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公开(公告)号：US10023400B2
公开(公告)日：2018-07-17
申请号：US15394948
申请日：2016-12-30
发明人： Junya Tanaka , Akihito Ogawa , Hideichi Nakamoto , Atsushi Sugahara , Takafumi Sonoura , Haruna Eto
摘要： An article holding system according to an embodiment is an article holding system which is provided with a fixed portion, a movable portion, a hollow member located between the fixed portion and the movable portion, a drawing portion to draw in the hollow member, and a fluid control device to supply fluid to an inside of the hollow member, wherein the hollow member deforms in a state that the fluid is supplied by the fluid control device, and the hollow member is drawn out from the drawing portion, to change a distance between the fixed portion and the movable portion.
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公开(公告)号：US09896267B2
公开(公告)日：2018-02-20
申请号：US15667039
申请日：2017-08-02
发明人： Hiroaki Nakamura , Kiminori Toya , Hideichi Nakamoto , Haruna Eto
CPC分类号： B65G1/0435 , B65G47/912
摘要： According to one embodiment, a cargo handling apparatus includes a first mechanism, a second mechanism, a holding unit, a third mechanism, a fourth mechanism and a conveyor. The first mechanism is movable in a first direction. The second mechanism is connected to the first mechanism and is movable on a first horizontal plane intersecting the first direction. The holding unit is connected to the second mechanism and holds an object to be picked up. The third mechanism is arranged below the first mechanism, the second mechanism and the holding unit, and is movable in the first direction. The fourth mechanism is connected to the third mechanism and is movable on a second horizontal plane opposed to the first horizontal plane. The conveyor is connected to the fourth mechanism, and loads and conveys the object held by the holding unit.
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公开(公告)号：US09758300B2
公开(公告)日：2017-09-12
申请号：US14725395
申请日：2015-05-29
发明人： Hiroaki Nakamura , Kiminori Toya , Hideichi Nakamoto , Haruna Eto
CPC分类号： B65G1/0435 , B65G47/912
摘要： According to one embodiment, a cargo handling apparatus includes a first mechanism, a second mechanism, a holding unit, a third mechanism, a fourth mechanism and a conveyor. The first mechanism is movable in a first direction. The second mechanism is connected to the first mechanism and is movable on a first horizontal plane intersecting the first direction. The holding unit is connected to the second mechanism and holds an object to be picked up. The third mechanism is arranged below the first mechanism, the second mechanism and the holding unit, and is movable in the first direction. The fourth mechanism is connected to the third mechanism and is movable on a second horizontal plane opposed to the first horizontal plane. The conveyor is connected to the fourth mechanism, and loads and conveys the object held by the holding unit.
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公开(公告)号：US09757858B2
公开(公告)日：2017-09-12
申请号：US14996330
申请日：2016-01-15
发明人： Haruna Eto , Hideichi Nakamoto , Akihito Ogawa , Takafumi Sonoura , Junya Tanaka , Kazuo Watabe
CPC分类号： B25J9/1612 , B25J9/1694 , B25J9/1697 , B25J15/0052 , B25J15/0616 , G05B2219/39484 , G05B2219/39558
摘要： An article handling device includes: a gripper that grips an article; a driver that moves the gripper; an article recognition unit that recognizes a state of the article; a gripping recognition unit that recognizes a gripping state of the gripper; a determination unit that determines whether the gripping state is stable or unstable based on a recognition result of the gripping recognition unit; and a controller that controls a first gripping operation in which the gripper grips the article by a gripping position determined based on the recognition result of the article recognition unit, and, when the gripping state is determined as unstable, controls a second gripping operation in which the gripping position is changed and the gripper re-grips the article.
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公开(公告)号：US20170129707A1
公开(公告)日：2017-05-11
申请号：US15262128
申请日：2016-09-12
发明人： Hideichi NAKAMOTO , Akihito Ogawa , Takafumi Sonoura , Haruna Eto , Junya Tanaka , Atsushi Sugahara
CPC分类号： B65G15/00 , B65G13/02 , B65G39/06 , B65G41/005 , B65G47/54 , B65G47/643 , B65G47/647 , B65G47/912 , B65G61/00
摘要： According to one embodiment, a transporter includes a first conveyor and a second conveyor. The first conveyor receives an object that is carried by an arm device and conveys the object in a first direction. The second conveyor is configured to receive and convey the object from the first conveyor and is movable in a second direction that crosses the first direction.
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公开(公告)号：US20170106534A1
公开(公告)日：2017-04-20
申请号：US15258698
申请日：2016-09-07
发明人： Hideichi NAKAMOTO , Akihito Ogawa , Junya Tanaka , Takafumi Sonoura , Haruna Eto , Rie Katsuki
CPC分类号： B25J9/1633 , B25J9/026 , B25J9/1075 , B25J9/142 , B25J9/144 , B25J9/1638 , B25J15/0052 , B25J15/0616 , B25J19/068 , B65G15/00 , B65G47/91 , B65G47/915 , Y10S901/02 , Y10S901/09
摘要： According to one embodiment, a transporter includes a holder, a joint, an actuator, and a controller. The holder is configured to hold an object. The joint is configured to support the holder and to allow a change in posture of the holder. The actuator is configured to output a force suppressing a movement of the joint. The controller is configured to change stiffness of the joint by controlling an amount of the force.
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公开(公告)号：US12115665B2
公开(公告)日：2024-10-15
申请号：US17652122
申请日：2022-02-23
发明人： Kazuma Komoda , Seiji Tokura , Haruna Eto , Akihito Ogawa
CPC分类号： B25J9/1612 , B25J9/1653 , B25J9/1694 , B25J15/0052 , B25J15/0616
摘要： According to one embodiment, a handling system includes a movable arm, a holding unit, a sensor, and a controller. The holding unit is attached to the movable arm and capable of holding an object by selecting one or more of a plurality of holding methods. The sensor is capable of detecting a plurality of the objects. The controller controls the movable arm and the holding unit. The controller calculates a score based on a selected holding method for each object and each holding method on the basis of information acquired from the sensor. The controller selects a next object to be held and a holding method on the basis of the score. The controller calculates a position at which the selected object is held and a posture of the movable arm.
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公开(公告)号：US12077414B2
公开(公告)日：2024-09-03
申请号：US16798841
申请日：2020-02-24
发明人： Akihito Ogawa , Hideichi Nakamoto , Haruna Eto , Ryosuke Higo , Junichiro Ooga
CPC分类号： B66B5/0025 , B66B1/30 , B66B5/0087 , B25H1/0028 , B25H1/0092
摘要： According to an embodiment, a work support device includes a measurement unit and an irradiation control unit. The measurement unit measures an in-passage structure of a passage inside of which a user can work. The irradiation control unit controls an irradiation unit to emit light indicative of a work region to a corrected work position obtained by correcting work position information set based on a predetermined designed in-passage structure indicative of an ideal structure in the passage by using a result of the measurement by the measurement unit.
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39.发明授权公开(公告)号：US11865719B2
公开(公告)日：2024-01-09
申请号：US17005365
申请日：2020-08-28
发明人： Hideichi Nakamoto , Akihito Ogawa , Junichiro Ooga , Hideki Ogawa , Haruna Eto , Ryosuke Higo
CPC分类号： B25J9/1651 , B25J9/04 , B25J9/1674 , B25J9/1694 , B25J13/085 , B25J13/088 , B25J17/02 , B25J19/0004
摘要： According an embodiment, a work support device includes an arm unit, a brake unit, a state determination unit, and a brake control unit. The arm unit includes a grasping part configured to grasp an object, a plurality of joint parts, and a plurality of link parts actuatably coupled through each joint part. The brake unit is provided to at least one of the joint parts to restrict actuation of the arm unit. The state determination unit determines the state of the arm unit. The brake control unit controls the brake unit to restrict actuation of the arm unit in accordance with the state of the arm unit.
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公开(公告)号：US11691275B2
公开(公告)日：2023-07-04
申请号：US17191447
申请日：2021-03-03
发明人： Ping Jiang , Yoshiyuki Ishihara , Akihito Ogawa , Atsushi Sugahara , Seiji Tokura , Haruna Eto , Kazuma Komoda
CPC分类号： B25J9/1612 , B25J9/161 , B25J9/1697 , B25J13/088 , B25J15/0616
摘要： A handling device according to an embodiment includes a manipulator, a normal grid generation unit, a hand kernel generation unit, a calculation unit, and a control unit. The normal grid generation unit converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit generates a hand kernel of each suction pad. The calculation unit calculates ease of grasping the object to be grasped by a plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads.
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