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1. 发明专利

JP2011072186A Rotary series elastic actuator 有权
标题翻译：旋转系列弹性致动器
公开(公告)号：JP2011072186A
公开(公告)日：2011-04-07
申请号：JP2010209094
申请日：2010-09-17
申请人： Gm Global Technology Operations Inc , United States Of America As Represented By The Administrator Of The National Aeronautics & Space Administration , ザ・ユナイテッド・ステイツ・オブ・アメリカ・アズ・リプレゼンテッド・バイ・ジ・アドミニストレーター・オブ・ザ・ナショナル・エアロノーティクス・アンド・スペース・アドミニストレーション , ジーエム・グローバル・テクノロジー・オペレーションズ・インコーポレーテッド
发明人： IHRKE CHRIS A , MEHLING JOSHUA S , PARSONS ADAM H , GRIFFITH BRYAN KRISTIAN , NICOLAUS A RADFORD , PERMENTER FRANK NOBLE , DONALD R DAVIS , AMBROSE ROBERT O , JUNKIN LUCIEN Q
IPC分类号： H02K7/116 , B25J17/00 , B25J19/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： PROBLEM TO BE SOLVED: To provide a rotary actuator assembly for actuation of an upper arm assembly for a dexterous humanoid robot. SOLUTION: The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about each axis. Each rotary actuator assembly includes a motor mounted about each axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input rotatably connected to an output of the gear drive and a spring output connected to an output for the joint. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于致动用于灵巧型人形机器人的上臂组件的旋转致动器组件。解决方案：类人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。多个旋转致动器组件各自围绕每个轴线安装到多个臂支撑框架中的一个。每个旋转致动器组件包括围绕每个轴安装的马达，可旋转地连接到马达的齿轮驱动器和扭转弹簧。扭力弹簧具有可旋转地连接到齿轮传动装置的输出的弹簧输入件和连接到接头的输出端的弹簧输出。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2014159078A Humanoid robot 审中-公开
标题翻译：人类机器人
公开(公告)号：JP2014159078A
公开(公告)日：2014-09-04
申请号：JP2014087989
申请日：2014-04-22
申请人： Gm Global Technology Operations Inc , ジーエム・グローバル・テクノロジー・オペレーションズ・インコーポレーテッド , United States Of America As Represented By The Administrator Of The National Aeronautics & Space Administration , ザ・ユナイテッド・ステイツ・オブ・アメリカ・アズ・リプレゼンテッド・バイ・ジ・アドミニストレーター・オブ・ザ・ナショナル・エアロノーティクス・アンド・スペース・アドミニストレーション
发明人： LINN DOUGLAS MARTIN , ROBERT O AMBROSE , MYRON A DIFTLER , SCOTT R ASKEW , ROBERT PLATT , JOSHUA S MEHLING , NICOLAUS A RADFORD , PHILLIP A STRAWSER , LYNDON BRIDGWATER , CHARLES W WAMPLER II , MUHAMMAD E ABDALLAH , CHRIS A IHRKE , MATTHEW J REILAND , ADAM M SANDERS , DAVID M REICH , BRIAN HARGRAVE , ADAM H PARSONS , FRANK NOBLE PERMENTER , DONALD R DAVIS
IPC分类号： B25J5/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： PROBLEM TO BE SOLVED: To provide a humanoid robot suitable for a wide range of work tasks.SOLUTION: A humanoid robot 10 includes a torso 11, a pair of arms 22, 24, two hands, a neck 14, and a head 16. The torso extends along a primary axis P and presents a pair of shoulders 18. The pair of arms movably extends from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints J1 to J7. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint N. The head movably extends from the neck along the primary axis. The head has at least one head joint H1, H2. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译：要解决的问题：提供适合于各种工作任务的人形机器人。解剖：人形机器人10包括躯干11，一对臂22,24，两只手，颈部14和头部16。躯干沿着主轴线P延伸并且呈现一对肩部18.该对臂可从该对肩部中的相应的一个可移动地延伸。每个臂具有多个臂关节J1至J7。颈部沿着主轴从躯干运动地延伸。颈部具有至少一个颈关节N.头部从颈部沿着主轴线可移动地延伸。头部有至少一个头关节H1，H2。肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。

3. 发明专利

JP2011079123A Integrated high-speed torque control system for robotic joint 审中-公开
标题翻译：用于机器人接头的集成高速扭矩控制系统
公开(公告)号：JP2011079123A
公开(公告)日：2011-04-21
申请号：JP2010212360
申请日：2010-09-22
申请人： Gm Global Technology Operations Inc , United States Of America As Represented By The Administrator Of The National Aeronautics & Space Administration , ザ・ユナイテッド・ステイツ・オブ・アメリカ・アズ・リプレゼンテッド・バイ・ジ・アドミニストレーター・オブ・ザ・ナショナル・エアロノーティクス・アンド・スペース・アドミニストレーション , ジーエム・グローバル・テクノロジー・オペレーションズ・インコーポレーテッド
发明人： DONALD R DAVIS , NICOLAUS A RADFORD , PERMENTER FRANK NOBLE , VALVO MICHAEL C
IPC分类号： B25J13/00 , H02P5/46
CPC分类号： B25J9/1633 , G05B2219/42093 , G05B2219/42263
摘要： PROBLEM TO BE SOLVED: To provide a control system of a robotic joint capable of achieving the high-speed torque and strong against noise.
SOLUTION: The control system for achieving the high-speed torque for the robotic joint includes a printed circuit board assembly (PCBA) 30 having a collocated joint processor and a high-speed communication bus. The PCBA may also include a power inverter module (PIM) 34, and local sensor conditioning electronics (SCE) 36 for processing the sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be built in or collocated with the robotic joint to be controlled. Collocation of the joint processor, the PIM, and the high-speed bus may increase noise immunity of the control system, and the localized processing of the sensor data from the joint motor 40 at the joint level may minimize the bus cabling to and from each control node.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供能够实现高速转矩和抗噪声的机器人接头的控制系统。解决方案：用于实现机器人接头的高速扭矩的控制系统包括具有并置联合处理器和高速通信总线的印刷电路板组件（PCBA）30。 PCBA还可以包括电源逆变器模块（PIM）34和用于处理来自一个或多个电动机位置传感器的传感器数据的本地传感器调节电子装置（SCE）36。通过PCBA作为高速转矩回路提供接头电机的转矩控制。每个联合处理器可以与被控制的机器人接头建立或并置。联合处理器，PIM和高速总线的搭配可以增加控制系统的抗噪声性能，并且联合电平处的来自联合电动机40的传感器数据的局部处理可以将总线电缆最小化到每个控制节点。版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2010279242A Method and apparatus for electromagnetically braking motor 有权
标题翻译：电动制动电机的方法和装置
公开(公告)号：JP2010279242A
公开(公告)日：2010-12-09
申请号：JP2010095002
申请日：2010-04-16
申请人： Gm Global Technology Operations Inc , ジーエム・グローバル・テクノロジー・オペレーションズ・インコーポレーテッド
发明人： DONALD R DAVIS , NICOLAUS A RADFORD , PERMENTER FRANK NOBLE , PARSONS ADAM H
IPC分类号： H02P29/00 , F16D65/18 , H02K7/106
CPC分类号： B60T13/04 , B60T13/741 , B60T13/743 , B60T13/748 , F16D2121/22 , F16D2129/065
摘要： PROBLEM TO BE SOLVED: To optimize performance of a brake assembly and to increase total efficiency. SOLUTION: An electromagnetic braking system and method is provided for selectively braking a motor using an electromagnetic brake having an electromagnet, a permanent magnet, a rotor assembly, and a brake pad. The brake assembly applies when the electromagnet is de-energized and releases when the electromagnet is energized. When applied, the permanent magnet moves the brake pad into frictional engagement with a housing, and when released, the electromagnet cancels the flux of the permanent magnet to allow a leaf spring to move the brake pad away from the housing. A controller has a DC/DC converter for converting a main bus voltage V M to a lower braking voltage based on certain parameters. The converter utilizes pulse-width modulation (PWM) to regulate the braking voltage. A calibrated gap is defined between the brake pad and permanent magnet when the brake assembly is released, and may be dynamically modified via the controller. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：优化制动组件的性能并提高总效率。解决方案：提供一种电磁制动系统和方法，用于使用具有电磁体，永磁体，转子组件和制动衬块的电磁制动器选择性地制动电动机。当电磁铁断电时，制动组件适用，当电磁铁通电时，制动器组件释放。当施加时，永磁体将制动衬块移动到与壳体摩擦接合，并且当释放时，电磁体抵消永磁体的通量，以允许板簧将制动片从壳体移开。控制器具有DC / DC转换器，用于根据某些参数将主母线电压V SB> M 转换成较低的制动电压。该转换器利用脉宽调制（PWM）来调节制动电压。当制动组件被释放时，在制动衬块和永磁体之间限定校准的间隙，并且可以通过控制器动态地修改。版权所有（C）2011，JPO＆INPIT

5. 发明专利

JP2010262927A Connector pin, and method 有权
标题翻译：连接器引脚和方法
公开(公告)号：JP2010262927A
公开(公告)日：2010-11-18
申请号：JP2010105602
申请日：2010-04-30
申请人： Gm Global Technology Operations Inc , Oceaneering Internatl Inc , オーシャニアリング・インターナショナル・インク , ジーエム・グローバル・テクノロジー・オペレーションズ・インコーポレーテッド
发明人： DONALD R DAVIS , NICOLAUS A RADFORD
IPC分类号： H01R13/64 , H01R13/10
CPC分类号： H01R13/17 , H01R13/052
摘要： PROBLEM TO BE SOLVED: To improve distortion resistance of a connector upon insertion to a mating connector.
SOLUTION: An electric connector and a method includes the connector 14, and a matching member 22 being adjacent to or coming in contact with a fitting end 20 of the connector 14 in order to prevent distortion of the fitting end 20. The fitting end 20 of the connector 14 is a male or female type, and has a shape of a post, a tube, a blade, a pin or the other structure. The matching member 22 made from a matching material is, for example, a material of elastomer, epoxy material, or a rubber type material, and formed and positioned so as to come in contact with the fitting end 20 of the connector 14, and prevents distortion of the fitting end 20 by providing support during assembling. The matching member 22 has a shape of a quadrangle, a wedge shape, a cylinder, a cone, an annulus or the other structure required to support a connector pin 14. The matching member 22 is mounted on the fitting end 20 with an adhesive in order to further prevent its distortion.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提高插入配合连接器时连接器的抗变形性。电连接器和方法包括连接器14和与连接器14的配合端20相邻或接触的匹配构件22，以防止配件端20变形。配件连接器14的端部20是阳型或阴型，并且具有柱，管，叶片，销或另一结构的形状。由匹配材料制成的匹配构件22例如是弹性体，环氧树脂材料或橡胶类材料的材料，并且形成和定位成与连接器14的装配端20接触，并防止在组装期间通过提供支撑来使配合端20发生变形。匹配构件22具有四边形，楔形，圆柱形，锥形，环形或支撑连接器销14所需的另一结构的形状。匹配构件22用粘合剂安装在装配端20上为了进一步防止其扭曲。版权所有（C）2011，JPO＆INPIT

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