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1. 发明专利

JP2010161980A Traveling path recognition device for farmwork-assisting autonomously traveling robot and weedproof sheet to be used for traveling path recognition 有权
标题翻译：用于农业机器人的旅行路线识别装置用于旅行路线识别的自动旅行机器人和防护板
公开(公告)号：JP2010161980A
公开(公告)日：2010-07-29
申请号：JP2009007712
申请日：2009-01-16
申请人： Mayekawa Mfg Co Ltd , Tohoku Univ , 国立大学法人東北大学 , 株式会社前川製作所
发明人： ASO KIMIMICHI , YAMASHITA TOMOTERU , KASHIWABARA NAOYA , KUMAZAWA SHIRO , KOSUGE KAZUHIRO
IPC分类号： A01B69/00 , A01G13/00 , G01B7/00
摘要： PROBLEM TO BE SOLVED: To provide a traveling path recognition device for a farmwork-assisting autonomously traveling robot, with no need of troublesome work such as to embed metallic pieces, simple and inexpensive in construction and high in sensitivity. SOLUTION: The traveling path recognition device for a farmwork-assisting autonomously traveling robot is provided, functioning to detect metallic matter set beforehand along a predetermined path by a metal sensor and make a control of the traveling direction of a farming apparatus as a result of calculating its position relative to the metallic matter. In this device, the metallic matter consists of first metallic wires woven in the central part in the cross direction of a weedproof sheet in the direction of the autonomously traveling robot traveling direction; by laying the weedproof sheet along the path to set the metallic matter with no need of troublesome work such as to embed metallic pieces; and a metal sensor is structured with a bridge circuit and installed on the surface of the robot. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于农用辅助自主行进的机器人的行驶路径识别装置，不需要麻烦的工作，例如嵌入金属件，结构简单且价格便宜，灵敏度高。解决方案：提供了一种用于农用辅助自主行进机器人的行驶路径识别装置，其功能是通过金属传感器检测预先沿预定路径预先设定的金属物体，并且将耕作装置的行驶方向控制为计算其相对于金属物质的位置的结果。在这种装置中，金属物质由在自主行进的机器人行进方向的方向上在防杂片的横向上的中心部分编织的第一金属丝组成; 通过沿着路径铺设防草料来设置金属物质，不需要麻烦的工作，例如嵌入金属片; 并且金属传感器构造有桥接电路并且安装在机器人的表面上。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2012239386A Fruit stem cutter, fruit stem cutting method, and fruit stem cutting apparatus 有权
标题翻译：水果干切割机，果干切割方法和水果切割机
公开(公告)号：JP2012239386A
公开(公告)日：2012-12-10
申请号：JP2011108808
申请日：2011-05-13
申请人： Mayekawa Mfg Co Ltd , 株式会社前川製作所
发明人： KUMAZAWA SHIRO , YAMASHITA TOMOTERU , SAKAMOTO NAOKI , KASHIWABARA NAOYA , OKAMOTO NAOHITO
IPC分类号： A01D46/30
摘要： PROBLEM TO BE SOLVED: To provide a fruit stem cutter capable of surely cutting a fruit stem without damaging a fruit with simple configuration that needs no drive source, and to provide a fruit stem cutting method and a fruit stem cutting apparatus.SOLUTION: The fruit stem cutter 1 for cutting the fruit stem includes: a pair of blade parts 2 turning around a pair of parallel supporting shafts 20 and arranged with blade edges 22 facing each other; lower stopper parts 3 arranged below the pair of blade parts to determine the lower side movable range of the blade edges; and upper stopper parts 4 arranged above the pair of blade parts to determine the upper side movable range of the blade edges. The lower stopper parts 3 are arranged to support the blade edges 22 in positions where the opening width between the pair of blade edges 22 is smaller than the shoulder width of the fruit and larger than the diameter of the fruit stem. The fruit stem is inserted between the pair of blade edges 22 supported by the lower stopper parts 3, and the fruit stem is pulled upward. The pair of blade parts 2 in contact with the shoulder parts of the fruit thereby turn upward to cut the fruit stem.
摘要翻译：要解决的问题：提供一种能够可靠地切割水果茎的水果干切割机，而不损坏不需要驱动源的简单构造的水果，并且提供水果茎切割方法和水果切割装置。解决方案：用于切割水果茎的果实切割机1包括：一对叶片部分2，绕着一对平行的支撑轴20转动并布置有彼此面对的叶片边缘22; 下部止动件3布置在一对刀片部分下方，以确定刀片边缘的下侧可移动范围; 以及设置在一对刀片部分上方的上止动件4，以确定刀片边缘的上侧可移动范围。下止动件3被布置成在叶片边缘22对之间的开口宽度小于果实的肩宽度并且大于果实茎的直径的位置处支撑叶片边缘22。水果茎插入由下止动件3支撑的一对叶片边缘22之间，水果茎被向上拉。与水果的肩部接触的一对叶片部分2由此向上转动以切割果实茎。版权所有（C）2013，JPO＆INPIT

3. 发明专利

JP2007185111A Agricultural material for farm work-supporting equipment, farmland using the agricultural material, and method for recognizing traveling direction of the farm work-supporting equipment in the farmland 有权
标题翻译：农机使用农业材料的农业材料，法国农业粮食和农业用途农业工程支持设备旅游方向的方法
公开(公告)号：JP2007185111A
公开(公告)日：2007-07-26
申请号：JP2006003594
申请日：2006-01-11
申请人： Mayekawa Mfg Co Ltd , 株式会社前川製作所
发明人： KAWAMURA KUNIAKI , KUMAZAWA SHIRO , ETATSU AKIRA , YAMASHITA TOMOTERU , HAYASAKA TOMOSUKE
IPC分类号： A01G13/00 , A01B69/00 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide an agricultural material for farm work-supporting equipment enabling accurate autonomous travel of the equipment supporting various kinds of farm work along a ridge formed at the farmland without any load on persons who are involved in farm work so as to ensure support on various kinds of farm work such as harvesting work of grown crops or pesticide application: to provide farmland using the agricultural material: and to provide a method for recognizing the traveling direction of the farm work-supporting equipment in the farmland.
SOLUTION: The agricultural material for farm work-supporting equipment is utilized as follows: providing lines for recognizing a ridge position in a longitudinal direction at the inner side of a position where the mulch film covering the ridge formed in the farmland so that the farm work-supporting equipment recognizes the line for the ridge position to enable accurate autonomous travel of the equipment along the ridge formed at the farmland.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为农业工作配套设备提供农业材料，能够在农田形成的山脊上支撑各种农作物的设备的自动旅行，无需任何负责农民工的人员确保对种植农作物或农药施用等各种农业工作的支持：使用农产品提供农田，并提供识别农田农业配套设备行进方向的方法。解决方案：农业用具的农用材料如下：在覆盖农田形成的山脊的覆盖膜的内侧的内侧设置用于识别长度方向的脊位置的线，使得农场配套设备识别出山脊位置的线，使设备沿着农田形成的山脊准确自主行进。版权所有（C）2007，JPO＆INPIT

4. 发明专利

JP2013248685A Articulated body of robot 有权
标题翻译：机器人的身体
公开(公告)号：JP2013248685A
公开(公告)日：2013-12-12
申请号：JP2012123407
申请日：2012-05-30
申请人： Mayekawa Mfg Co Ltd , 株式会社前川製作所
发明人： KASHIWABARA NAOYA , YAMASHITA TOMOTERU , KUMAZAWA SHIRO , SAKAMOTO NAOKI
IPC分类号： B25J17/00 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide an articulated body of a robot that is capable of reducing the heat load to a motor while achieving the miniaturization, and to provide a robot.SOLUTION: A driving unit 10 installed in a first articulated body 3 of a robot 1 includes: a motor 20; a braking shaft 25 provided parallel to a motor shaft 29 of the motor 20; a pulley mechanism 40 connecting an output shaft 29 and one end 25a of the braking shaft 25 to each other so as to transmit the rotation of the motor 20 to the braking shaft 25; and an electromagnetic brake 21 and a reduction gear 22 that are provided concentrically with the braking shaft 25. The central part 25b and the other end 25c of the braking shaft 25 are respectively penetratingly mounted in each of the reduction gear 22 and the electromagnetic brake 21. The operation end of a second articulated body 4 is connected to the outer periphery of an output part 31 of the reduction gear 22.
摘要翻译：要解决的问题：提供一种能够在实现小型化的同时减少对电动机的热负荷并提供机器人的机器人的铰接体。解决方案：安装在第一铰接体3中的驱动单元10 机器人1包括：马达20; 与马达20的马达轴29平行设置的制动轴25; 将输出轴29和制动轴25的一端25a彼此连接以将马达20的旋转传递到制动轴25的滑轮机构40; 以及与制动轴25同心设置的电磁制动器21和减速齿轮22.制动轴25的中心部25b和另一端25c分别贯通地安装在各个减速齿轮22和电磁制动器21中第二铰接体4的操作端与减速装置22的输出部31的外周连接。

5. 发明专利

JP2004350588A Meat producing system equipped with hydraulically driven device 有权
公开(公告)号：JP2004350588A
公开(公告)日：2004-12-16
申请号：JP2003152078
申请日：2003-05-29
申请人： Mayekawa Mfg Co Ltd , 株式会社前川製作所
发明人： MANMOTO SHINZO , KUMAZAWA SHIRO , KODAMA RYUJI , HAYAKAWA HIROYUKI , GIYU SUSUMU
IPC分类号： A22C21/00 , A22C17/00
摘要： PROBLEM TO BE SOLVED: To provide a meat-producing system enabling a hydraulically driven system movable at a prescribed low temperature or a low temperature of ≤0°C obtained by using an antifreezing fluid to be used for the drive of a meat block-processing means by which the meat block is operated at a prescribed low temperature of ≥0°C to keep the freshness and bacteriocidal condition of the meat block.
SOLUTION: The system for dressing a carcass for the meat brought in a processing chamber kept at a prescribed temperature by a meat block-processing means to produce the meat block as a product by removing bone has a hydraulic actuator for driving the meat block-processing means by being driven by a pressurized operating water, and a hydraulic pump for pressurizing the operating water to a prescribed pressure, and feeding the pressurized operating water through an operating water passage to the hydraulic actuator.
COPYRIGHT: (C)2005,JPO&NCIPI

6. 发明专利

JP2011206014A Fruit harvester 审中-公开
标题翻译：水果收割机
公开(公告)号：JP2011206014A
公开(公告)日：2011-10-20
申请号：JP2010079392
申请日：2010-03-30
申请人： Mayekawa Mfg Co Ltd , National Agriculture & Food Research Organization , Waseda Univ , 学校法人早稲田大学 , 株式会社前川製作所 , 独立行政法人農業・食品産業技術総合研究機構
发明人： OCHIAI RYOJI , HAYASHI SHIGEHIKO , YAMAMOTO SATOSHI , SAITO SADAFUMI , YAMASHITA TOMOTERU , KUMAZAWA SHIRO , KASHIWABARA NAOYA , SAKAMOTO NAOKI , SUGANO SHIGEKI
IPC分类号： A01D46/30 , A01D46/24
摘要： PROBLEM TO BE SOLVED: To provide a fruit harvester having high work efficiency and harvesting fruits without damaging the fruits.SOLUTION: The fruit harvester 1 for harvesting fruits in a plurality of target fruits suspended in a culture space is provided with an arm mechanism attached to a vertically extended support 3 and a manipulator 2 to clamp and harvest the fruit with a clamping hand 10 attached to a tip end of the arm mechanism. The arm mechanism is a triaxial arm mechanism including a first arm 5 attached to the support 3 through a first shaft 4 and bendable in a vertical plane, a second arm 7 attached to the first arm 5 through a second shaft 6 and bendable in a vertical plane, and a third arm 9 attached to the second arm 7 through a third shaft 8 and bendable in a vertical plane. The third arm is driven in a manner that the clamping hand 10 attached to a tip end of the third arm 9 keeps horizontal posture, and the first arm 5 and the second arm 7 are driven to fit the positions of the clamping hand 10 and the fruit 111 in height direction and depth direction.
摘要翻译：要解决的问题：提供一种具有高工作效率和收获水果而不损害水果的果实收获机。解决方案：用于在悬浮在培养空间中的多个目标果实中收获果实的果实收割机1设置有附接到垂直延伸的支撑件3和操纵器2，用于夹紧和收获水果，夹具10附接到臂机构的末端。臂机构是三轴臂机构，其包括通过第一轴4附接到支撑件3并且可在垂直平面中弯曲的第一臂5，通过第二轴6附接到第一臂5并且可垂直弯曲的第二臂7 平面以及通过第三轴8附接到第二臂7并且可在垂直平面中弯曲的第三臂9。第三臂被驱动，使得附接到第三臂9的前端的夹持手10保持水平姿态，并且第一臂5和第二臂7被驱动以适应夹持手10和水果111在高度方向和深度方向。

7. 发明专利

JP2007068405A Apparatus for judging fracture and dislocation of meat with bone 有权
$Apparatus for judging fracture and dislocation of meat with bone$
标题翻译：用于判断骨折的手段和与骨的分离的装置
公开(公告)号：JP2007068405A
公开(公告)日：2007-03-22
申请号：JP2005255407
申请日：2005-09-02
申请人： Mayekawa Mfg Co Ltd , 株式会社前川製作所
发明人： KUMAZAWA SHIRO , YAMASHITA TOMOTERU
IPC分类号： A22C17/02 , A22C21/00
摘要： PROBLEM TO BE SOLVED: To grasp and eliminate abnormality of the periphery of bone of ankle before meat with bone is fed to a deboning apparatus, to grasp the shape of dark meat and to improve qualities of deboning. SOLUTION: The apparatus for judging fracture and dislocation of meat with bone is equipped with a contact member 2 for coming into contact with a plurality of meat parts 100 with bone being transported, a photograph part 200 which is brought into contact with the contact member 2 and then photographs the meat which is moving and a calculation part 300 for calculating images from the photograph part 200. The photograph part 200 continuously photographs the meat 100 with bone at fixed time intervals and collects a series of stationary images; the calculation part 300 judges presence of vibration of the meat 100 with bone based on the stationary images of the same meat with bone of two subsequent frames; and, when the existence of the vibration is judged, a fracture or dislocation signal that the meat 100 with bone is fractured or dislocated is output. The contact member 2 is brought into contact with the thigh part 102 of the meat 100 with bone. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：在将骨肉放入剔骨装置之前，掌握和消除踝骨周围异常，掌握黑肉的形状，提高剔骨质量。解决方案：用于判断肉与骨骨折脱位的装置配备有接触构件2，用于与被运送骨的多个肉部分100接触;照相部分200，其与接触构件2，然后拍摄正在移动的肉和用于计算来自照片部分200的图像的计算部分300.照片部分200以固定的时间间隔连续拍摄骨骼100并收集一系列静止图像; 计算部300基于两个后续帧的骨骼的相同肉的静止图像来判断肉100的骨骼的振动的存在; 并且当判断振动的存在时，输出具有骨骼的肉100断裂或脱位的断裂或位错信号。接触构件2与骨骼的肉100的大腿部分102接触。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2005333827A Method and device for gripping and transferring food material 有权
标题翻译：用于传送和转运食品材料的方法和装置
公开(公告)号：JP2005333827A
公开(公告)日：2005-12-08
申请号：JP2004153780
申请日：2004-05-24
申请人： Mayekawa Mfg Co Ltd , 株式会社前川製作所
发明人： SAKAMOTO NAOKI , KUMAZAWA SHIRO , KASHIWABARA NAOYA
IPC分类号： B25J15/00 , A23L1/00
CPC分类号： B25J11/0045 , B25J15/0071
摘要： PROBLEM TO BE SOLVED: To provide a method for gripping and transferring a food material comprising directly gripping the food material with robot hands wherein the food material is surely gripped to exactly transfer the food material to a desired position such as a lunch box or a tray without complicated or expensive control using a simple device: and to provide the device for gripping and transferring the food material. SOLUTION: The device for gripping and transferring the food material is provided with a pressing plate 13 pressing the food material (h) after subjected to elastic deformation so as to have resilience; and a pin (a needle member) 15 as a gripping mechanism transferring the food material (h) while gripping it by the help of the resilience. In the device, the food material is subjected to elastic deformation and pressed with the pressing plate 13 so as to have the resilience, and at the same time or after pressed, the food material is transferred to the desired position while gripping the food material with the pin 15 through the use of the resilience. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于夹持和转移食物材料的方法，包括用机器人手直接夹住食物材料，其中食物材料被可靠地夹紧以将食物材料精确地转移到期望的位置，例如饭盒或使用简单装置的没有复杂或昂贵控制的托盘;以及提供用于夹紧和转移食物的装置。解决方案：用于夹持和转移食品材料的装置设置有压板13，该压板13在受到弹性变形之后按压食物材料（h）以具有弹性; 以及作为夹持机构的销（针构件）15，其通过弯曲的帮助来夹持食物材料（h）。在该装置中，食品材料受到弹性变形的作用，并与压板13一起压制以具有回弹性，同时或经过挤压之后，将食物材料转移到所需位置，同时用销15通过使用弹性。版权所有（C）2006，JPO＆NCIPI

9. 发明专利

JP2004340376A Uni-axial two-degree-of-freedom actuator 审中-公开
公开(公告)号：JP2004340376A
公开(公告)日：2004-12-02
申请号：JP2004128520
申请日：2004-04-23
申请人： Mayekawa Mfg Co Ltd , 株式会社前川製作所
发明人： ITO ICHIRO , KUMAZAWA SHIRO
IPC分类号： F15B15/08 , H02K7/00
摘要： PROBLEM TO BE SOLVED: To provide a composite type actuator in which reductions in size and weight can be realized without problem in a sanitary field, cleaning is simple, which is of a full sealing integral type and which can be applied to a food processing field.
SOLUTION: The composite type actuator includes a drive shaft 1 disposed in a cylindrical casing 2, a bearing unit for reciprocatingly and rotatably supporting the drive shaft in an axial direction, a motor 10 having a hollow part and imparting a rotating drive to the same drive shaft via the drive shaft 1, and an air cylinder having a piston 14 interlockingly to the same drive shaft at the drive shaft 1 to reciprocate the same piston and to reciprocate the drive shaft 1. Preferably, the bearing unit includes a ball spline bearing 5, the nut of the ball spline bearing is rotatably supported by a rolling bearing 7, and is rotated together with the drive shaft 1.
COPYRIGHT: (C)2005,JPO&NCIPI

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