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公开(公告)号：US20210078811A1
公开(公告)日：2021-03-18
申请号：US16802723
申请日：2020-02-27
发明人： Kazuma KOMODA , Seiji Tokura , Haruna Eto , Ping Jiang , Atsushi Sugahara , Akihito Ogawa
摘要： A handling device according to an embodiment has an arm, a holder, a storage, and a controller. The arm includes at least one joint. The holder is attached to the arm and is configured to hold an object. The storage stores a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder. The detector is configured to detect information about the object. The controller is configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position. The function map associates a manipulability with each position in the environment in which the object is present. The manipulability is a parameter calculated from at least one joint angle of the holder.
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公开(公告)号：US10434663B2
公开(公告)日：2019-10-08
申请号：US15262289
申请日：2016-09-12
发明人： Junya Tanaka , Akihito Ogawa , Atsushi Sugahara , Hideichi Nakamoto , Takafumi Sonoura , Haruna Eto
摘要： An vacuum device includes a suction pad vacuumed on a to-be-vacuumed surface of a vacuum target, and a bellows tube having the suction pad at one end in a telescopic direction and having an internal space that is expanded and contracted by pressure of air, the telescopic member being elongated and contracted by expansion and contraction of the internal space.
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公开(公告)号：US10370201B2
公开(公告)日：2019-08-06
申请号：US15348538
申请日：2016-11-10
发明人： Takafumi Sonoura , Akihito Ogawa , Hideichi Nakamoto , Atsushi Sugahara , Haruna Eto , Junya Tanaka
摘要： A transporter of an embodiment has a transporter, a detector, and a controller. The transporter holds a selected object from among a plurality of objects and transports the selected object in a first direction in a first state, and then configured to transport the selected object, while holding the selected object, in a second direction different from the first direction and not anti-parallel to the first direction, in a second state. The detector detects a change from the first state to the second state, wherein, in the second state, the transporter can transport the selected object in the second direction without disturbance by the presence of any other object than the selected object. The controller stops transporting the selected object in the first direction, in case that the detector detected the change from the first state to the second state.
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公开(公告)号：US10192315B2
公开(公告)日：2019-01-29
申请号：US15439535
申请日：2017-02-22
发明人： Haruna Eto , Takafumi Sonoura , Hideichi Nakamoto , Akihito Ogawa , Atsushi Sugahara , Junya Tanaka
摘要： According to one embodiment, an object holding apparatus includes a holding part, a recognition device, and a controller. The holding part is able to hold at least one object. The recognition device recognizes a plurality of objects to generate a recognition result. The controller selects a first object from the objects, based on the recognition result. The controller sets a first direction to one side of the first object along which the number of objects aligned with the first object is smaller than the number of objects aligned with the first object along the other side of the first object. The controller selects a second object aligned with the first object along the first direction. The controller controls a driving of the holding part, based on a selection result of the first object and the second object.
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公开(公告)号：US20180134489A1
公开(公告)日：2018-05-17
申请号：US15869390
申请日：2018-01-12
发明人： Hiroaki Nakamura , Kiminori Toya , Hideichi Nakamoto , Haruna Eto
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：US09849049B2
公开(公告)日：2017-12-26
申请号：US14657269
申请日：2015-03-13
发明人： Haruna Eto , Hideichi Nakamoto
摘要： A driving apparatus according to an embodiment includes a support unit configured to support a portion of an upper limb of a user, a driving unit configured to move the support unit along a track having at least a component in a direction perpendicular to a floor surface, a first measurement unit configured to obtain a first measurement value by measuring a force applied to the support unit, and a control unit configured to drive the driving unit when the first measurement value is more than a predetermined threshold value, so that the driving apparatus can assist a person's standing up action.
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公开(公告)号：US20170253438A1
公开(公告)日：2017-09-07
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
CPC分类号： B65G47/917 , B25J9/0018 , B25J9/142 , B25J9/1612 , B25J15/0616 , B65G47/91 , B65G47/912
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：US11318619B2
公开(公告)日：2022-05-03
申请号：US16730129
申请日：2019-12-30
发明人： Akihito Ogawa , Atsushi Sugahara , Junya Tanaka , Kazuma Komoda , Haruna Eto
摘要： According to an embodiment, an object handling device includes a base, a manipulator, a first camera, a sensor, a manipulator control unit and a calibration unit. The manipulator is arranged on the base, and includes a movable part and an effector that is arranged on the movable part and acts on an object. The first camera and the sensor are arranged on the manipulator. The manipulator control unit controls the manipulator so that the movable part is moved to a position corresponding to a directed value. The calibration processing unit acquires a first error in a first direction based on an image photographed by the first camera, acquire a second error in a second direction intersecting with the first direction based on a detection result obtained by the sensor, and acquire a directed calibration value with respect to the directed value based on the first error and the second error.
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公开(公告)号：US10793378B2
公开(公告)日：2020-10-06
申请号：US16422492
申请日：2019-05-24
发明人： Junya Tanaka , Kazuo Watabe , Akihito Ogawa , Hideichi Nakamoto , Takafumi Sonoura , Haruna Eto
IPC分类号： B65G69/00 , B65G65/02 , B25J9/00 , B25J9/02 , B25J15/00 , B25J17/02 , B65G47/91 , B65G61/00 , B65G65/00 , B65G37/00
摘要： According to an embodiment, a transfer apparatus includes a gripper, a first driving mechanism, an elastic passive joint part, a conveyor, a second driving mechanism, and base. The gripper grips an article. The first driving mechanism linearly moves the gripper in at least two directions including a first direction and a second direction intersecting with the first direction. The elastic passive joint part is interposed between the gripper and the first driving mechanism, and operates in accordance with an operation of the gripper. The conveyor conveys the article. The second driving mechanism linearly moves the conveyor in the at least two directions, and is connected to the conveyor. The base supports the first driving mechanism and the second driving mechanism.
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公开(公告)号：US10549913B2
公开(公告)日：2020-02-04
申请号：US15869390
申请日：2018-01-12
发明人： Hiroaki Nakamura , Kiminori Toya , Hideichi Nakamoto , Haruna Eto
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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