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WO/2023/093276A1 |
A robot and a robot control method. The robot comprises: a robot main body (10), with an attitude detector (40) being mounted on the robot main body (10); a chassis main body (20), with the chassis main body (20) being provided at the bo...
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WO/2023/095861A1 |
Provided is a flexural structure that is capable of being readily restored to an extended state and that allows for improvement of movement characteristics thereof. A flexural structure 1, in which a multi-structured flexible body 15 can...
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WO/2023/094161A1 |
The invention relates to a robot arm (2) comprising multiple joints (5) and multiple links (4) which can be adjusted relative to one another by means of the movements of the joints (5) of the robot arm (2). Each driven joint (5) is paire...
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WO/2023/093836A1 |
A robot arm joint structure (10), comprising a rotating mechanism (300), wherein the rotating mechanism (300) is connected to a tail end joint (20) and a previous joint (30), and is used for driving the tail end joint (20) to rotate arou...
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WO/2023/090204A1 |
This control system comprises: a robot that has an actuator (50); and an estimation unit that estimates external forces on the robot, on the basis of state information for the robot. The actuator (50) has: an encoder (51) on an output sh...
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WO/2023/084691A1 |
Provided is a joint structure comprising: a first link; a second link that is supported by the first link in a manner allowing rotation around a first axis, and bends relative to the first link; a third link that is supported by the seco...
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WO/2023/074978A1 |
According to automatic waste sorting robot picking apparatus and method of the present invention, an outer shaft and an inner shaft in which a first syringe and a second syringe communicating with each other are respectively formed are p...
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WO/2023/071150A1 |
A joint internal wiring structure. A first coiling body (3) and a second coiling body (5) which are rotatable relative to one another are provided at a joint, and a cable (4) is wound by means of a winding part (7) of the second coiling ...
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WO/2023/074140A1 |
A distal-end wrist device according to one embodiment of the present disclosure comprises a first actuator part in which the yaw axis is used as a rotational axis, a second actuator part in which the pitch axis is used as a rotational ax...
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WO/2023/065658A1 |
Provided is a flexible mechanical arm based on a universal-joint hinge. The flexible mechanical arm comprises a driving mechanism (1) and an arm section mechanism (2), wherein the arm section mechanism (2) comprises a first joint unit (I...
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WO/2023/065655A1 |
A joint power unit comprises a fixing seat (14), and a motor unit and a speed reducer unit disposed in the fixing seat (14); the speed reducer unit comprises an inner ring gear (1), a flexible outer ring gear (2) disposed inside the inne...
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WO/2023/062776A1 |
A carrier (36) for an eccentric oscillation speed reducer (3) of a robot (100) is attached to a base (1) so as not to rotate with the rotation of a first arm (8) rotated by an output part (35) of the eccentric oscillation speed reducer (...
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WO/2023/062777A1 |
This robot (100) comprises a motor (2), a reducer (3), a base (1), a first arm (8), a second arm (9), and an impeller (17) that rotates together with the first arm (8) or the reducer (3). The impeller (17) is configured so as to cool the...
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WO/2023/057738A1 |
A joint locking mechanism comprising a latch assembly and a gear movable relative to the latch assembly and comprising gear teeth. The latch assembly comprises an actuator moveable between a withdrawn position and a deployed position; fi...
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WO/2023/051806A1 |
A shoulder actuator assembly and a robot, wherein the shoulder actuator assembly comprises a first actuator (100), a second actuator (200), and an actuator connector (300). The first actuator (100) comprises a first driving module (160) ...
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WO/2023/050846A1 |
A robot, a mechanical arm, a joint and a harmonic reducer device thereof, comprising a cup-shaped flexible gear (10b), a rigid gear (60b) engaged with the flexible gear (10b), and a wave generator (20b). The wave generator (20b) comprise...
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WO/2023/051816A1 |
An electric actuator, a mechanical arm, and a robot. The electric actuator comprises a driving module (60) and a transmission module (10). The driving module (60) comprises a motor (62) and a motor mounting body (61), the motor (62) bein...
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WO/2023/051280A1 |
A hollow-wiring actuator, comprising: an electric motor housing (110); a driving circuit board (101), which is arranged inside the electric motor housing (110); and an electric motor (102), which is arranged inside the electric motor hou...
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WO/2023/047181A1 |
In a device (3) for connecting an effector (4) of a handling device to a movable part (1) of the handling device, in particular to a robot arm (1), wherein the device (3) comprises a first mounting part (7) for mounting the effector (4) ...
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WO/2023/041871A1 |
The invention relates to an articulation assembly (100) for a robot head (110) comprising: - a support structure (120); - a first and a second rotary actuator (130, 140) each comprising a shaft (131, 141) and a body (132, 142), the shaft...
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WO/2023/040229A1 |
A rotary motion system. The rotary motion system comprises an angle rotation joint having a single-degree-of-freedom. The angle rotation joint is composed of four members which are stacked on each other; a first member (6) is used as a b...
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WO/2023/037694A1 |
The present invention provides an on-vehicle robot capable of realistically and intelligently simulating the movement of a human head. The on-vehicle robot comprises: a base member which is rotatably attached to an attachment target; an ...
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WO/2023/032465A1 |
Provided is a tool changer having a simple structure. This tool changer 10 has: a master unit 11 in which an electric motor 31 is incorporated; a tool unit 12 to which a lock pin 42 is attached, the lock pin 42 protruding toward the ma...
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WO/2023/026434A1 |
This wire body fixing structure comprises an actuator that is provided with a through hole through which a wire body passes, and a fixing part that fixes, in the space inside the through hole, the wire body between the axis of the actuat...
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WO/2023/026432A1 |
This robot power transmission mechanism comprises: a base member which has formed in the inner surface thereof a recessed part that extends along the rotation axis of a shaft; a ring member which is disposed in the recessed part; and a p...
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WO/2023/024243A1 |
A joint bidirectional energy storage apparatus (1), a robot joint structure, and a robot. The joint bidirectional energy storage apparatus (1) comprises a sleeve (10), an elastic element (20), a slider (30), a first telescopic rod (40) a...
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WO/2023/024244A1 |
Provided in the present application are a joint bidirectional energy-storage device, a robot joint structure and a robot. The joint bidirectional energy-storage device comprises a sleeve, a first sliding member, a second sliding member, ...
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WO/2023/026435A1 |
Conventionally, there has been a demand for the joint structure of a robot to be made compact. In the present invention, a joint structure 50 of a robot comprises: a fixed part 136; a rotating part 134 which is provided to the fixed part...
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WO/2023/022056A1 |
Provided is a mechanism that, when there are a plurality of drive control units with different backdrivability as a drive control unit for bending a bendable unit, enables appropriate switching of the drive control units while reducing t...
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WO/2023/021180A1 |
The present invention relates to an output bearing assembly for a joint drive, in particular a robot joint drive, comprising an output shaft, an output bearing disposed on the output shaft and having an inner ring for mounting the output...
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WO/2023/010899A1 |
The present application provides a joint structure, and a robot having same. The joint structure comprises a first joint and a second joint that are connected to each other, and a driving component is mounted between the first joint and ...
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WO/2023/008121A1 |
This joint device, which connects a first link and a second link in a relatively rotatable manner, comprises a motor 33 provided with: a stator 331 attached to one link among the first link and the second link; and a rotor 332 which is a...
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WO/2023/001423A1 |
A robotic joint device (100) is provided, comprising - a first rigid element (1) with a first central axis (A1) and a second rigid element (2) with a second central axis (A2), - where the first rigid element (1) has a base member (10) an...
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WO/2023/001087A1 |
The present invention relates to an electric motor braking system, a multi-joint robot and an electric motor braking method. The electric motor braking system comprises an electric motor and a brake, wherein the electric motor has a conv...
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WO/2023/287393A1 |
In various implementations a removable appendage of a robot can allow for stable pitch and yaw, while mitigating interference with other movements of the robot. A neck of the robot can include at least two linear actuators, each coupled ...
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WO/2023/275972A1 |
A lubricant bath structure (1) being provided with a casing (40) in which a liquid lubricant (5) can be stored, wherein: the casing (40) is provided with a discharge hole (12), a part attachment hole (14), a liquid level check hole (13),...
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WO/2023/275609A1 |
A hydraulically powered robot (200) is disclosed. The robot (200) includes at least one hip joint (202) having a maximum of two degrees of freedoms (DOFs), at least one ankle joint (204) having a maximum of two DOFs, at least one knee jo...
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WO/2023/276613A1 |
This hand 100 comprises: a hand body 2 for which a prescribed first reference axis X is defined; a gripper part 3 for which a prescribed second reference axis Y is defined and which takes hold of a workpiece; and a linking mechanism 4 wh...
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WO/2023/274015A1 |
A robot joint (10), comprising a joint housing (11), a power device, and a brake (14). The brake (14) comprises a brake disc (141), a friction plate (142) and a limiting member (144), and the power device comprises a fixed component and ...
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WO/2022/269693A1 |
Provided is a link mechanism provided with: a first link provided with an output link having a curved surface, a first rotational driving part that is driven rotationally about a first driving rotation axis by a first driving means, and ...
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WO/2022/264859A1 |
A height adjustment device (30) comprises: a lower member (31); an upper member (32); and a height adjustment unit that includes a first spherical surface sliding bearing (33a), a second spherical surface sliding bearing (33b), a third s...
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WO/2022/261887A1 |
A sensing assembly includes a magnet assembly configured to be coupled to a first component and a pair of hall-effect sensors configured to be coupled to a second component. The pair of hall-effect sensors are configured to generate subs...
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WO/2022/253072A1 |
A two-degree-of-freedom orthogonal tendon transmission joint module, comprising: a universal joint (1), a pitch control wheel (2), a pitch swing block, a side swing control wheel, pitch transmission tendons (11), a side swing transmissio...
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WO/2022/256064A1 |
End effector tool changers for a robotic system are disclosed. The end effector tool changer is physically compact, mechanically robust, has high radial strength, prevents undesirable rotations, uses minimal sensory input, is suitable fo...
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WO/2022/255692A1 |
An exercise assisting device comprises: a proximal support which supports a proximal part of a user; a distal support which supports a distal part of the user; an actuator which is connected to the proximal part and generates power; a cl...
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WO/2022/254529A1 |
[Problem] To provide a robot, a drive mechanism, a reduction gear, a torque sensor, and a torque detection method, all of which make it possible to improve accuracy in detecting a torque. [Solution] This robot 1 has: a torque sensor 2 th...
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WO/2022/247334A1 |
An assembly mechanical arm, comprising a movable joint support (20). A movable joint arm (30) is provided on the movable joint support (20); a movable joint is provided on the movable joint arm (30); a pushing device (21) is provided bet...
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WO/2022/243495A1 |
The invention relates to a guiding system for a surgical robotic system, comprising a tool guide (11), a tool (30), an intermediate part (60) mounted on the tool (30), and first and second coupling links (21, 22), and presenting: - a fir...
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WO/2022/244777A1 |
This disclosure addresses the problem of providing an actuator that can be used in a manipulator with multiple degrees of freedom, and that can at least partially solve the problem of a decrease in gear backdrivability. Provided are an...
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WO/2022/241052A1 |
Disclosed herein are wafer handling robots and related systems for providing a blade-type end effector that has a built-in compliance mechanism that allows the end effector blades to rotate by a small amount relative to a wrist unit hous...
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