利索-全球专利检索

  1. 登录
  2. 注册

搜索结果

16 条记录 (耗时 0.019 秒)

    Gripping judgment apparatus and gripping judgment method
    1.
    发明授权
    Gripping judgment apparatus and gripping judgment method 有权
    抓握判断装置和夹紧判断方法

    公开(公告)号：US08725296B2

    公开(公告)日：2014-05-13

    申请号：US13023797

    申请日：2011-02-09

    申请人： Kenichiro Nagasaka ,  Toshimitsu Tsuboi ,  Atsushi Miyamoto ,  Yasunori Kawanami ,  Tetsuharu Fukushima ,  Kenta Kawamoto

    发明人： Kenichiro Nagasaka ,  Toshimitsu Tsuboi ,  Atsushi Miyamoto ,  Yasunori Kawanami ,  Tetsuharu Fukushima ,  Kenta Kawamoto

    IPC分类号： B25J13/08 ,  B25J15/08

    CPC分类号： B25J9/1612

    摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.

    摘要翻译： 提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动 基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及 夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。

    TORQUE DETECTION APPARATUS AND ROBOT APPARATUS
    2.
    发明申请
    TORQUE DETECTION APPARATUS AND ROBOT APPARATUS 审中-公开
    扭矩检测装置和机器人装置

    公开(公告)号：US20120048628A1

    公开(公告)日：2012-03-01

    申请号：US13181741

    申请日：2011-07-13

    申请人： Yasunori KAWANAMI ,  Atsushi Miyamoto ,  Toshimitsu Tsuboi ,  Tetsuharu Fukushima ,  Kenta Kawamoto ,  Yasuhide Hosoda

    发明人： Yasunori KAWANAMI ,  Atsushi Miyamoto ,  Toshimitsu Tsuboi ,  Tetsuharu Fukushima ,  Kenta Kawamoto ,  Yasuhide Hosoda

    IPC分类号： B25J5/00 ,  B25J19/02 ,  G01L3/10

    CPC分类号： B25J13/085 ,  B25J9/0003 ,  G01L3/1428

    摘要： Provided is a torque detection apparatus including a base portion, a drive portion, and a detection portion. The drive portion includes a rotor having a main axis in a direction of a first axis, and a stator configured to rotate the rotor around the main axis. The detection portion includes a strain body and a detection element. The strain body includes a first end portion to be fixed to the base portion and a second end portion to be fixed to the rotor, and is arranged concentrically with the rotor. The detection element is provided to the strain body so as to detect a strain of the strain body around the first axis with respect to the base portion.

    摘要翻译： 提供一种扭矩检测装置，其包括基部，驱动部和检测部。 驱动部分包括具有沿第一轴方向的主轴线的转子和构造成围绕主轴线旋转转子的定子。 检测部包括应变体和检测元件。 应变体包括固定到基部的第一端部和固定到转子的第二端部，并且与转子同心地设置。 将检测元件设置到应变体，以便相对于基部检测第一轴线周围的应变体的应变。

    Control device, control method, computer program, and recording medium
    6.
    发明授权
    Control device, control method, computer program, and recording medium 有权
    控制装置，控制方法，计算机程序和记录介质

    公开(公告)号：US08644986B2

    公开(公告)日：2014-02-04

    申请号：US12208563

    申请日：2008-09-11

    申请人： Toshimitsu Tsuboi ,  Takeo Kishida ,  Tetsuharu Fukushima

    发明人： Toshimitsu Tsuboi ,  Takeo Kishida ,  Tetsuharu Fukushima

    IPC分类号： G06F19/00

    CPC分类号： G05B13/021 ,  B25J9/1612 ,  G05B2219/39505 ,  G05B2219/40264 ,  G05B2219/40567

    摘要： A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

    摘要翻译： 公开了一种控制物体的夹持的控制装置。 控制装置包括：检测装置，用于检测物体的滑动并输出滑移检测值; 改变值计算装置，用于基于滑移检测值，将用于将对物体设定夹持力的命令值改变为用于静止物体的大小的改变值; 抑制值计算装置，用于基于滑移检测值计算用于将命令值抑制为用于休息物体所需最小量级的抑制值; 以及设定装置，用于根据变化值和抑制值来设定指令值的大小。

    GRIPPING JUDGMENT APPARATUS AND GRIPPING JUDGMENT METHOD
    7.
    发明申请
    GRIPPING JUDGMENT APPARATUS AND GRIPPING JUDGMENT METHOD 有权
    拖运裁判设备和拖车裁判方法

    公开(公告)号：US20110238213A1

    公开(公告)日：2011-09-29

    申请号：US13023797

    申请日：2011-02-09

    申请人： Kenichiro Nagasaka ,  Toshimitsu Tsuboi ,  Atsushi Miyamoto ,  Yasunori Kawanami ,  Tetsuharu Fukushima ,  Kenta Kawamoto

    发明人： Kenichiro Nagasaka ,  Toshimitsu Tsuboi ,  Atsushi Miyamoto ,  Yasunori Kawanami ,  Tetsuharu Fukushima ,  Kenta Kawamoto

    IPC分类号： B25J13/08

    CPC分类号： B25J9/1612

    摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.

    摘要翻译： 提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动 基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及 夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。

    CONTROL DEVICE, CONTROL METHOD, COMPUTER PROGRAM, AND RECORDING MEDIUM
    8.
    发明申请
    CONTROL DEVICE, CONTROL METHOD, COMPUTER PROGRAM, AND RECORDING MEDIUM 有权
    控制装置，控制方法，计算机程序和记录介质

    公开(公告)号：US20090076657A1

    公开(公告)日：2009-03-19

    申请号：US12208563

    申请日：2008-09-11

    申请人： Toshimitsu TSUBOI ,  Takeo Kishida ,  Tetsuharu Fukushima

    发明人： Toshimitsu TSUBOI ,  Takeo Kishida ,  Tetsuharu Fukushima

    IPC分类号： G05B13/00

    CPC分类号： G05B13/021 ,  B25J9/1612 ,  G05B2219/39505 ,  G05B2219/40264 ,  G05B2219/40567

    摘要： A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

    摘要翻译： 公开了一种控制物体的夹持的控制装置。 控制装置包括：检测装置，用于检测物体的滑动并输出滑移检测值; 改变值计算装置，用于基于滑移检测值，将用于将对物体设定夹持力的命令值改变为用于静止物体的大小的改变值; 抑制值计算装置，用于基于滑移检测值计算用于将命令值抑制为用于休息物体所需最小量级的抑制值; 以及设定装置，用于根据变化值和抑制值来设定指令值的大小。

    DETECTING DEVICE
    10.
    发明申请
    DETECTING DEVICE 有权
    检测设备

    公开(公告)号：US20110252896A1

    公开(公告)日：2011-10-20

    申请号：US13171525

    申请日：2011-06-29

    申请人： Takeo KISHIDA ,  Toshimitsu Tsuboi ,  Tetsuharu Fukushima ,  Shizuka Yata

    发明人： Takeo KISHIDA ,  Toshimitsu Tsuboi ,  Tetsuharu Fukushima ,  Shizuka Yata

    IPC分类号： G01L1/04

    CPC分类号： G01L5/228 ,  B25J13/081 ,  B25J15/0009 ,  G01L1/146

    摘要： A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.

    摘要翻译： 一种检测装置，包括由来自外部的负载变形并导致应力分散的压力传感器，包括使用由压力传感器检测的压力值来计算压力中心位置的滑移检测单元，计算计算出的压力中心的运动值 并且基于所计算的压力中心位置的移动值来检测滑移。 压力传感器具有多层结构，其中检测压力的两个检测单元被布置成保持由外部由负载变形的粘弹性材料制成的粘弹性体。