公开(公告)号：US5586387A

公开(公告)日：1996-12-24

申请号：US360568

申请日：1994-12-21

申请人： Takuya Nakatani ,  Mitsutaka Abe ,  Shigeru Dono ,  Youji Urano

发明人： Takuya Nakatani ,  Mitsutaka Abe ,  Shigeru Dono ,  Youji Urano

IPC分类号： B23P19/04 ,  B23P21/00 ,  B25J9/18 ,  G05B19/418

CPC分类号： G05B19/4182 ,  B23P21/00 ,  G05B2219/34368 ,  G05B2219/39083 ,  G05B2219/39468 ,  G05B2219/40607 ,  G05B2219/50362 ,  G05B2219/50366 ,  G05B2219/50377 ,  Y02P90/04 ,  Y02P90/083 ,  Y10T29/53013 ,  Y10T29/53087 ,  Y10T29/5337 ,  Y10T29/53383 ,  Y10T29/53417

摘要： An automated part assembly machine has a work table supported to a base and movable relative thereto and at least two separate robots each having an end effector movable around within an individual work region. The two robots are positioned in such a relation as to give a common work region in which the individual work regions of the two robots overlap. A parts supply is arranged to the work table for storing parts to be picked-up by the robots. A plurality of operator hands are selectively and removably attached to the end effector of the robot for handling the parts by the robot. Disposed within the common region is a jig which positions the parts for assembly by the robot. The robots and the work table are controlled to operate in cooperation for assembly of the parts. The machine is characterized in that the robots are mounted on the movable work table together with the operator hands and the jig with the robots spaced in the moving direction of the work table, and that the parts supply extends in the moving direction of the work table. Thus, the robots are enabled to move together with the jig and the operator hands relative to the parts supply so that the robots can reach over a wide range of the parts supply beyond the individual work regions to thereby successfully pick-up suitable parts and transfer them to the jig for immediate assembly of the parts. Further, since the operator hands are on the movable work table, the robot can change the operator hands while moving relative to the parts supply for effecting the part assembly substantially without interruption, in addition to the advantage of enabling one robot to change the operator hand while the other robot is handling the parts.

摘要翻译： 自动化部件组装机具有支撑到基座并可相对于其移动的工作台，以及至少两个分离的机器人，每个机器人具有可在单个工作区域内移动的末端执行器。 两个机器人位于这样的关系中，以便给出两个机器人的各个工作区域重叠的公共工作区域。 零件供应被安排在工作台上，用于存储由机器人拾取的零件。 多个操作者手被选择性地并且可移除地附接到机器人的末端执行器以由机器人处理部件。 在公共区域内设置有用于将机器人组装的部件定位的夹具。 机器人和工作台被控制以协作组装零件。 该机器的特征在于，机器人与操作者手和夹具一起安装在可移动工作台上，其中机器人在工作台的移动方向上间隔开，并且部件供应沿工作台的移动方向延伸 。 因此，机器人能够与夹具和操作者手相对于零件供应一起移动，使得机器人可以跨越各个工作区域的范围内的零件供应范围，从而成功地拾取适当的部件并转移 他们到夹具立即组装零件。 此外，由于操作者手在可移动工作台上，所以机器人可以相对于零件供应而移动时可以改变操作者的手，以实现零件组装的基本上不间断，除了使一个机器人能够改变操作者手的优点 而另一个机器人正在处理部件。

公开(公告)号：US06336907B1

公开(公告)日：2002-01-08

申请号：US09448452

申请日：1999-11-24

申请人： Shigeru Dono ,  Hitoshi Hata ,  Yukihiko Kitano

发明人： Shigeru Dono ,  Hitoshi Hata ,  Yukihiko Kitano

IPC分类号： A61H700

CPC分类号： A47C27/083 ,  A47C7/467 ,  A47C27/082 ,  A47C27/10 ,  A61H7/002 ,  A61H9/0078 ,  A61H2201/0134 ,  A61H2201/0146 ,  A61H2201/1623 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/165

摘要： A massaging system includes a base sheet carrying a plurality of expandable bags arranged in a plane of the base sheet, and a charging and discharging unit connected to the bags for selectively supplying and discharging a pressurized fluid into and from the bags so as to inflate and deflate the bags, selectively. At least one applicator projects from each of the bags in contact with a portion of a human body for applying a massaging action. Each bag has a flexible top end capable of deforming into a curved contour when being inflated. The applicator is made of a hard material and projects directly from the top end wall of the bag as an integral part of the bag such that the applicator is caused to displace in a direction different from a direction along which the bag inflates and deflates principally, as a consequence of that the flexible top end wall deforms into the curved contour. Thus, the applicator can concentrate a massaging force resulting from the inflation of the bag to a particular portion of the user's body, giving a relatively strong local massage action sufficient for optimum treatment. Further, since the applicator takes a lateral movement in the direction generally perpendicular to the inflating direction during the inflation of the bag, the applicator can give a rubbing action, in addition to the pressing action, to the user's body for realizing effective and comfortable massage treatment analogous to that made by a human therapeutic massager.

摘要翻译： 按摩系统包括承载布置在基片的平面中的多个可膨胀袋的基片，以及连接到袋的充电和放电单元，用于选择性地将加压流体供应和排出袋中以使其膨胀和排出， 放气袋，有选择地。 至少一个施用器从与人体的一部分接触的每个袋子突出以施加按摩作用。 每个袋子具有柔软的顶端，当充气时能够变形成弯曲的轮廓。 施用器由硬质材料制成，并且作为袋的整体部分直接从袋的顶端壁突出，使得施加器沿与袋膨胀方向不同的方向移位，主要是放气的方向， 结果是柔性顶端壁变形成弯曲的轮廓。 因此，施加器可以集中由袋的膨胀导致使用者身体的特定部分产生的按摩力，给予足够的最佳治疗的相当强的局部按摩动作。 此外，由于施加器在袋的充气期间在大致垂直于充气方向的方向上进行横向运动，所以施加器除了按压动作之外还可以向使用者的身体提供摩擦作用，以实现有效和舒适的按摩 类似于由人类治疗按摩器制成的治疗。

公开(公告)号：US06491652B1

公开(公告)日：2002-12-10

申请号：US09472208

申请日：1999-12-27

申请人： Hitoshi Hata ,  Shigeru Dono ,  Yukihiko Kitano ,  Masamichi Miyaguchi ,  Shinji Tsutsui ,  Yuichi Nishibori ,  Toshiaki Nanno

发明人： Hitoshi Hata ,  Shigeru Dono ,  Yukihiko Kitano ,  Masamichi Miyaguchi ,  Shinji Tsutsui ,  Yuichi Nishibori ,  Toshiaki Nanno

IPC分类号： A61H1900

CPC分类号： A61H9/0078 ,  A61H2201/0134 ,  A61H2201/0149 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2205/10

摘要： A massage device capable of applying favorable pressure stimulation owing to expansion and shrinking of air bags irrespective of thickness of portions to be massaged such as legs or arms. The massage device has supporting bodies, strap bodies made of pliable material that are attached to the supporting bodies at their ends to form U-shaped sections, air bags provided at inner surfaces of strap bodies for receiving portions of a human body such as legs or arms to be massaged, and an air supply means for expanding and shrinking of the air bags. Upon locating portions to be massaged on the strap bodies, the strap bodies assume shapes that fit along the shapes of the portions of the body to be massaged to thus support the portions to be massaged on the strap bodies. Pressuring stimulation can then be applied to the portions to be massaged by making the air bags perform expansion and shrinking.

摘要翻译： 一种能够由于气囊的膨胀和收缩而施加有利的压力刺激而不管诸如腿或手臂的按摩部分的厚度如何的按摩装置。 按摩装置具有支撑体，由柔韧材料制成的带体，其端部附接到支撑体以形成U形部分，设置在带体的内表面处的气袋用于容纳人体的腿部或部分的部分 要按摩的手臂和用于使气袋膨胀和收缩的空气供应装置。 在将要按摩的部分定位在条带主体上时，条带体呈沿着待按摩身体部分的形状配合的形状，从而支撑待贴在皮带主体上的部分。 然后可以通过使气囊膨胀和收缩来对按摩部分施加压力刺激。