公开(公告)号：US20060232086A1

公开(公告)日：2006-10-19

申请号：US11279965

申请日：2006-04-17

申请人： Kazuo HARIKI ,  Kazuhiko AKIYAMA ,  Masaru ODA ,  Yoshinori OCHIISHI

发明人： Kazuo HARIKI ,  Kazuhiko AKIYAMA ,  Masaru ODA ,  Yoshinori OCHIISHI

IPC分类号： B25J15/08

CPC分类号： B25J15/0206

摘要： A robot hand includes a drive unit having a pair of moving elements provided so as to be movable in a lateral direction with respect to a center axis extending parallel with a longitudinal direction of an arm part to which the robot hand is attached, a pair of gripping claws each coupled to one of the pair of moving elements of the drive unit, and a joint for coupling the pair of gripping claws to each other so as to be pivotable. Each of the pair of gripping claws has a base end coupled to one of the moving elements so as to be pivotable and a front end for engaging with a workpiece. The pair of moving elements are operated to approach and move apart from each other in a lateral direction with respect to the center axis, thereby making the pair of gripping claws pivot about the joint and making the front ends of the gripping claws move apart from or approach each other.

摘要翻译： 一种机器人手包括具有一对移动元件的驱动单元，所述一对移动元件设置成能够相对于与所述机器人手所附接的臂部的纵向方向平行延伸的中心轴在横向方向上移动，一对 夹持爪各自联接到驱动单元的一对移动元件中的一个，以及用于将所述一对夹爪彼此联接以便可枢转的接头。 所述一对夹爪中的每一个具有联接到所述移动元件之一以便可枢转的基端和用于与工件接合的前端。 一对移动元件被操作成在相对于中心轴线的横向方向上相互接近并移动，从而使得一对夹紧爪绕关节枢转，并使夹爪的前端离开或 相互接近

公开(公告)号：US20060200274A1

公开(公告)日：2006-09-07

申请号：US11365601

申请日：2006-03-02

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

IPC分类号： G06F19/00

CPC分类号： B25J15/00

摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.

摘要翻译： 一只手作为末端执行器。 手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动 钩元件和保持元件。 例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。 或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。 处理机器人包括臂和附接到臂的上述手。

公开(公告)号：US20060245897A1

公开(公告)日：2006-11-02

申请号：US11375441

申请日：2006-03-15

申请人： Kazuo Hariki ,  Masaru Oda ,  Yoshinori Ochiishi ,  Tetsuji Ueda

发明人： Kazuo Hariki ,  Masaru Oda ,  Yoshinori Ochiishi ,  Tetsuji Ueda

IPC分类号： B66C23/00

CPC分类号： B25J9/046 ,  B25J17/0283

摘要： A robot handling system using a robot hand to convey a workpiece, provided with a first wrist element at a front end of an arm of the robot, a second wrist element perpendicular to this, a third wrist element perpendicular to this, and a connecting means connecting the third wrist element and a hand body of the robot hand, the hand body being arranged so that an inertia moment of the hand body about a vertical axial line becomes larger than the inertia moments of the hand body about two mutually perpendicular horizontal axial lines, the connecting means connects the third wrist element and hand body so that a third axial line of the third wrist element and the hand body are arranged in a horizontal plane, and a posture of the hand body is changed about the vertical axial line in the state with the third axial line of the third wrist element arranged in a horizontal plane. Due to this, the robot hand can be made to rotate over the limit of the allowable inertia moment.

摘要翻译： 一种使用机器人手来传送工件的机器人处理系统，在机器人的臂的前端设置有第一腕部元件，与其垂直的第二腕部，与其垂直的第三腕部，以及连接装置 连接第三腕部和机器人手的手部，手主体被布置成使得手主体围绕垂直轴线的惯性力矩大于手部围绕两个相互垂直的水平轴线的惯性力矩 所述连接装置将所述第三腕部和所述手柄连接，使得所述第三腕部和所述手部的第三轴线配置在水平面上，并且所述手指的姿势围绕所述手指的垂直轴线变化 状态，其中第三腕部的第三轴线布置在水平面中。 因此，可以使机器人手旋转超过容许惯性力矩的极限。

公开(公告)号：US07734376B2

公开(公告)日：2010-06-08

申请号：US11365601

申请日：2006-03-02

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

IPC分类号： G06F19/00

CPC分类号： B25J15/00

摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.

摘要翻译： 一只手作为末端执行器。 手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动 钩元件和保持元件。 例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。 或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。 处理机器人包括臂和附接到臂的上述手。

公开(公告)号：US20090132086A1

公开(公告)日：2009-05-21

申请号：US12245001

申请日：2008-10-03

申请人： Kazuo HARIKI ,  Masaru Oda ,  Yoshinori Ochiishi

发明人： Kazuo HARIKI ,  Masaru Oda ,  Yoshinori Ochiishi

IPC分类号： B25J13/02 ,  B25J15/00

CPC分类号： B25J15/0253

摘要： A holding apparatus and a holding unit are disclosed. The holding apparatus (4) includes a base plate (21), a fixed holding member (22) fixed on the base plate, a first movable holding member (11) arranged in opposed relation to and operated in collaboration with the fixed holding member, a second movable holding member (12) operated in collaboration with the first movable holding member in operatively interlocked relationship therewith, and a drive device (19) for driving the first movable holding member and the second movable holding member in operatively interlocked relationship with each other. Both the second movable holding member and the fixed holding member face one side of the first movable holding member. Therefore, holding power can be increased easily without a large space. The holding apparatus may further include a removing device (24, 25, 26) for removing the second movable holding member from between the first movable holding member and the fixed holding member when holding the workpiece (20) with the first movable holding member and the fixed holding member.

摘要翻译： 公开了保持装置和保持单元。 保持装置（4）包括基板（21），固定在基板上的固定保持构件（22），与固定保持构件相对设置并与之配合操作的第一可移动保持构件（11） 与第一可动保持构件协作操作的第二可移动保持构件（12），与第一可动保持构件以可操作地互锁的关系与第二可移动保持构件（19）相互作用地互锁地驱动第一可动保持构件和第二可动保持构件 。 第二可动保持构件和固定保持构件都面向第一可动保持构件的一侧。 因此，能够容易地增加保持力而没有大的空间。 保持装置还可以包括用于当用第一可移动保持构件保持工件（20）时从第一可动保持构件和固定保持构件之间移除第二可动保持构件的移除装置（24,25,26）和 固定保持构件。