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1. 发明专利

JP2007175844A Finger unit of robot hand and assembling method 有权
标题翻译：机器人手指装配方法
公开(公告)号：JP2007175844A
公开(公告)日：2007-07-12
申请号：JP2005379771
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： HORIUCHI MASASHI , HIRABAYASHI TOSHIHIRO , OTA YUICHI , OKURA MORIHIKO
IPC分类号： B25J17/00 , F16H19/08
CPC分类号： B25J15/0009 , B25J9/102 , B25J19/0075 , Y10T29/49826 , Y10T74/20329
摘要： PROBLEM TO BE SOLVED: To provide an articulated finger unit suitable for being used in a place having a lot of dust and a clean room or the like. SOLUTION: The articulated finger unit 1 is equipped with first and second joint parts 3, 5 composed by using bevel gears. In respective joint parts 3, 5, the meshing parts of driving side bevel gears 10, 44 and driven side bevel gears 14, 56, and bearing parts of joint shafts 15, 57 are assembled in the inside of the cylindrical housings 13, 51 having blocked tip ends. The opening parts 13A, 52 of the rear end of the cylindrical housings 13, 51 are blocked by the cylindrical housing 7 of a finger root part and the cylindrical housing 41 of a finger body part. The meshing parts of gears of the joint parts 3, 5, and the bearing parts are substantially sealed, foreign matters can be prevented from entering in these parts from the outside, and the lubricant is not leaked from these parts to the outside. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供适于在具有大量灰尘和洁净室等的地方使用的铰接指状单元。铰接式手指单元1配备有使用锥齿轮构成的第一和第二关节部3,5。在各接合部3,5中，驱动侧锥齿轮10,44和从动侧伞齿轮14,56的啮合部以及关节轴15,57的轴承部组装在圆筒状的壳体13,51的内侧，封闭的末端。圆筒形壳体13,51的后端的开口部分13A，52由手指根部的圆柱形壳体7和手指主体部分的圆柱形壳体41阻挡。接合部3,5的齿轮的啮合部和轴承部分基本上被密封，可以防止异物从外部进入这些部分，并且润滑剂不会从这些部分泄漏到外部。版权所有（C）2007，JPO＆INPIT

2. 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

3. 发明专利

JP2012232386A Method for calculating axial force and fastening tool 有权
标题翻译：计算轴力和紧固件工具的方法
公开(公告)号：JP2012232386A
公开(公告)日：2012-11-29
申请号：JP2011103530
申请日：2011-05-06
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： MORI TAKEO , SAKAKIBARA MASATO , MATSUMOTO YUSUKE , NAKAMURA HISANORI , OKURA MORIHIKO
IPC分类号： B25B23/14
摘要： PROBLEM TO BE SOLVED: To provide a method for calculating axial force which can calculate an axial force which remains after a lapse of a predetermined time when a flexible member such as a packing is interposed in a fastening part of a bolt.SOLUTION: The method for calculating axial force calculates an expected axial force Facting on a bolt 11 (or nut hole 15a) when fastening respective workpieces 13, 15 by tightening the bolt 11 while interposing the packing 14 between respective workpieces 13, 15. The method for calculating axial force preliminarily calculate a relational expression (formula 5) that expresses a ratio (axial force descent rate M (t)) between the axial force Facting on the bolt 11 at the completion of fastening the bolt 11 and the expected axial force Facting on the bolt 11 after a lapse of the predetermined time from the completion of fastening the bolt 11 as a function of a fastening time tof the bolt 11, and also substitutes a detection value of the axial force Facting on the bolt 11 at the completion of fastening the bolt 11 and the fastening time tof the bolt 11 into a relational expression (formula 5) to calculate the expected axial force F.
摘要翻译：要解决的问题：提供一种用于计算轴向力的方法，其可以计算在诸如填料的柔性构件插入螺栓的紧固部分中之后经过预定时间后保持的轴向力。解决方案：用于计算轴向力的方法计算当通过紧固紧固相应的工件13,15时作用在螺栓11（或螺母孔15a）上的预期轴向力F 2 螺栓11，同时将密封件14插入在各个工件13,15之间。轴向力的计算方法预先计算表示比例（轴向下降率M（t 1 在从螺栓11的紧固结束完成经过预定时间之后作用在螺栓11上的“> 2 作为紧固时间t 1 的函数螺栓11，并且在完成螺栓11的固定和紧固时间t SB SB =“时，也可以代替作用在螺栓11上的轴向力F 1 的检测值 POST“> 1 将螺栓11转换为关系式（公式5）以计算预期的轴向力F 2 。版权所有（C）2013，JPO＆INPIT

4. 发明专利

JP2008062368A Clamping force adjusting method and clamping device 有权
标题翻译：夹紧力调节方法和夹紧装置
公开(公告)号：JP2008062368A
公开(公告)日：2008-03-21
申请号：JP2006245513
申请日：2006-09-11
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： OTA YUICHI , OKURA MORIHIKO
IPC分类号： B23Q3/06
摘要： PROBLEM TO BE SOLVED: To provide a clamping force adjusting method and a clamping device for adjusting clamping force of a workpiece to the minimum required extent without using a measuring device.
SOLUTION: The clamping device clamps the workpiece 2 by letting clamping force N act in the direction forming a predetermined angle θ for a clamping shaft CO. The force F for movement of the workpiece 2 in the direction of sliding for clamp is thereby obtained based on component of force Fsinθ of the force F. As a result, the clamping device adjusts the clamping force N to the minimum extent in accordance with the force F for moving the workpiece 2 in the direction of sliding for a movable side gripping part 7 without using the measuring device.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种夹紧力调节方法和夹持装置，用于在不使用测量装置的情况下将工件的夹紧力调节到最小要求的程度。解决方案：夹紧装置通过使夹紧力N沿夹持轴CO形成预定角度θ的方向夹紧工件2，从而使工件2沿夹紧方向移动的方向的力F 基于力F的力Fsinθ的分量获得。结果，夹紧装置根据用于使工件2沿滑动方向移动的可动侧夹持部分的力F将夹紧力N调整到最小程度 7不使用测量装置。版权所有（C）2008，JPO＆INPIT

5. 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

6. 发明专利

JP2007247700A Electric actuator 有权
标题翻译：电动执行器
公开(公告)号：JP2007247700A
公开(公告)日：2007-09-27
申请号：JP2006068968
申请日：2006-03-14
申请人： Smc Corp , Smc株式会社 , Toyota Motor Corp , トヨタ自動車株式会社
发明人： OKURA MORIHIKO , KAJIKAWA HIROMICHI , SEO TAKESHI
IPC分类号： F16H1/14 , F16H19/04 , H02K7/116
摘要： PROBLEM TO BE SOLVED: To make a displacement member advance and retract when a driving part does not carry electric current.
SOLUTION: A driving unit 14 having the driving part 12 is slidably provided in a driving force transmission unit 18 through a slide body 24 to turn a clamp arm 20 freely through a gear mechanism 16 and a rod 82 meshing with the gear mechanism 16 by releasing meshing of a driving gear 72 mounted on a driving shaft 26 of the driving part 12 with a main gear 74 of the gear mechanism 16. A first gear case 44 connected with the driving unit 14, and a second gear case 46 connected with a clamp unit 22 have a divisible configuration, and an angle of mounting the clamp unit 22 on the driving unit 14 is freely changed.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：当驱动部件不携带电流时，使位移构件前进和后退。解决方案：具有驱动部分12的驱动单元14通过滑动体24可滑动地设置在驱动力传递单元18中，以使夹臂20自由地转动通过齿轮机构16和与齿轮机构啮合的杆82 通过将安装在驱动部分12的驱动轴26上的驱动齿轮72的啮合与齿轮机构16的主齿轮74相啮合。第一齿轮箱44与驱动单元14连接，第二齿轮箱46连接夹持单元22具有可分割的构造，并且夹紧单元22在驱动单元14上的安装角度自由地改变。版权所有（C）2007，JPO＆INPIT

7. 发明专利

JP2007061940A Robot and information display method of robot 有权
标题翻译：机器人和机器人的信息显示方法
公开(公告)号：JP2007061940A
公开(公告)日：2007-03-15
申请号：JP2005249828
申请日：2005-08-30
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： OTA YUICHI , OKURA MORIHIKO , YOKOUCHI KAZUKI
IPC分类号： B25J9/22
摘要： PROBLEM TO BE SOLVED: To provide a robot and an information display method of the robot, easily grasping the operating status of a robot (more strictly speaking, the operating status of a robot arm and a visually recognizing device) and having excellent working efficiency in teaching operation.
SOLUTION: This robot 1 includes: a robot arm 2 having a plurality of joints and a hand 28 at the tip; the visually recognizing device 3 for conducting the visual recognition processing; a controller 4 for controlling the operation of the robot arm 2 according to a preset program related to the operation of the robot arm 2 and the positional information of a work 11 obtained from the visually recognizing device 3; and a teach pendant 5 (a display part 53) displaying the positional information 71, 72, 73, 74, 75, 76 of the robot arm 2 in time series, attaching a parameter 81 for obtaining the positional information of the work 11 by the visually recognizing device 3 to the positional information 71 of the robot arm 2 and displaying the same.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了提供机器人的机器人和信息显示方法，能够容易地掌握机器人的操作状态（更严格地说，机器人手臂和视觉识别装置的操作状态）并且具有优异的教学运作中的工作效率。解决方案：该机器人1包括：具有多个接头的机器人手臂2和尖端处的手28; 用于进行视觉识别处理的视觉识别装置3; 用于根据与机器人手臂2的操作相关的预设程序和从视觉识别装置3获得的作品11的位置信息来控制机器人手臂2的操作的控制器4; 以及时间序列显示机器人手臂2的位置信息71,72,73,74,75,76的示教器5（显示部53），附加用于获取作业11的位置信息的参数81 将装置3视觉识别到机器人手臂2的位置信息71并进行显示。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2004216535A Multi-articulated robot 有权
公开(公告)号：JP2004216535A
公开(公告)日：2004-08-05
申请号：JP2003009826
申请日：2003-01-17
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： NARITA HIDEO , NAKAMURA HISANORI , OKURA MORIHIKO , SHIRAI MASAHITO
IPC分类号： B25J9/06 , B25J17/02 , B25J19/00
CPC分类号： B25J9/06 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： PROBLEM TO BE SOLVED: To obtain a multi-articulated robot by which a dead space can be made small while having large operation area, and a power-transmitting system required to operate each articulation can also be simplified. SOLUTION: A plurality of articulated arms A1 to A7 are disposed so that a portion connected via the first pivots 15, 15A and 15B of primary horizontal pivots, and a portion connected via the second pivots 32, 32A and 32B of tilting pivots can be alternated. And a motor M and a deceleration mechanism for driving each pivot is disposed to every pivot. COPYRIGHT: (C)2004,JPO&NCIPI

9. 发明专利

JP2004122297A Wrist mechanism for industrial robot 有权
标题翻译：工业机器人手持机械
公开(公告)号：JP2004122297A
公开(公告)日：2004-04-22
申请号：JP2002290304
申请日：2002-10-02
申请人： Nachi Fujikoshi Corp , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社不二越
发明人： MATSUMOTO HIROSHI , NADA MINORU , FUKITA KAZUTSUGU , OKURA MORIHIKO
IPC分类号： B25J9/06
摘要： PROBLEM TO BE SOLVED: To provide a wrist mechanism for an industrial robot capable of retaining a wrist part for scooping a heavy weight article up such as a container, a pallet or the like, i.e., from below in a horizontal state, not required to be installed at a high position and providing no interference of a work with an arm even if a tool becomes large.
SOLUTION: The first arm 2 rotatably supported on a vertical shaft 26 at a base 1 has first link mechanisms 33, 6, 7, 3 for retaining the wrist part 5 to the horizontal state; and second link mechanisms 11, 12, 13, 4 connected thereto. When a wrist part 5 driving motor/speed reducer 9 making a fourth arm 14 at a tip end of a third arm 4 as a base is not inputted, a vertical shaft 26 of the base 1 and a rotation shaft 19 of the wrist part 5 become parallel and gravity torque of the heavy weight article is not directly applied to the motor/speed reducer 15 of the wrist part 5.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：为了提供一种用于工业机器人的手腕机构，其能够保持用于从例如水平状态的下方舀取诸如容器，托盘等的重物品的腕部，不需要安装在高位置，即使工具变大，也不会使工作与臂的干扰。解决方案：第一臂2可旋转地支撑在基座1的垂直轴26上，具有用于将腕部5保持在水平状态的第一连杆机构33,6,7,3。以及与其连接的第二连杆机构11,12,13,4。当没有输入以第三臂4的前端为基底的第四臂14的手腕部5驱动马达/减速器9时，基座1的立轴26和腕部5的旋转轴19 变重平衡，重型物品的重力矩不会直接施加到腕部5的电机/减速器15上。版权所有（C）2004，JPO

10. 发明专利

JP2000158267A ELECTRIC CLAMP DEVICE 失效
公开(公告)号：JP2000158267A
公开(公告)日：2000-06-13
申请号：JP33909598
申请日：1998-11-30
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 miniaturize an electric clamp device and to provide the electric clamp device superior in the operability. SOLUTION: An electric actuator 1 rotating a propulsion shaft 15 by the drive of an electric motor 11 and changing the rotation movement of the propulsion shaft 15 into a linear movement of a propulsion rod 34 so as to linearly and vertically move the propulsion rod 34 is provided. A clamp mechanism clamping work by the movement of the propulsion rod 34 is provided in the front end side of the propulsion rod 34. In the electric actuator 1, the propulsion rod 34 is inserted into the propulsion shaft 15 formed into a cylindrical shape and a feeder screw mechanism 36 for feeding the propulsion rod 34 is provided between the propulsion shaft 15 and the propulsion rod 34.

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