability actuator is provided to move a movable component including two electric rotary motors, at least one output shaft connected to be set in rotation by the motors around a rotation axis, an elastic transmission system to enable motion transfer from the motors to the output shaft and to vary the pliability the output shaft, a control unit to adjust at least the pliability of the output shaft through the elastic transmission system, and a holding structure to hold at least the motors, the elastic transmission system, the output shaft and the control unit. The holding structure has a driving output placed at the outer surface controlled by the output shaft and connected to set the movable component in rotation about the rotation axis, at least one stiff coupling element to enable a stiff connection of the holding structure, and a support output opposite the driving output, substantially coaxial with the rotation axis and partly housing and stabilizing the rotation of the movable component. | ||||||
| 12 | Adjustable Stiffness Morphable Manipulator | US14270548 | 2014-05-06 | US20150321343A1 | 2015-11-12 | Mehran Armand; Matthew S. Moses; Michael D. Kutzer; Jason E. Tiffany |
| Compliant manipulators are provided, in which the manipulators include a plurality of slideably interlocked filaments each having a proximate end and a distal end. The interlocked filaments can be formed from a flexible material. The compliant manipulators can also include at least one filament-actuating device operatively connected to the respective distal ends of the plurality of slideably interlocked filaments. The at least one filament-actuating device can be manipulated directly or remotely to push and/or pull the respective filaments to impart a desired movement to the manipulator. The stiffness or flexibility of the manipulators can also be controlled to provide varying degrees of stiffness during use. | ||||||
| 13 | Stiffness adjustable rotary joint | US13825483 | 2011-09-23 | US09157485B2 | 2015-10-13 | Gianluca Pane; Nikos G. Tsagarakis; Amir Jafari; Darwin G. Caldwell |
| A rotary joint (10; 110) includes an output member (12; 112) rotatable about a first axis of rotation (x1), a first actuator device (14) arranged to generate a rotary motion about the first axis (x1), an input member (16; 116) driven by the first actuator device (14; 114) about the first axis (x1), elastic elements (20, 64; 120) between the input member (16; 116) and the output member (12; 112) and configured such that the transmission of the torque takes place via the elastic elements (20, 64; 120). A second actuator device (22; 122) is arranged to change the stiffness of the rotary joint (10; 110). The rotary joint (10; 110) includes an intermediate member (18; 118) hinged (44; 168) to the output member (12; 112) to rotate relative to the output member about a second axis of rotation (x2) parallel to the first axis (x1), abuts at its opposite end against the elastic elements (20, 64; 120) and is hinged (46; 150), at an intermediate point thereof, to the input member (16; 116) to rotate relative to the input member about a third axis of rotation (x3) parallel to the first axis (x1). Transmission of the torque between the input member (16; 116) and the output member (12; 112) takes place via the intermediate member (18; 118). The second actuator device (22; 122) is arranged to change the hinge point and the distance between the second axis of rotation (x2) and the third axis of rotation (x3). | ||||||
| 14 | Series Elastic Actuators for Robots and Robotic Devices | US14286316 | 2014-05-23 | US20150283698A1 | 2015-10-08 | Howie Choset; David Rollinson; Steven Ford; H. Ben Brown |
| An example actuator is provided to be used in robots and robotic devices. The actuator includes: a first plate, a second plate, and an elastic element disposed between the first plate and the second plate and including a center portion and an edge portion, the center portion corresponding to a first thickness and the edge portion corresponding to a second thickness larger than the first thickness, a first shear stress associated with the center portion being approximately equal to a second shear stress associated with the edge portion. | ||||||
| 15 | Variable Negative Stiffness Actuation | US14527077 | 2014-10-29 | US20150123417A1 | 2015-05-07 | Volkan Patoglu |
| An actuator includes an effective stiffness. The effective stiffness is based at least in part on non-linear deflection characteristics of buckling. A method of varying an effective stiffness of an actuator includes providing an actuator and varying an effective stiffness of the actuator based at least in part on non-linear deflection characteristics of buckling. Another method of varying an effective stiffness of an actuator includes applying a load to a member. The load causes the member to buckle, and the buckling produces non-linear deflection of the member. The method further includes varying an effective stiffness of an actuator based at least in part on the non-linear deflection of the member. | ||||||
| 16 | Articulated joint | US11915265 | 2006-05-19 | US08950967B2 | 2015-02-10 | Ronald Van Ham |
| The present invention is related to an articulated joint usable in e.g. robotics and rehabilitation, consisting of a first and second body, rotatably connected to each other, and comprising a third body, equally rotatable around a rotation axis, wherein the third body acts as a lever arm. This lever arm is connected via a spring to a pre-tension mechanism, which may be mounted on the second body, while the rotation of the lever arm with respect to the first body is controlled by an actuator. This construction leads to a joint wherein the position can be controlled independently from the compliance of the joint, thereby yielding a mechanism with improved characteristics compared to existing designs. | ||||||
| 17 | POWER TRANSMISSION DEVICE | US13778829 | 2013-02-27 | US20130270053A1 | 2013-10-17 | Atsuo Orita |
| A power transmission device 1 includes a variable stiffness unit 41, which has variable stiffness, receives a torque from a motor A2, and transmits the torque to an output unit B, a variable viscosity coefficient unit 42, which has variable viscosity, receives the torque from the motor A2, and transmits the torque to the output unit B, and a controller A4 which modifies the stiffness of the variable stiffness unit 41 and the viscosity of the variable viscosity coefficient unit 42. | ||||||
| 18 | STIFFNESS ADJUSTABLE ROTARY JOINT | US13825483 | 2011-09-23 | US20130178297A1 | 2013-07-11 | Gianluca Pane; Nikos G. Tsagarakis; Amir Jafari; Darwin Caldwell |
| A rotary joint (10; 110) includes an output member (12; 112) rotatable about a first axis of rotation (x1), a first actuator device (14) arranged to generate a rotary motion about the first axis (x1), an input member (16; 116) driven by the first actuator device (14; 114) about the first axis (x1), elastic elements (20, 64; 120) between the input member (16; 116) and the output member (12; 112) and configured such that the transmission of the torque takes place via the elastic elements (20, 64; 120). A second actuator device (22; 122) is arranged to change the stiffness of the rotary joint (10; 110). The rotary joint (10; 110) includes an intermediate member (18; 118) hinged (44; 168) to the output member (12; 112) to rotate relative to the output member about a second axis of rotation (x2) parallel to the first axis (x1), abuts at its opposite end against the elastic elements (20, 64; 120) and is hinged (46; 150), at an intermediate point thereof, to the input member (16; 116) to rotate relative to the input member about a third axis of rotation (x3) parallel to the first axis (x1). Transmission of the torque between the input member (16; 116) and the output member (12; 112) takes place via the intermediate member (18; 118). The second actuator device (22; 122) is arranged to change the hinge point and the distance between the second axis of rotation (x2) and the third axis of rotation (x3). | ||||||
| 19 | VARIABLE PLIABILITY ACTUATOR | US13275644 | 2011-10-18 | US20120096973A1 | 2012-04-26 | Antonio Bicchi; Manuel Giuseppe Catalano; Manolo Garabini; Giorgio Grioli |
| A variable pliability actuator for moving a movable component and including rotary electric motors, an output shaft rotated by the motors, around a rotation axis an elastic transmission system for transferring motion from the motors to the output shaft and for varying the pliability of output shaft, a control unit for adjusting that pliability through the elastic transmission system, and a holding structure defining an outer surface and an inner volume for holding the electric motors, elastic transmission system, output shaft and control unit. The holding structure has a driving output controlled by the output shaft and rotates the movable component, at least one stiff coupling element for enabling a stiff connection of the holding structure, and a support output opposite to the driving output and substantially coaxial with the rotation axis to partly house and stabilize the rotation of the movable component. | ||||||
| 20 | Variable stiffness robotic joint system | US15539516 | 2015-08-28 | US10040206B2 | 2018-08-07 | Hyun-Hwan Jeong; Joo-No Cheong; Bong-Ki Kang |
| The present invention relates to a variable rigidity robot joint system including a first driving module and a second driving module generating torque which is rotated on a first direction, a first rotating module changing rotations of the first driving module and the second driving module into rotations on a second direction intersecting the first direction when the first and second driving modules rotate in directions in which a joint is rotated in a same direction, thereby rotating the joint, a rigidity-providing member providing rigidity by elastically supporting a rotational movement of the first rotating module on the second direction, and a second rotating module changing rotations of the first driving module and the second driving module into a linear motion in the first direction when the first and second driving modules rotate in directions in which the joint is rotated in different directions. | ||||||
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