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1. 发明专利

JP2009241254A Gripping-insertion device for object to be inserted, and gripping-inserting method for object to be inserted 有权
标题翻译：用于对象插入的传送插入装置，以及用于插入对象的传送插入方法
公开(公告)号：JP2009241254A
公开(公告)日：2009-10-22
申请号：JP2009174270
申请日：2009-07-27
申请人： Hirata Corp , Kazuhiro Kosuge , 一弘小菅 , 平田機工株式会社
发明人： KOSUGE KAZUHIRO , NAKAYAMA TAKUHIDE , HIRAKAWA TAKENORI , MITSUNAGA TAKESHI , TACHIBANA KATSUYOSHI
IPC分类号： B23P19/04 , B23P19/02 , B23P21/00 , B25J15/08 , B25J17/02
摘要： PROBLEM TO BE SOLVED: To provide a gripping-inserting device for an object to be inserted capable of responding to the objects to be inserted with various sizes and being inserted with sufficient working efficiency in a short time by a simple structure when the object to be inserted is inserted to an insertion hole while aligning an axis.
SOLUTION: The gripping-inserting device 60 for the object to be inserted used for inserting the object to be inserted to the insertion hole while gripping it and aligning the axis has three or more of gripping fingers 65, and these gripping fingers 65 are arranged with a gap in a circumferential direction and are made advanceable/retreatable in a radial direction. The inner side surfaces of the gripping fingers 65 are made to gripping surfaces for gripping the object to be inserted, and on outer side surfaces of the gripping fingers 65, a taper inwardly directed as it advances to a distal end is provided on at least distal end part. The outer side surface of the gripping finger 65 is made contactable with an entrance to the insertion hole, and is provided with an adjusting mechanism for adjusting/correcting a position of the gripping-inserting device 60 for the object to be inserted to a position of the insertion hole.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于待插入物体的夹持装置，其能够响应于各种尺寸的待插入物体，并且通过简单的结构在短时间内以足够的工作效率插入，要插入的物体在对准轴线的同时被插入到插入孔中。解决方案：用于将被插入物体的夹持插入装置60用于将待插入的物体夹持并插入到插入孔中并对准轴线时具有三个或更多个夹持指状物65，并且这些夹持爪65 在圆周方向上具有间隙，并且在径向方向上可前进/后退。夹紧指65的内侧表面被制成用于夹持待插入物体的夹紧表面，并且在夹持指状物65的外侧表面上，至少远端设置有朝向远端前进的向内指向的锥形结束部分。夹持指65的外侧表面与插入孔的入口接触，并且设置有调节机构，用于调整/校正用于待插入物体的夹持装置60的位置，插孔。版权所有（C）2010，JPO＆INPIT

2. 发明授权

US08287017B2 Robot hand and method for handling planar article 有权
标题翻译：机器人手和处理平面物品的方法
公开(公告)号：US08287017B2
公开(公告)日：2012-10-16
申请号：US12737769
申请日：2008-09-10
申请人： Junji Koyama , Syunichi Tezuka , Kazuhiro Kosuge , Yasuhisa Hirata , Junya Ichinose
发明人： Junji Koyama , Syunichi Tezuka , Kazuhiro Kosuge , Yasuhisa Hirata , Junya Ichinose
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。

3. 发明申请

US20110133502A1 ROBOT HAND AND METHOD FOR HANDLING PLANAR ARTICLE 有权
标题翻译：机器人手柄和方法处理平面文章
公开(公告)号：US20110133502A1
公开(公告)日：2011-06-09
申请号：US12737769
申请日：2008-09-10
申请人： Junji Koyama , Syunichi Tezuka , Kazuhiro Kosuge , Yasuhisa Hirata , Junya Ichinose
发明人： Junji Koyama , Syunichi Tezuka , Kazuhiro Kosuge , Yasuhisa Hirata , Junya Ichinose
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。

4. 发明授权

US06880237B2 Work chucking/inserting apparatus and assembling unit 失效
标题翻译：工件夹紧/插入装置和组装单元
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
IPC分类号： B25J15/08 , B23P19/00 , B23P19/02 , B23P19/04 , B23P21/00 , B25J17/02 , F02F7/00
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。

5. 发明授权

US06453212B1 Method for mobile robot motion control 失效
标题翻译：移动机器人运动控制方法
公开(公告)号：US06453212B1
公开(公告)日：2002-09-17
申请号：US09657084
申请日：2000-09-07
申请人： Hajime Asama , Hayoto Kaetsu , Kuniaki Kawabata , Kazuhiro Kosuge , Yasuhisa Hirata
发明人： Hajime Asama , Hayoto Kaetsu , Kuniaki Kawabata , Kazuhiro Kosuge , Yasuhisa Hirata
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。

6. 发明授权

US09149928B2 Robot 有权
标题翻译：机器人
公开(公告)号：US09149928B2
公开(公告)日：2015-10-06
申请号：US13232198
申请日：2011-09-14
申请人： Yukihiro Yamaguchi , Kazuhiro Kosuge , Yasuhisa Hirata , Aya Kaisumi
发明人： Yukihiro Yamaguchi , Kazuhiro Kosuge , Yasuhisa Hirata , Aya Kaisumi
IPC分类号： B25J13/02 , B25J9/16 , B25J15/08 , B25J9/04
CPC分类号： B25J9/0093 , B23P19/007 , B25J9/0096 , B25J9/043 , B25J9/1612 , B25J15/08 , Y10S901/27 , Y10S901/50
摘要： A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, 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 dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at least three contact points.
摘要翻译：机器人包括：夹持部，其通过打开和闭合一对指部来夹持物体;移动装置，其适于相对移动所述物体和所述抓握部;以及控制装置，其适于控制所述移动装置以使所述抓握部相对地朝向物体，并且将一对手指部分设置在物体的周边中，然后控制抓握部分在与安装对象的安装表面平行的平面中打开和关闭一对指部，夹紧所述物体在所述一对手指部分之间从所述物体的侧面侧抓住所述物体与所述抓握部分至少三个接触点。

7. 发明申请

US20120065779A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：US20120065779A1
公开(公告)日：2012-03-15
申请号：US13232198
申请日：2011-09-14
申请人： Yukihiro Yamaguchi , Kazuhiro Kosuge , Yasuhisa Hirata , Aya Kaisumi
发明人： Yukihiro Yamaguchi , Kazuhiro Kosuge , Yasuhisa Hirata , Aya Kaisumi
IPC分类号： B25J13/08 , B25J13/02 , B25J19/04 , B25J15/08
CPC分类号： B25J9/0093 , B23P19/007 , B25J9/0096 , B25J9/043 , B25J9/1612 , B25J15/08 , Y10S901/27 , Y10S901/50
摘要： A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, 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 dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at least three contact points.
摘要翻译：机器人包括：夹持部，其通过打开和闭合一对指部来夹持物体;移动装置，其适于相对移动所述物体和所述抓握部;以及控制装置，其适于控制所述移动装置以使所述抓握部相对地朝向物体，并且将一对手指部分设置在物体的周边中，然后控制抓握部分在与安装对象的安装表面平行的平面中打开和关闭一对指部，夹紧所述物体在所述一对手指部分之间从所述物体的侧面侧抓住所述物体与所述抓握部分至少三个接触点。

8. 发明授权

US07081731B2 Translatory actuator unit 失效
标题翻译：平移执行机构
公开(公告)号：US07081731B2
公开(公告)日：2006-07-25
申请号：US10830040
申请日：2004-04-23
申请人： Hajime Asama , Kuniaki Kawabata , Hayato Kaetsu , Kazuhiro Kosuge , Yasuhiro Hirata
发明人： Hajime Asama , Kuniaki Kawabata , Hayato Kaetsu , Kazuhiro Kosuge , Yasuhiro Hirata
IPC分类号： G05B11/01
CPC分类号： G05B19/4062 , A61G5/04 , A61G5/048 , A61G7/08 , G05B2219/42271 , G05B2219/45109
摘要： A translatory actuator unit including a translatory actuator module that moves an object straightly, a force sensor that detects a load applied to the translatory actuator module, and a servo control module that controls a speed, a position and/or output power of the translatory actuator module. The translatory actuator module, the force sensor and the servo control module are integrally configured. The servo control module has a two-way network means of receiving a control command concerning the speed, the position and/or the output power from a network, and transmitting information of the speed, the position and/or the output power to the network, a control means of controlling the speed, the position and/or the output power, and a self-diagnosis means of confirming safety and detecting an abnormal state based on detected information of the speed, the position, the load, and/or an electric current of the translatory actuator module.
摘要翻译：一种平移致动器单元，包括一个能够直接移动一个物体的平移致动器模块，一个检测施加到平移执行器模块的负载的力传感器，以及一个伺服控制模块，该伺服控制模块控制平移执行机构的速度，位置和/或输出功率模块。平移式致动器模块，力传感器和伺服控制模块整体构成。伺服控制模块具有双向网络装置，用于接收关于来自网络的速度，位置和/或输出功率的控制命令，并将速度，位置和/或输出功率的信息传送到网络，控制装置，用于控制速度，位置和/或输出功率;以及自诊断装置，其基于检测到的速度信息，位置，负载和/或控制装置来确认安全性并检测异常状态平移式执行器模块的电流。

9. 发明授权

US06941645B2 Automatic piston inserting equipment using a vision system 失效
标题翻译：自动活塞插入设备使用视觉系统
公开(公告)号：US06941645B2
公开(公告)日：2005-09-13
申请号：US10405340
申请日：2003-04-03
申请人： Kazuhiro Kosuge , Katsuyoshi Tachibana , Yuichiro Ueda , Takenori Hirakawa
发明人： Kazuhiro Kosuge , Katsuyoshi Tachibana , Yuichiro Ueda , Takenori Hirakawa
IPC分类号： B23P19/00 , B23P19/04 , B23P21/00
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。

10. 发明授权

US08942845B2 Robot 有权
标题翻译：机器人
公开(公告)号：US08942845B2
公开(公告)日：2015-01-27
申请号：US13232273
申请日：2011-09-14
申请人： Yukihiro Yamaguchi , Tatsuya Hosoda , Kazuhiro Kosuge , Yasuhisa Hirata
发明人： Yukihiro Yamaguchi , Tatsuya Hosoda , Kazuhiro Kosuge , Yasuhisa Hirata
IPC分类号： B25J15/08 , B25J15/02 , B25J9/16
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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