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1. 发明授权

US08272828B2 Object moving apparatus 有权
标题翻译：物体移动装置
公开(公告)号：US08272828B2
公开(公告)日：2012-09-25
申请号：US12740305
申请日：2008-10-28
申请人： Kazuhiro Kosuge , Yasuhisa Hirata , Mitsuru Endo , Koki Suzuki , Takashi Kanbayashi , Mitsukazu Ohmoto , Kei Akune , Hiroyuki Arai , Hiroyuki Shinozuka
发明人： Kazuhiro Kosuge , Yasuhisa Hirata , Mitsuru Endo , Koki Suzuki , Takashi Kanbayashi , Mitsukazu Ohmoto , Kei Akune , Hiroyuki Arai , Hiroyuki Shinozuka
IPC分类号： E04H6/24
CPC分类号： E04H6/245
摘要： An object moving apparatus is provided which is different from coordinated conveyance through real-time information exchange between carriages only by wireless communication and which can move an object reliably and in a more stable manner by coordinated control of carriages without the object falling off. Arranged is a leader carriage A with a carriage body 2 travelable in all directions by travel drivers 1 and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up a vehicle 4 as object. The leader carriage is movable along a given target track. Further arranged is a follower carriage B with a carriage body 2 travelable in all directions and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up the vehicle 4. The follower carriage estimates and follows movement of the leader carriage so as to move the vehicle 4 in coordination with the leader carriage.
摘要翻译：提供了一种不同于通过无线通信的车厢之间的实时信息交换的协调传送的物体移动装置，并且可以通过对托架的协调控制而可靠地以更稳定的方式移动物体，而不会使物体脱落。安排是带有行进车厢2的行驶车厢A，行驶车辆2可以通过行驶驾驶员1和通过用于提升作为物体的车辆4的连杆机构3而附接到车厢本体的升降器5在各个方向上行驶。领导者可以沿给定的目标轨道移动。进一步布置有随动托架B，其具有可在所有方向上移动的托架主体2和通过用于提升车辆4的连杆机构3附接到托架主体的升降器5.随动托架估计并跟随引导托架的运动，以便与前导支架协调移动车辆4。

2. 发明申请

US20100300837A1 OBJECT MOVING APPARATUS 有权
标题翻译：对象移动装置
公开(公告)号：US20100300837A1
公开(公告)日：2010-12-02
申请号：US12740305
申请日：2008-10-28
申请人： Kazuhiro Kosuge , Yasuhisa Hirata , Mitsuru Endo , Koki Suzuki , Takashi Kanbayashi , Mitsukazu Ohmoto , Kei Akune , Hiroyuki Arai , Hiroyuki Shinozuka
发明人： Kazuhiro Kosuge , Yasuhisa Hirata , Mitsuru Endo , Koki Suzuki , Takashi Kanbayashi , Mitsukazu Ohmoto , Kei Akune , Hiroyuki Arai , Hiroyuki Shinozuka
IPC分类号： B65G43/00
CPC分类号： E04H6/245
摘要： An object moving apparatus is provided which is different from coordinated conveyance through real-time information exchange between carriages only by wireless communication and which can move an object reliably and in a more stable manner by coordinated control of carriages without the object falling off.Arranged is a leader carriage A with a carriage body 2 travelable in all directions by travel drivers 1 and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up a vehicle 4 as object. The leader carriage is movable along a given target track. Further arranged is a follower carriage B with a carriage body 2 travelable in all directions and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up the vehicle 4. The follower carriage estimates and follows movement of the leader carriage so as to move the vehicle 4 in coordination with the leader carriage.
摘要翻译：提供了一种不同于通过无线通信的车厢之间的实时信息交换的协调传送的物体移动装置，并且可以通过对托架的协调控制而可靠地以更稳定的方式移动物体，而不会使物体脱落。安排是带有行进车厢2的行驶车厢A，行驶车辆2可以通过行驶驾驶员1和通过用于提升作为物体的车辆4的连杆机构3而附接到车厢本体的升降器5在各个方向上行驶。领导者可以沿给定的目标轨道移动。进一步布置有随动托架B，其具有可在所有方向上移动的托架主体2和通过用于提升车辆4的连杆机构3附接到托架主体的升降器5.随动托架估计并跟随引导托架的运动，以便与前导支架协调移动车辆4。

3. 发明授权

US08622452B2 Robot and robot hand 有权
标题翻译：机器人和机器人手
公开(公告)号：US08622452B2
公开(公告)日：2014-01-07
申请号：US13331041
申请日：2011-12-20
申请人： Yukihiro Yamaguchi , Kazuhiro Kosuge , Yasuhisa Hirata , Kengo Yamaguchi , Aya Kaisumi
发明人： Yukihiro Yamaguchi , Kazuhiro Kosuge , Yasuhisa Hirata , Kengo Yamaguchi , Aya Kaisumi
IPC分类号： B25J15/08
CPC分类号： B25J15/0028
摘要： A recess has a proximal-end-side surface and a distal-end-side surface. When an intersection between a straight line included in the proximal-end-side surface and a straight line included in the distal-end-side surface is a base point, a line passing through the base point is a base line, a line between two claw portions, passing through an end point of the recess and orthogonal to the base line is an orthogonal line, the angle α made between the base line, and the straight line included in the distal-end-side surface is greater than 0 degrees and less than 90 degrees, the angle β made between the orthogonal line, and the straight line included in the proximal-end-side surface is greater than 0 degrees and less than 90 degrees, and the length d from the base point to the orthogonal line is greater than 0.
摘要翻译：凹部具有近端侧表面和远端侧表面。当基端侧表面所包括的直线和包含在前端侧表面中的直线之间的交点为基点时，通过基点的线为基线，两条线穿过凹部的终点并与基线正交的爪部是正交线，在基线与包括在前端侧表面中的直线之间形成的角α大于0度，在正交线和近端侧表面所包含的直线之间形成的角度β大于0度且小于90度，从基点到正交线的长度d小于90度大于0。

4. 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。

5. 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。

6. 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。

7. 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。

8. 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。

9. 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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