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公开(公告)号：US07035711B2
公开(公告)日：2006-04-25
申请号：US10627689
申请日：2003-07-28
申请人： Atsushi Watanabe , Kazuhisa Otsuka , Masaru Oda
发明人： Atsushi Watanabe , Kazuhisa Otsuka , Masaru Oda
IPC分类号： G06F19/00
CPC分类号： G05B19/41835 , G05B19/41825 , G05B2219/31069 , G05B2219/31078 , Y02P90/083 , Y02P90/087 , Y02P90/12
摘要： A machining system displaying operation programs and associated information for a plurality of components of the system on the same display screen for confirming, creating and editing of the operation programs and associated information. A machine tool, a jig device for fixing/unfixing a workpiece on the machine tool, a handling robot and a visual sensor are connected with an information processing device by a communication path. A list of items specifying operation programs and associated information for the respective components is displayed with respect to different kinds of workpieces on a display screen of the information processing device. When one or more of the items are selected by an operator, the operation program or programs and the associated information specified by the selected item or items are displayed in the form of a window on the display screen.
摘要翻译： 一种加工系统，用于在同一显示屏幕上显示系统的多个部件的操作程序和相关信息，用于确认，创建和编辑操作程序及相关信息。 机床，用于在工具上固定/拆卸工件的夹具装置，处理机器人和视觉传感器通过通信路径与信息处理装置连接。 相对于信息处理装置的显示画面上的不同种类的工件，显示指定各个部件的操作程序和相关信息的项目的列表。 当操作者选择一个或多个项目时，在显示屏幕上以窗口的形式显示由所选项目指定的操作程序或程序以及相关信息。
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公开(公告)号：US07244093B2
公开(公告)日：2007-07-17
申请号：US10627722
申请日：2003-07-28
申请人： Atsushi Watanabe , Kazuhisa Otsuka , Masaru Oda , Tadanori Suzuki
发明人： Atsushi Watanabe , Kazuhisa Otsuka , Masaru Oda , Tadanori Suzuki
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/39533 , G05B2219/40583
摘要： An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled.
摘要翻译： 一种能够可靠地保持物体并将被保持物体从第一位置精确地传送到第二位置的物体处理装置，而不需要用于将物体定位在托盘上的特定夹具。 通过第一视觉传感器检测提供给第一位置的物体的位置，以获得用于补偿所提供物体的位置偏移的补偿量。 该物体由具有位置/方位补偿的机器人手保持，使用补偿量，并且通过第二视觉传感器检测由机器人手相对于机器人手保持的对象的位置/方位。 基于检测到的机器人手上的物体的位置/取向来补偿由机器人手保持的物体的位置/取向与基准位置/取向的位移，使得由机器人手保持的物体被精确地移动 以具有预定的位置/方向被转移到第二位置。 机器人手可以是具有由一个或多个伺服电机驱动的手指的伺服手，从而控制手指在保持物体时的位置和力。
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公开(公告)号：US08770247B2
公开(公告)日：2014-07-08
申请号：US13293491
申请日：2011-11-10
IPC分类号： B32B41/00
CPC分类号： B32B37/30 , B05B12/20 , B05B13/0431 , B05C21/005 , B05D1/32 , B25J9/0084 , B25J11/0075 , B25J15/0066 , B32B37/0046 , B32B37/12
摘要： In a masking system a robot performs first conveyance work of making an object gripping unit grip an object and set the object at a predetermined position based on positional information of the object which was detected by a first detection unit, coating work of making a coating unit coat an adhesive on a masking location of the object which is set at the predetermined position, and second conveyance work of making a masking piece gripping unit adhere a masking piece to the masking location of the object based on positional information of the masking piece which was detected by a second detection unit.
摘要翻译： 在掩蔽系统中，机器人执行第一传送工作，使得对象夹持单元抓住物体，并且基于由第一检测单元检测到的物体的位置信息将物体设置在预定位置，并且将涂布单元 在设置在预定位置的物体的掩蔽位置上涂覆粘合剂，并且基于掩蔽片的位置信息，使掩蔽片夹持单元将掩模件粘附到物体的掩蔽位置的第二传送工作， 由第二检测单元检测。
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公开(公告)号：US06332861B1
公开(公告)日：2001-12-25
申请号：US09592867
申请日：2000-06-13
申请人： Kazuhisa Otsuka , Masaru Oda , Kenji Takahashi
发明人： Kazuhisa Otsuka , Masaru Oda , Kenji Takahashi
IPC分类号： B23Q3157
CPC分类号： B23Q5/20 , B23Q3/15706 , B25J15/04 , Y10S483/901 , Y10T483/15 , Y10T483/1793
摘要： A floating cylinder 12 and a rotating shaft fixing cylinder 11 are attached to a flange RB1 at the distal end of a robot arm via an attaching member 17. Attached to the floating cylinder 12 is a rotary tool 10. To mount or demount a bladed tool to or from a collet chuck 13, the rotating shaft fixing cylinder 11 is operated to advance a stopper 15 so that a rotating shaft 14 of the rotary tool is locked. The chuck nut of the collet chuck 13 is inserted and fixed into a collet fixing groove in which the bladed tool is stored. The robot is operated so as to rotate the flange RB1, by which the rotating shaft 14 and the chuck nut of the collet chuck 13 are rotated relatively to tighten or loosen the bladed tool in the collet chuck 13.
摘要翻译： 浮动缸12和旋转轴固定筒11通过安装构件17安装在机器人臂的远端处的凸缘RB1上。附接到浮动缸12的是旋转工具10.为了安装或拆卸刀片式刀具 旋转轴固定筒11与夹头卡盘13相接触或者从夹头卡盘13进行操作，以使止动件15前进，使得旋转工具的旋转轴14被锁定。 夹头卡盘13的卡盘螺母被插入并固定在其中存储刀片的夹头固定槽中。 操作机器人以旋转凸缘RB1，旋转轴14和夹头卡盘13的卡盘螺母相对旋转，以紧固或松开夹头卡盘13中的刀片刀具。
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公开(公告)号：US07406362B2
公开(公告)日：2008-07-29
申请号：US10932286
申请日：2004-09-02
申请人： Kazuo Hariki , Kazuhisa Otsuka , Masaru Oda
发明人： Kazuo Hariki , Kazuhisa Otsuka , Masaru Oda
CPC分类号： B25J9/1612 , B25J9/0096
摘要： A workpiece regrasping system for a robot. The system includes a manipulator grippable a workpiece; a deck member having a deck surface on which a workpiece is placeable; a support mechanism rotatably supporting the deck member about an axis parallel to the deck surface; a workpiece-orientation control section for controlling the manipulator so as to grip a workpiece at a first point of the workpiece and to bring the workpiece into abutment with the deck surface of the deck member, and configured to displace the workpiece together with the deck member about the axis, while maintaining a mutually abutted condition, until the workpiece occupies a desired orientation, with at least a part of a weight of the workpiece being carried on the deck surface; and a regrasping control section for controlling the manipulator so as to temporarily release the workpiece placed on the deck surface in the desired orientation and to regrasp the workpiece at a second point different from the first point. The workpiece-orientation control section may control an operation of the manipulator, or control a rotational drive section for the deck member, while maintaining the workpiece in abutment with the deck surface, to displace the workpiece to the desired orientation.
摘要翻译： 机器人的工件重新磨边系统。 该系统包括可夹持工件的操纵器; 具有甲板表面的甲板构件，工件可放置在其上; 支撑机构，其可旋转地支撑所述甲板构件绕平行于所述甲板表面的轴线; 工件取向控制部分，用于控制所述操纵器以便在所述工件的第一点处夹持工件并使所述工件与所述甲板构件的所述甲板表面邻接，并且被构造成使所述工件与所述甲板构件一起移位 围绕所述轴线，同时保持相互抵接的状态，直到所述工件占据期望的取向，其中所述工件的重量的至少一部分被承载在所述甲板表面上; 以及重新配置控制部分，用于控制操纵器，以便以期望的方向临时释放放置在甲板表面上的工件，并且在不同于第一点的第二点上重新抓住工件。 工件取向控制部分可以控制操纵器的操作，或者控制用于甲板部件的旋转驱动部分，同时保持工件与甲板表面邻接，以将工件移动到期望的方位。
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公开(公告)号：US20050065654A1
公开(公告)日：2005-03-24
申请号：US10932286
申请日：2004-09-02
申请人： Kazuo Hariki , Kazuhisa Otsuka , Masaru Oda
发明人： Kazuo Hariki , Kazuhisa Otsuka , Masaru Oda
CPC分类号： B25J9/1612 , B25J9/0096
摘要： A workpiece regrasping system for a robot. The system includes a manipulator grippable a workpiece; a deck member having a deck surface on which a workpiece is placeable; a support mechanism rotatably supporting the deck member about an axis parallel to the deck surface; a workpiece-orientation control section for controlling the manipulator so as to grip a workpiece at a first point of the workpiece and to bring the workpiece into abutment with the deck surface of the deck member, and configured to displace the workpiece together with the deck member about the axis, while maintaining a mutually abutted condition, until the workpiece occupies a desired orientation, with at least a part of a weight of the workpiece being carried on the deck surface; and a regrasping control section for controlling the manipulator so as to temporarily release the workpiece placed on the deck surface in the desired orientation and to regrasp the workpiece at a second point different from the first point. The workpiece-orientation control section may control an operation of the manipulator, or control a rotational drive section for the deck member, while maintaining the workpiece in abutment with the deck surface, to displace the workpiece to the desired orientation.
摘要翻译： 机器人的工件重新磨边系统。 该系统包括可夹持工件的操纵器; 具有甲板表面的甲板构件，工件可放置在其上; 支撑机构，其可旋转地支撑所述甲板构件绕平行于所述甲板表面的轴线; 工件取向控制部分，用于控制所述操纵器以便在所述工件的第一点处夹持工件并使所述工件与所述甲板构件的所述甲板表面邻接，并且被构造成使所述工件与所述甲板构件一起移位 围绕所述轴线，同时保持相互抵接的状态，直到所述工件占据期望的取向，其中所述工件的重量的至少一部分被承载在所述甲板表面上; 以及重新配置控制部分，用于控制操纵器，以便以期望的方向临时释放放置在甲板表面上的工件，并且在不同于第一点的第二点上重新抓住工件。 工件取向控制部分可以控制操纵器的操作，或者控制用于甲板部件的旋转驱动部分，同时保持工件与甲板表面邻接，以将工件移动到期望的方位。
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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。
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公开(公告)号：US07030363B2
公开(公告)日：2006-04-18
申请号：US10699651
申请日：2003-11-04
申请人： Atsushi Watanabe , Masaru Oda
发明人： Atsushi Watanabe , Masaru Oda
IPC分类号： G06M7/00
摘要： During a robot is taking workpieces out of a workpiece container 2, a safety fence 2 and a photoelectric sensor 1 are valid and the robot is stopped when the safety fence 2 is opened or a beam from the photoelectric sensor 1 is cut off. A safety fence 1 and a photoelectric sensor 2 are invalid and do not hinder operation of the robot. Operation feasible state indicating lamps of workpiece feeding lamp/switch boxes 1 and 2 are turned on and off, respectively. If an operator replaces a workpiece container 1, he/she actuates an operating area entrance switch or the box 1 into an ON state to make OFF state an operation feasible signal for the robot RB on a side of the workpiece container 1. When the robot is operating on the side of the workpiece container 1, the robot can continue to operate while similarly ensuring safety of the operator.
摘要翻译： 在机器人将工件从工件容器2中取出时，安全栅栏2和光电传感器1是有效的，并且当安全栅栏2打开或来自光电传感器1的光束被切断时机器人停止。 安全栅1和光电传感器2无效，不妨碍机器人的动作。 工件供给灯/开关盒1和2的操作可行状态指示灯分别被打开和关闭。 如果操作者代替工件容器1，则使操作区域入口开关或箱1动作为ON状态，使作为机器人RB的工作容器1侧的操作可行信号。 当机器人在工件容器1的侧面上操作时，机器人可以继续操作，同时确保操作者的安全。
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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。
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公开(公告)号：US20120282539A1
公开(公告)日：2012-11-08
申请号：US13521639
申请日：2011-01-12
申请人： Masaru Oda , Teruyuki Ohtani , Seiji Sugiura , Kenichi Tanaka , Hiroshi Sohma
发明人： Masaru Oda , Teruyuki Ohtani , Seiji Sugiura , Kenichi Tanaka , Hiroshi Sohma
CPC分类号： H01M8/0273 , H01M8/0267 , H01M8/0276 , H01M8/0286 , H01M8/242 , H01M2008/1095 , Y02E60/50
摘要： Disclosed is a fuel cell in which an electrolyte membrane-electrode structure is held between the first separator and a second separator. The electrolyte membrane-electrode structure comprises a solid polymer electrolyte membrane, a cathode-side electrode and an anode-side electrode. An end portion of the solid polymer electrolyte membrane projects outwardly beyond end portions of gas diffusion layers, and the both surfaces of the end portion of the solid polymer electrolyte membrane are held between the first protective film and a second protective film. The thickness of the first protective film is set to be thinner than the thickness of the second protective film.
摘要翻译： 公开了一种燃料电池，其中电解质膜 - 电极结构保持在第一隔板和第二隔板之间。 电解质膜 - 电极结构包括固体聚合物电解质膜，阴极侧电极和阳极侧电极。 固体聚合物电解质膜的端部向外突出超过气体扩散层的端部，并且固体聚合物电解质膜的端部的两个表面保持在第一保护膜和第二保护膜之间。 第一保护膜的厚度设定为比第二保护膜的厚度薄。
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