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公开(公告)号：US20060245897A1
公开(公告)日：2006-11-02
申请号：US11375441
申请日：2006-03-15
申请人： Kazuo Hariki , Masaru Oda , Yoshinori Ochiishi , Tetsuji Ueda
发明人： Kazuo Hariki , Masaru Oda , Yoshinori Ochiishi , Tetsuji Ueda
IPC分类号： B66C23/00
CPC分类号： B25J9/046 , B25J17/0283
摘要： A robot handling system using a robot hand to convey a workpiece, provided with a first wrist element at a front end of an arm of the robot, a second wrist element perpendicular to this, a third wrist element perpendicular to this, and a connecting means connecting the third wrist element and a hand body of the robot hand, the hand body being arranged so that an inertia moment of the hand body about a vertical axial line becomes larger than the inertia moments of the hand body about two mutually perpendicular horizontal axial lines, the connecting means connects the third wrist element and hand body so that a third axial line of the third wrist element and the hand body are arranged in a horizontal plane, and a posture of the hand body is changed about the vertical axial line in the state with the third axial line of the third wrist element arranged in a horizontal plane. Due to this, the robot hand can be made to rotate over the limit of the allowable inertia moment.
摘要翻译： 一种使用机器人手来传送工件的机器人处理系统，在机器人的臂的前端设置有第一腕部元件，与其垂直的第二腕部，与其垂直的第三腕部，以及连接装置 连接第三腕部和机器人手的手部，手主体被布置成使得手主体围绕垂直轴线的惯性力矩大于手部围绕两个相互垂直的水平轴线的惯性力矩 所述连接装置将所述第三腕部和所述手柄连接，使得所述第三腕部和所述手部的第三轴线配置在水平面上，并且所述手指的姿势围绕所述手指的垂直轴线变化 状态，其中第三腕部的第三轴线布置在水平面中。 因此，可以使机器人手旋转超过容许惯性力矩的极限。
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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
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。
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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：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：US07580773B2
公开(公告)日：2009-08-25
申请号：US11227077
申请日：2005-09-16
申请人： Kazuo Hariki , Masaru Oda
发明人： Kazuo Hariki , Masaru Oda
IPC分类号： G06F19/00
CPC分类号： B65G47/1457 , B65G47/1471
摘要： A handling robot system, including a table having a placement surface for placing articles; an article dispersing mechanism for dispersing the articles placed on the placement surface of the table across the placement surface; a vision sensor for detecting each of the articles dispersed on the placement surface of the table; and a robot operating, based on article detection data from the vision sensor, to hold the articles one by one. The article dispersing mechanism includes a partition member for producing a relative motion in relation to the table, the partition member being disposed in proximity to the placement surface with a gap defined therebetween, to divide a space adjoining the placement surface into a first region to which the articles are brought and a second region at which the robot operates to hold the articles transferred from the first region; and a drive control section for causing the relative motion between the table and the partition member in accordance with a program describing a mode of the relative motion. A certain number of articles are dispersed, as a result of the relative motion produced under the control of the drive control section, to permit the articles to pass through the gap on the placement surface, and are transferred from the first region to the second region.
摘要翻译： 一种处理机器人系统，包括具有用于放置物品的放置表面的台子; 用于将放置在桌子的放置表面上的物品分散在放置表面上的物品分散机构; 用于检测分散在桌子的放置表面上的每个物品的视觉传感器; 以及基于来自视觉传感器的物品检测数据的机器人，一个接一个地保持物品。 物品分散机构包括用于相对于工作台产生相对运动的分隔构件，分隔构件设置在放置表面附近，间隔限定在其间，以将与放置表面相邻的空间分隔成第一区域， 所述物品被带入和所述机器人操作以保持从所述第一区域传送的物品的第二区域; 以及驱动控制部分，用于根据描述相对运动的模式的程序引起工作台和分隔部件之间的相对运动。 作为在驱动控制部的控制下产生的相对运动的结果，一定数量的物品被分散，以允许物品穿过放置表面上的间隙，并且从第一区域转移到第二区域 。
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公开(公告)号：US20060072988A1
公开(公告)日：2006-04-06
申请号：US11192094
申请日：2005-07-29
申请人： Kazuo Hariki , Masaru Oda
发明人： Kazuo Hariki , Masaru Oda
IPC分类号： B65G1/00
CPC分类号： B25J5/02 , B25J9/0096 , B25J9/1697 , G05B2219/37555 , G05B2219/45063
摘要： A transfer robot system with a manipulator. The transfer robot system includes a track extending between a first position at which a container containing a workpiece is placed and a second position to which the workpiece in the container is fed; a manipulator movable along the track and capable of holding the container and the workpiece; a temporary container-depository movable along the track synchronously with the manipulator, the container taken out from the first position by the manipulator being temporarily put thereon; a workpiece detecting section for detecting the position and the orientation of the workpiece, contained in the container put on the temporary container-depository, during a period when the manipulator and the temporary container-depository move along the track synchronously with each other; and a transfer control section for controlling the manipulator, based on a detection result in the workpiece detecting section, to make the manipulator pick out the workpiece from the container put on the temporary container-depository and feed the workpiece picked from the container to the second position.
摘要翻译： 具有机械手的传送机器人系统。 传送机器人系统包括在放置容纳工件的容器的第一位置与容器内的工件进给到的第二位置之间延伸的轨道; 操纵器，沿着所述轨道移动并能够保持所述容器和所述工件; 临时集装箱托架可与机械手同步地沿着轨道移动，由操纵器从第一位置取出的容器暂时放置在其上; 工件检测部，用于在操作器和临时容器保持部沿着轨道同步移动的期间，检测容纳在放置在临时容器托架中的容器中的工件的位置和取向; 以及转移控制部分，用于基于工件检测部分的检测结果来控制操纵器，以使操纵器从放置在临时容器托架上的容器中取出工件，并将从容器拾取的工件送入第二 位置。
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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：US20060057239A1
公开(公告)日：2006-03-16
申请号：US11227077
申请日：2005-09-16
申请人： Kazuo Hariki , Masaru Oda
发明人： Kazuo Hariki , Masaru Oda
IPC分类号： A23G1/22
CPC分类号： B65G47/1457 , B65G47/1471
摘要： A handling robot system, including a table having a placement surface for placing a plurality of articles; an article dispersing mechanism for dispersing the articles placed on the placement surface of the table across the placement surface; a vision sensor for detecting each of the articles dispersed on the placement surface of the table; and a robot operating, based on article detection data from the vision sensor, to hold the articles one by one. The article dispersing mechanism includes a partition member capable of producing a relative motion in relation to the table, the partition member being disposed in proximity to the placement surface with a gap defined therebetween, to divide a space adjoining the placement surface into a first region to which the articles are brought and a second region at which the robot operates to hold the articles transferred from the first region; and a drive control section for causing the relative motion between the table and the partition member in accordance with a program describing a mode of the relative motion. A certain number of articles are dispersed, as a result of the relative motion produced under the control of the drive control section, to permit the articles to pass through the gap on the placement surface, and are transferred from the first region to the second region.
摘要翻译： 一种处理机器人系统，包括具有用于放置多个物品的放置表面的台子; 用于将放置在桌子的放置表面上的物品分散在放置表面上的物品分散机构; 用于检测分散在桌子的放置表面上的每个物品的视觉传感器; 以及基于来自视觉传感器的物品检测数据的机器人，一个接一个地保持物品。 物品分散机构包括能够相对于工作台产生相对运动的分隔构件，分隔构件设置在放置表面附近，间隔开间隔，以将与放置表面相邻的空间分隔成第一区域 所述物品被带入的第二区域和所述机器人操作以保持从所述第一区域传送的物品的第二区域; 以及驱动控制部分，用于根据描述相对运动的模式的程序引起工作台和分隔部件之间的相对运动。 作为在驱动控制部的控制下产生的相对运动的结果，一定数量的物品被分散，以允许物品穿过放置表面上的间隙，并且从第一区域转移到第二区域 。
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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：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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