公开(公告)号：US20060232086A1

公开(公告)日：2006-10-19

申请号：US11279965

申请日：2006-04-17

申请人： Kazuo HARIKI ,  Kazuhiko AKIYAMA ,  Masaru ODA ,  Yoshinori OCHIISHI

发明人： Kazuo HARIKI ,  Kazuhiko AKIYAMA ,  Masaru ODA ,  Yoshinori OCHIISHI

IPC分类号： B25J15/08

CPC分类号： B25J15/0206

摘要： A robot hand includes a drive unit having a pair of moving elements provided so as to be movable in a lateral direction with respect to a center axis extending parallel with a longitudinal direction of an arm part to which the robot hand is attached, a pair of gripping claws each coupled to one of the pair of moving elements of the drive unit, and a joint for coupling the pair of gripping claws to each other so as to be pivotable. Each of the pair of gripping claws has a base end coupled to one of the moving elements so as to be pivotable and a front end for engaging with a workpiece. The pair of moving elements are operated to approach and move apart from each other in a lateral direction with respect to the center axis, thereby making the pair of gripping claws pivot about the joint and making the front ends of the gripping claws move apart from or approach each other.

摘要翻译： 一种机器人手包括具有一对移动元件的驱动单元，所述一对移动元件设置成能够相对于与所述机器人手所附接的臂部的纵向方向平行延伸的中心轴在横向方向上移动，一对 夹持爪各自联接到驱动单元的一对移动元件中的一个，以及用于将所述一对夹爪彼此联接以便可枢转的接头。 所述一对夹爪中的每一个具有联接到所述移动元件之一以便可枢转的基端和用于与工件接合的前端。 一对移动元件被操作成在相对于中心轴线的横向方向上相互接近并移动，从而使得一对夹紧爪绕关节枢转，并使夹爪的前端离开或 相互接近

公开(公告)号：US20090132086A1

公开(公告)日：2009-05-21

申请号：US12245001

申请日：2008-10-03

申请人： Kazuo HARIKI ,  Masaru Oda ,  Yoshinori Ochiishi

发明人： Kazuo HARIKI ,  Masaru Oda ,  Yoshinori Ochiishi

IPC分类号： B25J13/02 ,  B25J15/00

CPC分类号： B25J15/0253

摘要： A holding apparatus and a holding unit are disclosed. The holding apparatus (4) includes a base plate (21), a fixed holding member (22) fixed on the base plate, a first movable holding member (11) arranged in opposed relation to and operated in collaboration with the fixed holding member, a second movable holding member (12) operated in collaboration with the first movable holding member in operatively interlocked relationship therewith, and a drive device (19) for driving the first movable holding member and the second movable holding member in operatively interlocked relationship with each other. Both the second movable holding member and the fixed holding member face one side of the first movable holding member. Therefore, holding power can be increased easily without a large space. The holding apparatus may further include a removing device (24, 25, 26) for removing the second movable holding member from between the first movable holding member and the fixed holding member when holding the workpiece (20) with the first movable holding member and the fixed holding member.

摘要翻译： 公开了保持装置和保持单元。 保持装置（4）包括基板（21），固定在基板上的固定保持构件（22），与固定保持构件相对设置并与之配合操作的第一可移动保持构件（11） 与第一可动保持构件协作操作的第二可移动保持构件（12），与第一可动保持构件以可操作地互锁的关系与第二可移动保持构件（19）相互作用地互锁地驱动第一可动保持构件和第二可动保持构件 。 第二可动保持构件和固定保持构件都面向第一可动保持构件的一侧。 因此，能够容易地增加保持力而没有大的空间。 保持装置还可以包括用于当用第一可移动保持构件保持工件（20）时从第一可动保持构件和固定保持构件之间移除第二可动保持构件的移除装置（24,25,26）和 固定保持构件。

公开(公告)号：US20090025199A1

公开(公告)日：2009-01-29

申请号：US12128877

申请日：2008-05-29

申请人： Kazuo HARIKI ,  Masaru ODA ,  Shigenori KAJIO ,  Ryo NIHEI

发明人： Kazuo HARIKI ,  Masaru ODA ,  Shigenori KAJIO ,  Ryo NIHEI

IPC分类号： B23P11/00

CPC分类号： B25J9/1682 ,  B25J9/1687 ,  G05B2219/39109 ,  G05B2219/39123 ,  G05B2219/39469 ,  G05B2219/40052 ,  G05B2219/40307 ,  G05B2219/45064 ,  Y10T29/49829

摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object by using a first robot comprising a first hand and a second robot comprising a second hand includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

摘要翻译： 通过使用包括第一只手的第一机器人和包括第二只手的第二机器人来组装柔性工件（W）与物体的柔性工件组装方法包括以下步骤：通过第一只手抓住柔性工件的第一部分 以及用所述秒针夹住与所述第一部分不同的所述柔性工件的第二部分; 通过第一和第二机器人的协作操作将柔性工件移动到物体; 通过第一和第二机器人将柔性工件变形成对应于非柔性物体的形状; 以及通过第一和第二机器人将柔性工件组装到非柔性物体上。 结果，柔性工件可以精确地组装到非挠性物体上而不破裂或撕裂。 第一和第二机器人可以包括用于将柔性工件推入物体的推动装置。

公开(公告)号：US20120213623A1

公开(公告)日：2012-08-23

申请号：US13398944

申请日：2012-02-17

申请人： Kazuo HARIKI ,  Shigenori KAJIO ,  Takaki AIBA

发明人： Kazuo HARIKI ,  Shigenori KAJIO ,  Takaki AIBA

IPC分类号： B25J9/00 ,  B25J15/06

CPC分类号： B25J19/021 ,  B25J9/0051 ,  B25J9/0093 ,  B25J15/0616

摘要： A conveying device capable of sequentially and efficiently picking up a plurality of randomly located rods, and conveying the picked up rod to a predetermined place, without using a complicated mechanism. A sucking unit has a nozzle attached to a robot hand, and is configured to move the nozzle close to an end of a first cylindrical portion of a rod to be picked. The nozzle is configured to hold the rod by being lifted while sucking the first portion within the nozzle.

摘要翻译： 一种输送装置，其能够顺序地且有效地拾取多个随机定位的杆，并且将拾取的杆输送到预定的位置，而不使用复杂的机构。 抽吸单元具有附接到机器人手的喷嘴，并且被配置为使喷嘴移动靠近待拾取的杆的第一圆柱形部分的端部。 所述喷嘴构造成通过在吸入所述喷嘴内的所述第一部分的同时提升而保持所述杆。