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1. 发明专利

JP2006346794A ROBOT HAND 审中-公开
公开(公告)号：JP2006346794A
公开(公告)日：2006-12-28
申请号：JP2005174552
申请日：2005-06-15
申请人： TOYOTA MOTOR CORP , KAWASAKI HEAVY IND LTD , HARMONIC DRIVE SYSTEMS
发明人： OTA YUICHI , OKURA MORIHIKO , NAKAOKA NOBUHIKO , KOBAYASHI KIYOTO , HORIUCHI MASASHI
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a robot hand capable of surely holding various shape works. SOLUTION: This robot hand 14 is provided with a main body 40, a pair of fingers 41 and 43, pads 76, 91, 115 and 116, and an energizing means. The pads 76, 91, 115 and 116 are fitted to the fingers 41 and 43 in one end thereof freely to be tilted in any direction and formed with a contact face to be brought in contact with a work in the other end thereof. The energizing means energizes the pads 76, 91, 115 and 116 into the predetermined posture in relation to the fingers. The pair of fingers 41 and 43 hold the work through the pads 76, 91, 115 and 116 by turning to come close to each other, and in the holding condition, the pads 76, 91, 115 and 116 are tilted, resisting the energizing force of the energizing means, so that the contact face follows the work. COPYRIGHT: (C)2007,JPO&INPIT

2. 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

3. 发明专利

JP2013061783A Multi-core processor 审中-公开
标题翻译：多核处理器
公开(公告)号：JP2013061783A
公开(公告)日：2013-04-04
申请号：JP2011199637
申请日：2011-09-13
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： OTA YUICHI
IPC分类号： G06F11/30 , G06F9/48
摘要： PROBLEM TO BE SOLVED: To provide a multi-core processor which maintains reliability and enables each core to sufficiently exert its performance.SOLUTION: A multi-core processor comprises: a first processor core which executes a program according to a value indicated by a program counter; a second processor core which monitors whether the first processor core normally operates; and a data table which can be referred to by the second processor core. The first processor core notifies the second processor core of at least the value indicated by the program counter at predetermined check timing. The second processor core compares the value indicated by the program counter that is notified by the first processor core with a value stored in the data table, and monitors whether the first processor core normally operates.
摘要翻译：要解决的问题：提供一种多核处理器，其保持可靠性并使每个核心能够充分发挥其性能。解决方案：多核处理器包括：第一处理器核，其根据由程序计数器指示的值执行程序; 第二处理器核心，其监视第一处理器核心是否正常工作; 以及可由第二处理器核心参考的数据表。第一处理器核心以预定的检查定时通知第二处理器核心至少由程序计数器指示的值。第二处理器核心将由第一处理器核心通知的由程序计数器指示的值与存储在数据表中的值进行比较，并且监视第一处理器核心是否正常工作。版权所有（C）2013，JPO＆INPIT

4. 发明专利

JP2011019066A Communication apparatus for vehicle 审中-公开
标题翻译：车辆通讯装置
公开(公告)号：JP2011019066A
公开(公告)日：2011-01-27
申请号：JP2009162053
申请日：2009-07-08
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： OTA YUICHI , IMASUWA AKIRA
IPC分类号： H04W4/04 , H04W40/02 , H04W84/10
CPC分类号： Y02D70/00 , Y02D70/30
摘要： PROBLEM TO BE SOLVED: To achieve low power consumption in a communication apparatus for vehicle use.SOLUTION: The communication apparatus for vehicle use includes: an on-board device (10) communicable with a mobile terminal (20); a repeater (11), at least one or more of which is arranged in a vehicle interior of a vehicle, and can perform wireless communication with the mobile terminal and also can communicate with the on-board device so as to relay the mobile terminal and the on-board device; a setting means (103) which can set a communication path between the mobile terminal and the on-board device, including setting as to whether to relay by the repeater, in accordance with the arrangement of a movable object existing in the vehicle interior; a detecting means (300) for detecting the movement of the movable object; and a control means (102) for controlling the setting means so as to set the communication path again when the movement is detected.
摘要翻译：要解决的问题：为了在车辆用途的通信装置中实现低功耗。解决方案：车辆用通信装置包括：可移动终端（20）可通信的车载装置（10）。中继器（11），其至少一个或多个布置在车辆的车辆内部，并且可以执行与移动终端的无线通信，并且还可以与车载设备通信，以便中继移动终端和车载设备; 根据存在于车辆内部的可移动物体的布置，可以设置移动终端和车载设备之间的通信路径的设置装置，包括是否由中继器进行中继的设置; 检测装置，用于检测可移动物体的移动; 以及控制装置（102），用于控制设置装置，以便当检测到移动时再次设置通信路径。

5. 发明专利

JP2010159034A Lid opening/closing system, lid opening/closing tool, and lid opening/closing method 有权
标题翻译：开启/关闭系统，开启/关闭工具和开启/关闭方法
公开(公告)号：JP2010159034A
公开(公告)日：2010-07-22
申请号：JP2009004010
申请日：2009-01-09
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： KATO AKIRA , OTA YUICHI , FUJIWARA TAKEHIRO
IPC分类号： B62D65/00
摘要： PROBLEM TO BE SOLVED: To provide a lid opening/closing system, a lid opening/closing tool, and a lid opening/closing method securely opening/closing a lid member openably/closably attached to a body member of an object.
SOLUTION: A door opening/closing system 100 opening/closing a door 3 of an automobile 1 includes: a door opening/closing tool 110 including a body 111 fixed to the door 3, a positioning plate 136 formed with a reference plane 136a, a releasing part 141 moving between a standby position and a releasing position, and a tool side engaging part 151; an operation arm 170 including a hook 172 and an arm side engaging part 171 having an optical sensor 173 emitting and receiving light at the tip of the hook 172; and a control unit 181 making the arm side engaging part 171 abut on the releasing part 141 to release the locking of the door 3 based on the relative position detected by the light reflected on the reference plane 136a and received by the optical sensor 173 and making the arm side engaging part 171 move in an engaged state to the tool side engaging part 151 to open the door 3.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供盖打开/关闭系统，盖打开/关闭工具和盖打开/关闭方法，可靠地打开/关闭附接到物体的主体构件的盖构件。解决方案：打开/关闭汽车1的门3的门打开/关闭系统100包括：门打开/关闭工具110，其包括固定到门3的主体111，形成有参考平面的定位板136 136a，在待机位置和释放位置之间移动的释放部件141和工具侧接合部151; 操作臂170，其包括钩172和臂侧接合部171，臂部接合部171具有在钩172的顶端发射和接收光的光学传感器173; 以及控制单元181，其使臂侧接合部171抵接在释放部141上，以基于由参考平面136a反射并由光学传感器173接收的光检测的相对位置来释放门3的锁定，并使臂侧接合部171在接合状态下移动到工具侧接合部151以打开门3.版权所有（C）2010，JPO＆INPIT

6. 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

7. 发明专利

JP2012046134A Conveying apparatus 有权
标题翻译：输送装置
公开(公告)号：JP2012046134A
公开(公告)日：2012-03-08
申请号：JP2010192061
申请日：2010-08-30
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： FUJIKAWA SATORU , OTA YUICHI
IPC分类号： B62D65/18 , B65G1/00
摘要： PROBLEM TO BE SOLVED: To provide a conveying apparatus that reduces the number of external input signal devices.SOLUTION: The conveying apparatus 10 conveys and stops a pallet 21 on a conveying pass. The pallet 21 includes a chain 25. The conveying apparatus includes: a sprocket 31 meshing with the chain 25; a servo motor mechanism 32 for driving the sprocket 31, including a motor 33 and an encoder 34 for detecting the rotation angle of the motor 33, and controlling the rotation of the motor 33 based on the detection result from the encoder 34; and a controller 50 for controlling the pallet 21 to be conveyed or stopped through the servo motor mechanism 32. The controller 50 causes the encoder 34 of the servo motor mechanism 32 to detect a point where the pallet 21 passes through a reference position as a 0 point reference position, and controls the pallet 21 to be conveyed or stopped based on the detection value from accumulated the 0 point reference position.
摘要翻译：解决的问题：提供减少外部输入信号装置的数量的输送装置。
解决方案：输送装置10在输送路径上传送和停止托盘21。托盘21包括链条25.输送装置包括：与链条25啮合的链轮31; 用于驱动链轮31的伺服电机机构32，包括马达33和用于检测马达33的旋转角度的编码器34，并且基于来自编码器34的检测结果来控制马达33的旋转; 以及用于控制通过伺服电机机构32传送或停止的托盘21的控制器50.控制器50使伺服电机机构32的编码器34检测托盘21通过参考位置的点为0 并且基于来自积分的0点基准位置的检测值来控制要运送或停止的托盘21。版权所有（C）2012，JPO＆INPIT

8. 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

9. 发明专利

JP2006346792A ROBOT AND WORK HOLDING METHOD 审中-公开
公开(公告)号：JP2006346792A
公开(公告)日：2006-12-28
申请号：JP2005174550
申请日：2005-06-15
申请人： TOYOTA MOTOR CORP , KAWASAKI HEAVY IND LTD
发明人： OTA YUICHI , OKURA MORIHIKO , NAKAOKA NOBUHIKO
IPC分类号： B25J9/22 , B25J15/08
摘要： PROBLEM TO BE SOLVED: To realize technology capable of easily performing operation when teaching operation of a robot hand to hold a work with a teaching pendant. SOLUTION: This robot is provided with a robot arm 12, the robot hand 14, the teaching pendant 27, a holding force memory means 175, and a control means 16. The robot hand 14 is provided with a main body and several pairs of fingers. The teaching pendant 27 is provided with a finger-pair specification means for specifying a finger pair for holding the work. The holding force memory means 175 stores holding force of the finger-pairs, corresponding to the finger-pairs. The control means 16 controls the finger-pair specified by the finger-pair specification means to exhibit the holding force stored in the holding force memory means 175 in response to the finger-pair. COPYRIGHT: (C)2007,JPO&INPIT

10. 发明专利

JP2006346791A ROBOT HAND 审中-公开
公开(公告)号：JP2006346791A
公开(公告)日：2006-12-28
申请号：JP2005174531
申请日：2005-06-15
申请人： TOYOTA MOTOR CORP
发明人： OTA YUICHI , OKURA MORIHIKO
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To realize a robot hand of simple structure capable of generally corresponding to various-shape works. SOLUTION: This robot hand 14 is provided with a main body 40, lower turning parts 43 and 44 connected to the main body 40 to turn in relation to the main body 40, and a pair of upper turning parts 41 and 42 having an inside part connected to the main body 40 to turn in relation to the main body 40 and outside parts 46 and 89 connected to the inside part to turn in relation to the inside part. The lower turning parts 43 and 44 and the inside part hold a work by turning to come close to each other. In the condition wherein the lower turning parts 43 and 44 and the inside part hold the work, the outside parts 46 and 89 are turned to come close to the lower turning parts 43 and 44 to hold the work between the lower turning parts 43 and 44. COPYRIGHT: (C)2007,JPO&INPIT

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