公开(公告)号：US08498745B2

公开(公告)日：2013-07-30

申请号：US13175933

申请日：2011-07-04

申请人： Mayumi Umetsu

发明人： Mayumi Umetsu

IPC分类号： B25J13/08 ,  B25J5/00

CPC分类号： B25J15/0009 ,  B25J5/007 ,  B25J9/1612 ,  B25J9/1697 ,  B25J13/085 ,  G05B2219/39484 ,  G05B2219/39492 ,  G05B2219/39532

摘要： A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.

摘要翻译： 机器人装置包括机器人手臂，设置在机器人手臂的端部的多指手，并且包括用于力控制的力传感器，图像处理器，至少通过由 视觉传感器和控制装置，其基于由图像处理器获取的夹持目标上的至少位置信息来移动机器人臂，以使多指手接近夹持目标，检测实际接触的接触位置 基于多指手的力传感器的输出的夹持目标，并且基于指示检测到的联系位置的信息来修改抓取目标上的位置信息。

公开(公告)号：US06701803B1

公开(公告)日：2004-03-09

申请号：US10089062

申请日：2002-04-05

申请人： Masafumi Tamai ,  Yasuhiro Miyamoto ,  Mayumi Umetsu

发明人： Masafumi Tamai ,  Yasuhiro Miyamoto ,  Mayumi Umetsu

IPC分类号： F16H3700

CPC分类号： F16H49/001 ,  H02K7/116 ,  Y10T74/19

摘要： A reduction gears-integrated actuator provided with harmonic reduction gears 14, a motor 7 and a rotation position detector 26, wherein a rotor 11 comprises a cup-shaped rotary yolk 12, a permanent magnet 13 is fixed to the outer periphery of the rotary yolk 12, a circular spline 15 is formed in a silk-hat shape, a flange portion 15a is fixed to one end of an actuator frame 2, and a cylinder portion 15b is disposed opposite to the inner periphery of the rotary yolk 12 via a space, and a cup-shaped housing 18 coupled with an output shaft 5 is disposed between the output shaft 5 and a rotating shaft 6 and on the inner peripheral side of a flexible spline 16, and a preloading elastic member 25 is provided between a rotary shaft 6-supporting bearing 21 and the housing, hence the axial-direction length of the actuator can be reduced, and a driving torque can be increased without compromise in reductions in size and weight, thereby providing a low-cost reduction gears-integrated actuator.

摘要翻译： 具有谐波减速齿轮14，马达7和旋转位置检测器26的减速机一体式致动器，其中转子11包括杯状旋转蛋黄12，永磁体13固定在旋转蛋黄的外周 如图12所示，圆形花键15形成为丝绸帽状，凸缘部15a固定在致动器框架2的一端，并且筒部15b经由空间设置在旋转蛋黄12的内周侧 与输出轴5连结的杯状壳体18配置在输出轴5与旋转轴6之间以及柔性花键16的内周侧，预紧弹性部件25设置在旋转轴 6支承轴承21和壳体，因此可以减小致动器的轴向长度，并且可以在不降低尺寸和重量的情况下提高驱动扭矩，从而提供低成本的减速齿轮集成致动器。