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11. 发明专利

JP2006346790A ROBOT, AND INTERFERENCE DISCRIMINATING METHOD AND INTERFERENCE DISCRIMINATING DEVICE 审中-公开
公开(公告)号：JP2006346790A
公开(公告)日：2006-12-28
申请号：JP2005174530
申请日：2005-06-15
申请人： TOYOTA MOTOR CORP
发明人： OTA YUICHI , OKURA MORIHIKO
IPC分类号： B25J19/06 , B25J9/10 , G01B11/00 , G01B11/24 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To realize technology for discriminating the existence of interference between a robot hand of a robot and a peripheral article. SOLUTION: The robot 10 is provided with an arm link 12, the robot hand 14, a camera 18, an image processing means 17, a work position computing means, a travel route computing means, a travel space computing means and a discriminating means. The work position computing means computes position and posture of the work on the basis of a result of processing of images of the work, which is taken by the camera 18, by the image processing means 17. The travel route computing means computes a travel route of the robot hand 14 on the basis of position and posture of the work. The travel space computing means computes shape and position of a travel space of the robot hand 14 on the basis of a result of the movement of shape including the robot hand 14 along the transference route. The discriminating means compares shape and position of the travel space of the robot hand 14 with shape and position of the space, in which the article exists, to discriminate existence of interference between them. COPYRIGHT: (C)2007,JPO&INPIT

12. 发明专利

JP2000176757A HANDLING DEVICE 失效
公开(公告)号：JP2000176757A
公开(公告)日：2000-06-27
申请号：JP35018498
申请日：1998-12-09
申请人： TOYOTA MOTOR CORP
发明人： ISOBE TOSHIYUKI , OKURA MORIHIKO , HAYASHI TETSUSHI
IPC分类号： B23P21/00 , B62D65/00
摘要： PROBLEM TO BE SOLVED: To lift up a work (E/C assy) different by every kind of a car with only one kind of a chuck equipped, thereby expand its general purpose properties, and sharply reduce the scale of equipment characterized by robotization. SOLUTION: A handling device lifts up a work equivalent to an engine compartment assembly provided with spring support holes at both the sides of it in this case, paired light and left chuck mechanisms 30 and 31 capable of holding the work by individually inserting the chuck mechanisms into both the spring support holes, are provided for a support body 10. Both the chuck mechanisms 30, 31 are supported in such a way that they can be moved as each axial line of the spring support holes is inclined toward the support body 10. At least one chuck mechanism is so devised that it can be moved to the direction for adjusting the distance between both the chuck mechanisms 30 and 31.

13. 发明专利

JPH06328263A WORKING DEVICE FOR VARIOUS PANEL 失效
公开(公告)号：JPH06328263A
公开(公告)日：1994-11-29
申请号：JP11737993
申请日：1993-05-19
申请人： TOYOTA MOTOR CORP
发明人： OKURA MORIHIKO , YAMAUCHI TAKESHI
IPC分类号： B05C5/00 , B05C9/14 , B05C13/02 , B23K11/11 , B60J5/04 , B62D65/00
摘要： PURPOSE:To make a layout space small by building-up a welding means and heating means in a working device for panels. CONSTITUTION:A mounting conveyer 3, mounting table 6 and clamp 7 by which door panels 70 are mounted and positioned, a welding gun unit 10 by which the hemming parts 71a and 71b of door panels 70 are welded, a coating robot by which the hemming parts 71a and 71b are coated with a sealing agent are provided. To provide heating lumps 24, 25 and 26 in the vicinity of the welding gun unit 10, only the hemming parts 71a and 71b for which welding and coating and heating of the sealing agent are required are locally heated by the heating lumps 24, 25 and 26 or the welding gun unit 10 is provided with a heat shielding cover 20 against the heating lumps. Accordingly, the welding gun unit 10 is hardly affected by the heating lumps 24, 25 and 26.

14. 发明专利

JP2007175845A Closed worm gear type finger articulation unit 有权
标题翻译：封闭式齿轮型手指装置
公开(公告)号：JP2007175845A
公开(公告)日：2007-07-12
申请号：JP2005379772
申请日：2005-12-28
申请人： Harmonic Drive Syst Ind Co Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社ハーモニック・ドライブ・システムズ
发明人： HIRABAYASHI TOSHIHIRO , HORIUCHI MASASHI , OTA YUICHI , OKURA MORIHIKO
IPC分类号： B25J17/00 , F16H1/16
CPC分类号： F16H1/16 , B25J9/103 , B25J15/0009 , B25J17/0241 , B25J19/0075 , F16H57/029 , F16H57/031 , F16H57/039 , F16H2057/02008 , F16H2057/0235 , Y10T74/19828
摘要： PROBLEM TO BE SOLVED: To provide a closed worm gear type finger articulation unit which can easily turn an articulation shaft by a manual operation. SOLUTION: The closed worm gear type finger articulation unit 1 of a robot hand comprises a circular opening portion 82 closed by a rubber bush 13 in its gear box case 4. When the rubber bush 13 is dismounted, a shaft end face 11a of a worm shaft portion 11A is exposed from the circular opening portion 82, and a tool engaging portion 11b formed on the shaft end face 11a becomes accessible from outside. The worm shaft portion 11A can be easily turned by a tool for turning the worm shaft portion 11A by inserting the tool into the tool engaging portion 11b. A worm 2 is turned by turning the worm shaft portion 11A, and an output side worm wheel 3 engaged with the worm 2 is turned. As a result, the articulation shaft 12 is turned, and a swivelling arm connected to the shaft end portions 12a, 12b of the articulation shaft 12 is moved to a required position. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够通过手动操作容易地转动关节轴的封闭式蜗轮式手指关节运动单元。解决方案：机器人手的闭合蜗轮型指关节单元1包括由齿轮箱壳体4中的橡胶衬套13封闭的圆形开口部分82.当拆下橡胶衬套13时，轴端面11a 蜗杆轴部11A从圆形开口部82露出，形成在轴端面11a上的工具接合部11b从外部进入。通过将工具插入工具接合部11b，可以通过用于转动蜗杆轴部11A的工具容易地转动蜗杆轴部11A。通过转动蜗杆轴部11A转动蜗杆2，转动与蜗杆2啮合的输出侧蜗轮3。结果，铰接轴12转动，并且连接到关节运动轴12的轴端部12a，12b的旋转臂移动到所需位置。版权所有（C）2007，JPO＆INPIT

15. 发明专利

JP2006346793A ROBOT HAND 审中-公开
公开(公告)号：JP2006346793A
公开(公告)日：2006-12-28
申请号：JP2005174551
申请日：2005-06-15
申请人： TOYOTA MOTOR CORP , HARMONIC DRIVE SYSTEMS
发明人： OTA YUICHI , OKURA MORIHIKO , KOBAYASHI KIYOTO , HORIUCHI MASASHI
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a robot hand capable of maintaining work holding condition without a large driving force by a driving means. SOLUTION: This robot hand 14 is provided with a main body 40, an upper finger 41 and a lower finger 43. The upper finger 41 is provided with an upper inside part turnably fitted to the main body 40 in one end thereof and an upper outside part 46 turnably fitted to the upper inside part in the other end of the upper inside part. The lower finger 43 is provided with a lower inside part 110 turnably fitted to the main body in one end thereof and a lower outside part 111 extended toward the upper finger 41 from the other end of the lower inside part. A side part of the lower outside part 111 for holding a work is displaced toward the upper finger 41 in relation to an axis of the lower inside part 110. COPYRIGHT: (C)2007,JPO&INPIT

16. 发明专利

JP2004322244A Robot operation regulating method, its device and robot having this device 有权
公开(公告)号：JP2004322244A
公开(公告)日：2004-11-18
申请号：JP2003118411
申请日：2003-04-23
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： FUKITA KAZUTSUGU , OKURA MORIHIKO
IPC分类号： B25J19/06 , B25J9/16 , B25J9/18 , G05B19/19
CPC分类号： B25J9/1666 , G05B2219/39082 , G05B2219/40121 , G05B2219/40317 , Y10S700/90
摘要： PROBLEM TO BE SOLVED: To enhance safety of robot work, and to effectively utilize a floor space in a factory. SOLUTION: A virtual safety fence 50 contains a moving locus including a work and a tool 7 equipped on a wrist 5 of a robot 1 in operation, and is defined on a memory. A three-dimensional space area S containing a part of the robot including the work and the tool is defined by at least two places (S1 to S3) or more. Control for stopping the movement of robot arms 3 and 4 is performed, when a predicting position is included in the virtual safety fence 50 in calculating any one locus of the defined three-dimensional space area, by collating the predicting position with the virtual safety fence 50 in calculating the locus of the defined three-dimensional space area. COPYRIGHT: (C)2005,JPO&NCIPI

17. 发明专利

JP2000218455A CLAMP DEVICE 失效
公开(公告)号：JP2000218455A
公开(公告)日：2000-08-08
申请号：JP2606199
申请日：1999-02-03
申请人： CKD CORP , TOYOTA MOTOR CORP
发明人： YAMANO KENJI , ITAYA TEI , OTANI OSAMU , OKURA MORIHIKO
IPC分类号： B23Q3/06
摘要： PROBLEM TO BE SOLVED: To provide a small-sized clamp device which is lightweight and which is inexpensive in manufacturing costs. SOLUTION: A converting mechanism 12 converts the rotational motion of a thrust shaft 13 driven by a drive motor 14 into a rectilinear motion. A clamp mechanism 16 is provided at the front end of the thrust rod 15, carrying out clamping motion in response to the motion of the thrust rod 15, and is provided therein with rotation checking means 18, 19 for preventing rotation of the thrust rod 15 about its axis.

18. 发明专利

JP2000190269A HANDLING DEVICE 失效
公开(公告)号：JP2000190269A
公开(公告)日：2000-07-11
申请号：JP36314298
申请日：1998-12-21
申请人： TOYOTA MOTOR CORP
发明人： ISOBE TOSHIYUKI , OKURA MORIHIKO , HAYASHI TETSUSHI
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To enlarge general purpose properties by letting a work (under rear assembly) the outer side surfaces at both the sides of which are of curved one different every kind of a car, be lifted up regardless of the kind of a car so as to enlarge versatility, and make the equipment small in size by means of robotization. SOLUTION: This is a handling device to lift up a work (under rear assembly) the outer side surfaces at both the sides of which are of curved one different every king of a car without uniformity, and paired right and left handling mechanisms 30 and 32 are provided for the supports of the device respectively. And both the handling mechanisms 30 and 32 are equipped with each chuck 38 capable of being displaced so as to be laid along the configuration of the corresponding outer side surface of the work, and with each clamper 54 capable of supporting/releasing the corresponding lower surface at the side of the work with each actuator driven. Furthermore, one handling mechanism 32 is so devised so as to be moved to the direction that a space between both the handling mechanisms 30 and 32 is changed with drive of an actuator 24 (air cylinder) driven.

19. 发明专利

JP2000176763A CLAMPING DEVICE 失效
公开(公告)号：JP2000176763A
公开(公告)日：2000-06-27
申请号：JP35977698
申请日：1998-12-17
申请人： TOYOTA MOTOR CORP , CKD CORP , PABOTTO GIKEN KK
发明人： OKURA MORIHIKO , ISOBE TOSHIYUKI , UCHIUMI TAKASHI , GOTO TAKESHI
IPC分类号： B23Q3/06
摘要： PROBLEM TO BE SOLVED: To miniaturize a clamping device, and provide the clamping device optimum as a positioning jig for a work. SOLUTION: A clamping device clamps a specified work by revolving a clamping arm 20 so as to position the work, and the base end part 22 of the clamping arm 20 is directly connected with the output shaft 16 of a rotor cylinder 14. When the clamping arm 20 is revolved from an unclamping position to a clamping position with a rotary cylinder 14 driven, a work receiver 30 is provided for a position opposite to a clamping part 26 at its tip end.

20. 发明专利

JPH11235632A WORK POSITIONING FIXING DEVICE 失效
公开(公告)号：JPH11235632A
公开(公告)日：1999-08-31
申请号：JP3719498
申请日：1998-02-19
申请人： TOYOTA MOTOR CORP
发明人： ISHIZU SEIJI , OKURA MORIHIKO , UNNO KOJI
IPC分类号： B23Q3/06 , F16B2/06
摘要： PROBLEM TO BE SOLVED: To provide a work positioning fixing device which can position and fix a work in corresponding to various sizes and shapes of a hole formed on the work. SOLUTION: This device comprises: a block 15 with a jaw 1, an axial moving member 16 which supports the block 15 for radial movement; a spring 21 which supports the axial moving member 16 with a predetermined elasticity; a driving device 20 which axially drives a jaw driving shaft 25; and inclined faces 15a, 25a of the block 15 and the jaw driving shaft 25. The jaw 1 is moved in a radial direction to position and fix a work W by an abutting part 1a abutting against a hole (h) of the work W, and after the radial movement is controlled by the abutment of the abutting part 1a on the hole (h) of the work W, the jaw 1 is moved in the axial direction to fix the work W by an engaging part 1b holding the work W between a supporting face 2 and itself.

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