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公开(公告)号：US06880237B2
公开(公告)日：2005-04-19
申请号：US09802900
申请日：2001-03-12
申请人： Kazuhiro Kosuge , Katsuyoshi Tachibana , Takahide Nakayama , Takenori Hirakawa , Takeshi Mitsunaga
发明人： Kazuhiro Kosuge , Katsuyoshi Tachibana , Takahide Nakayama , Takenori Hirakawa , Takeshi Mitsunaga
CPC分类号： B23P19/10 , B23P19/043 , B23P19/12 , F02F7/0046 , Y10T29/49998 , Y10T29/53061 , Y10T29/53704 , Y10T29/53974 , Y10T279/19 , Y10T279/1986
摘要： A work chucking/inserting device for chucking and inserting a work into an insertion hole (cylinder bore) in alignment with the hole, including three or more chuck fingers, the chuck fingers being arranged in circumferentially spaced positions and mounted for advancing and retracting radially. Inner surfaces of the chuck fingers serve as chuck surfaces for chucking the work, and outer surfaces of the chuck fingers are tapered at least at tip end portions radially inward toward the tips for contact with an inlet of the insertion hole. The work chucking/inserting device further includes a tracer mechanism which causes the axis of a conical surface defined by the outer surfaces of the chuck fingers to become aligned with the axis of the insertion hole when the outer surfaces of the chuck fingers contact the inlet of the insertion hole. A pushing mechanism is included for pushing the work toward the insertion hole. The work chucking/inserting device can handle various sizes of workpieces with a simple structure, within a short time and with high working efficiency.
摘要翻译： 一种工件夹紧/插入装置，用于将工件夹紧并插入到与孔相对的插入孔（气缸孔）中，包括三个或更多个卡盘指，卡盘指沿周向间隔布置，并安装成径向前进和后退。 卡盘指的内表面用作用于夹紧工件的卡盘表面，并且卡盘指的外表面至少在径向向内朝向与插入孔的入口接触的尖端的尖端部分成锥形。 工件夹紧/插入装置还包括示踪机构，当卡盘指的外表面接触到卡盘指的入口时，引导由卡盘指的外表面限定的锥形表面的轴线与插入孔的轴线对准 插孔。 包括用于将工件推向插入孔的推动机构。 工件夹紧/插入装置可以在短时间内以高工作效率，以简单的结构处理各种尺寸的工件。
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公开(公告)号：US20050193552A9
公开(公告)日：2005-09-08
申请号：US10405340
申请日：2003-04-03
CPC分类号： B23P19/10 , B23P19/043 , B23P19/12 , Y10T29/49231 , Y10T29/49256 , Y10T29/49769 , Y10T29/49778 , Y10T29/53013 , Y10T29/53061 , Y10T29/53091
摘要： An automatic piston inserting equipment comprises a block positioning means for positioning a cylinder block B to a piston inserting position, a piston positioning means for moving and positioning a piston P with a connecting rod R for insertion thereof into a cylinder bore formed in the cylinder block B vertically from above, a cap positioning means for moving and positioning a connecting rod cap C to clamp it vertically from below to the connecting rod R inserted into the cylinder bore, a clamp means for clamping the connecting rod cap C to the connecting rod R, and a vision system. The vision system detects central position coordinates of the cylinder bore lying at the piston inserting position and central position coordinates of the piston P lying at a start-point chuck position, and on the basis of both such central position coordinates calculates a movement quantity for insertion of the piston P into the cylinder bore.
摘要翻译： 一种自动活塞插入设备包括用于将气缸体B定位到活塞插入位置的块定位装置，用于利用连接杆R移动和定位活塞P的活塞定位装置，用于将活塞P插入到形成在气缸体中的气缸孔中 B，用于移动和定位连杆盖C以将其从下方垂直地夹紧到插入到气缸孔中的连接杆R上的盖定位装置，用于将连杆盖C夹紧到连接杆R的夹紧装置 ，以及视觉系统。 视觉系统检测位于活塞插入位置的气缸孔和位于起点卡盘位置的活塞P的中心位置坐标的中心位置坐标，并且基于这两个这样的中心位置坐标，计算插入的移动量 的活塞P进入气缸孔。
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公开(公告)号：US06941645B2
公开(公告)日：2005-09-13
申请号：US10405340
申请日：2003-04-03
CPC分类号： B23P19/10 , B23P19/043 , B23P19/12 , Y10T29/49231 , Y10T29/49256 , Y10T29/49769 , Y10T29/49778 , Y10T29/53013 , Y10T29/53061 , Y10T29/53091
摘要： An automatic piston inserting equipment comprises a block positioning means for positioning a cylinder block B to a piston inserting position, a piston positioning means for moving and positioning a piston P with a connecting rod R for insertion thereof into a cylinder bore formed in the cylinder block B vertically from above, a cap positioning means for moving and positioning a connecting rod cap C to clamp it vertically from below to the connecting rod R inserted into the cylinder bore, a damp means for damping the connecting rod cap C to the connecting rod R, and a vision system. The vision system detects central position coordinates of the cylinder bore lying at the piston inserting position and central position coordinates of the piston P lying at a start-point chuck position, and on the basis of both such central position coordinates calculates a movement quantity for insertion of the piston P into the cylinder bore.
摘要翻译： 一种自动活塞插入设备包括用于将气缸体B定位到活塞插入位置的块定位装置，用于利用连接杆R移动和定位活塞P的活塞定位装置，用于将活塞P插入到形成在气缸体中的气缸孔中 B上方有一个帽定位装置，用于移动和定位一个连杆盖C，以将其从下方垂直地夹紧到插入到缸孔中的连接杆R上;阻尼装置，用于将连杆盖C连接到连杆R ，以及视觉系统。 视觉系统检测位于活塞插入位置的气缸孔和位于起点卡盘位置的活塞P的中心位置坐标的中心位置坐标，并且基于这两个这样的中心位置坐标，计算插入的移动量 的活塞P进入气缸孔。
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公开(公告)号：US08287017B2
公开(公告)日：2012-10-16
申请号：US12737769
申请日：2008-09-10
IPC分类号： B66C1/42
CPC分类号： B25J15/0009 , B25J15/08
摘要： When dishes are held by means of a robot hand (10), its fixed side engaging plate (13) and movable side engaging finger (14) are moved under horizontal state toward a dish (20) to be handled, and the outer circumferential edge side portion of the dish (20) is inserted between them. The distal end portion (14b) of the movable side engaging finger (14) is then bent by a predetermined amount to the side of the dish (20) and the robot hand (10) is raised. Consequently, the dish (20) is brought into a state where it is held by its own weight between the fixed side engaging plate (13) and the movable side engaging finger (14). Thereafter, the right and left first finger units (15, 16) are bent to the side of the dish (20) and the dish (20) is pushed by their dish pushing faces (15g, 16g), thus bringing about such a state as the dish (20) is held surely between the fixed side engaging plate (13) and the movable side engaging finger (14).
摘要翻译： 当通过机器人手（10）保持盘时，其固定侧接合板（13）和可动侧接合指状物（14）在水平状态下朝向待操作的盘（20）移动，并且外周边缘 盘（20）的侧部插入它们之间。 然后，可动侧接合爪（14）的前端部（14b）向盘（20）的侧面弯曲规定量，使机械手（10）上升。 因此，盘（20）进入固定侧卡合板（13）与可动侧卡合爪（14）之间的自重保持状态。 此后，左右第一指状单元（15,16）向盘（20）侧弯曲，并通过其盘推动面（15g，16g）推动盘20，从而形成这样的状态 因为盘（20）可靠地固定在固定侧接合板（13）和可动侧接合指状物（14）之间。
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公开(公告)号：US20110133502A1
公开(公告)日：2011-06-09
申请号：US12737769
申请日：2008-09-10
IPC分类号： B25J15/08
CPC分类号： B25J15/0009 , B25J15/08
摘要： When dishes are held by means of a robot hand (10), its fixed side engaging plate (13) and movable side engaging finger (14) are moved under horizontal state toward a dish (20) to be handled, and the outer circumferential edge side portion of the dish (20) is inserted between them. The distal end portion (14b) of the movable side engaging finger (14) is then bent by a predetermined amount to the side of the dish (20) and the robot hand (10) is raised. Consequently, the dish (20) is brought into a state where it is held by its own weight between the fixed side engaging plate (13) and the movable side engaging finger (14). Thereafter, the right and left first finger units (15, 16) are bent to the side of the dish (20) and the dish (20) is pushed by their dish pushing faces (15g, 16g), thus bringing about such a state as the dish (20) is held surely between the fixed side engaging plate (13) and the movable side engaging finger (14).
摘要翻译： 当通过机器人手（10）保持盘时，其固定侧接合板（13）和可动侧接合指状物（14）在水平状态下朝向待操作的盘（20）移动，并且外周边缘 盘（20）的侧部插入它们之间。 然后，可动侧接合爪（14）的前端部（14b）向盘（20）的侧面弯曲规定量，使机械手（10）上升。 因此，盘（20）进入固定侧卡合板（13）与可动侧卡合爪（14）之间的自重保持状态。 此后，左右第一指状单元（15,16）向盘（20）侧弯曲，并通过其盘推动面（15g，16g）推动盘20，从而形成这样的状态 因为盘（20）可靠地固定在固定侧接合板（13）和可动侧接合指状物（14）之间。
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公开(公告)号：US06453212B1
公开(公告)日：2002-09-17
申请号：US09657084
申请日：2000-09-07
IPC分类号： B06F1900
CPC分类号： B25J9/162 , B25J5/007 , G05B2219/36429
摘要： In a method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, such motional characteristics of mobile robot are made to be virtually equivalent motional characteristics of a caster, whereby motional performance adaptable to an external force is realized. Thus, a method for mobile robot motion control by which an object can be cooperatively manipulated by human being and mobile robot is provided.
摘要翻译： 在为了控制移动机器人的运动特性的移动机器人运动控制的方法中，将移动机器人的这种动作特性设为实际上等效于施法者的运动特性，从而实现适应于外力的运动性能。 因此，提供了一种用于移动机器人运动控制的方法，通过该方法可以通过人和移动机器人协同操作对象。
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公开(公告)号：US08942845B2
公开(公告)日：2015-01-27
申请号：US13232273
申请日：2011-09-14
CPC分类号： B25J15/08 , B25J9/1633 , B25J9/1697 , B25J15/0206 , Y10S901/30 , Y10S901/31 , Y10S901/41 , Y10T74/18952
摘要： A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.
摘要翻译： 一种机器人包括夹持部分和主体部分，所述一对指部分被附接到该主体部分，所述一对指部分的一个端部部分围绕设置在与主体分离的位置处的第一旋转轴线彼此可旋转地连接 并且适于通过使所述一对指部的另一侧在与所述第一旋转轴上的物体安装在其上的安装表面平行的平面上摆动来打开和关闭所述一对指部，从而夹持所述物体， 适于相对移动所述物体和所述夹持部分的移动装置，以及适于控制所述移动装置以使所述夹持部分相对于所述物体移动并且在所述夹持部分处于至少三个接触点处的状态下握持所述物体的控制装置。
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公开(公告)号：US20110184555A1
公开(公告)日：2011-07-28
申请号：US12922680
申请日：2010-05-21
申请人： Kazuhiro Kosuge , Yusuke Sugahara , Jun Kinugawa , Yuta Kawaai , Akiyoshi Ito , Yoichi Matsui , Shinji Kawabe
发明人： Kazuhiro Kosuge , Yusuke Sugahara , Jun Kinugawa , Yuta Kawaai , Akiyoshi Ito , Yoichi Matsui , Shinji Kawabe
IPC分类号： B25J13/00
CPC分类号： B25J11/00 , B25J9/1664 , G05B2219/40202 , G05B2219/40421 , G05B2219/40519 , Y02P90/04 , Y02P90/083
摘要： The working support robot system of the present invention includes: a robot arm (11); a measuring unit (12) for measuring the worker's position; a work progress estimation unit (13) for estimating the work progress based on data input from the measuring unit (12) while referring to data on work procedure, and for selecting objects necessary for the next task when the work is found to have advanced to the next procedure; and an arm motion planning unit (14) for planning the trajectory of the robot arm (11) to control the robot arm (11) based on the work progress estimated by the work progress estimation unit (13) and selected objects. The working support robot system can deliver objects such as tools and parts to the worker according to the work to be performed by the worker.
摘要翻译： 本发明的工作支持机器人系统包括：机器人臂（11）; 用于测量工人位置的测量单元（12）; 工作进度估计单元（13），用于基于从测量单元（12）输入的数据来估计工作进度，同时参考关于工作过程的数据，以及用于当发现工作已经进展到下一个任务所需的对象时 下一步 以及臂运动规划单元（14），用于基于由工作进度估计单元（13）估计的工作进度和所选择的对象来规划机器人臂（11）的轨迹以控制机器人手臂（11）。 工作支持机器人系统可以根据工作人员的工作向工人提供工具和零件等物体。
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公开(公告)号：US20100300837A1
公开(公告)日：2010-12-02
申请号：US12740305
申请日：2008-10-28
申请人： Kazuhiro Kosuge , Yasuhisa Hirata , Mitsuru Endo , Koki Suzuki , Takashi Kanbayashi , Mitsukazu Ohmoto , Kei Akune , Hiroyuki Arai , Hiroyuki Shinozuka
发明人： Kazuhiro Kosuge , Yasuhisa Hirata , Mitsuru Endo , Koki Suzuki , Takashi Kanbayashi , Mitsukazu Ohmoto , Kei Akune , Hiroyuki Arai , Hiroyuki Shinozuka
IPC分类号： B65G43/00
CPC分类号： E04H6/245
摘要： An object moving apparatus is provided which is different from coordinated conveyance through real-time information exchange between carriages only by wireless communication and which can move an object reliably and in a more stable manner by coordinated control of carriages without the object falling off.Arranged is a leader carriage A with a carriage body 2 travelable in all directions by travel drivers 1 and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up a vehicle 4 as object. The leader carriage is movable along a given target track. Further arranged is a follower carriage B with a carriage body 2 travelable in all directions and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up the vehicle 4. The follower carriage estimates and follows movement of the leader carriage so as to move the vehicle 4 in coordination with the leader carriage.
摘要翻译： 提供了一种不同于通过无线通信的车厢之间的实时信息交换的协调传送的物体移动装置，并且可以通过对托架的协调控制而可靠地以更稳定的方式移动物体，而不会使物体脱落。 安排是带有行进车厢2的行驶车厢A，行驶车辆2可以通过行驶驾驶员1和通过用于提升作为物体的车辆4的连杆机构3而附接到车厢本体的升降器5在各个方向上行驶。 领导者可以沿给定的目标轨道移动。 进一步布置有随动托架B，其具有可在所有方向上移动的托架主体2和通过用于提升车辆4的连杆机构3附接到托架主体的升降器5.随动托架估计并跟随引导托架的运动，以便 与前导支架协调移动车辆4。
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公开(公告)号：US08682482B2
公开(公告)日：2014-03-25
申请号：US12922680
申请日：2010-05-21
申请人： Kazuhiro Kosuge , Yusuke Sugahara , Jun Kinugawa , Yuta Kawaai , Akiyoshi Ito , Yoichi Matsui , Shinji Kawabe
发明人： Kazuhiro Kosuge , Yusuke Sugahara , Jun Kinugawa , Yuta Kawaai , Akiyoshi Ito , Yoichi Matsui , Shinji Kawabe
CPC分类号： B25J11/00 , B25J9/1664 , G05B2219/40202 , G05B2219/40421 , G05B2219/40519 , Y02P90/04 , Y02P90/083
摘要： The working support robot system of the present invention includes: a robot arm (11); a measuring unit (12) for measuring the worker's position; a work progress estimation unit (13) for estimating the work progress based on data input from the measuring unit (12) while referring to data on work procedure, and for selecting objects necessary for the next task when the work is found to have advanced to the next procedure; and an arm motion planning unit (14) for planning the trajectory of the robot arm (11) to control the robot arm (11) based on the work progress estimated by the work progress estimation unit (13) and selected objects. The working support robot system can deliver objects such as tools and parts to the worker according to the work to be performed by the worker.
摘要翻译： 本发明的工作支持机器人系统包括：机器人臂（11）; 用于测量工人位置的测量单元（12）; 工作进度估计单元（13），用于基于从测量单元（12）输入的数据来估计工作进度，同时参考关于工作程序的数据，以及用于当发现工作已经进展到下一个任务所需的对象时 下一步 以及臂运动规划单元（14），用于基于由工作进度估计单元（13）估计的工作进度和所选择的对象来规划机器人臂（11）的轨迹以控制机器人手臂（11）。 工作支持机器人系统可以根据工作人员的工作向工人提供工具和零件等物体。
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