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1. 发明专利

JP2004044913A Half cylinder rotary type end effector 有权
公开(公告)号：JP2004044913A
公开(公告)日：2004-02-12
申请号：JP2002203184
申请日：2002-07-11
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： MIYAHARA KEIZO , OTSUKI YASUO , NAKAJIMA KATSUMI , TAKATORI MASAO , IENAKA RYOTA
IPC分类号： F41H11/12
CPC分类号： F41H11/22
摘要： PROBLEM TO BE SOLVED: To provide an end effector capable of taking out safely from a buried place any object disposed of involving a hazard of inductive explosion or emission of dangerous objects.
SOLUTION: The end effector is equipped with a bucket 11 in the shape of split cylinder cut from a cylinder in its axial direction, a rotating mechanism to rotate the bucket 11 round a shaft 12, and a fixing mechanism to mount the bucket 11 to the forefront of a moving mechanism 2 such as a robot capable of controlling the position and attitude of the forefront, whereby the forefront of the bucket is intruded along the periphery of the object 51 for scooping it up.
COPYRIGHT: (C)2004,JPO

2. 发明专利

JP2003145455A WRIST MECHANISM FOR MASTER ARM 审中-公开
公开(公告)号：JP2003145455A
公开(公告)日：2003-05-20
申请号：JP2001346000
申请日：2001-11-12
申请人： KAWASAKI HEAVY IND LTD
发明人： NAKAJIMA KATSUMI , FUJIMORI JUN , IENAKA RYOTA
IPC分类号： B25J3/00 , B25J13/02 , F16C11/04
摘要： PROBLEM TO BE SOLVED: To provide a lightweight wrist mechanism for a master arm which can correctly transmit the torque generated by a slave arm to a steering operator irrespective of the direction. SOLUTION: This wrist mechanism comprises an arm joining part 1 having a connection mechanism 14 to an arm, a first side beam 12 and a second side beam 13, and a grip part 31 supported between two side beams by connecting an end part to a space between the first and second side beams by a first link mechanism 32 and a second link mechanism 33. The link mechanisms 32 and 33 comprise first links 34 and 35 and second links 36 and 37 turnably connected to each other by second turning shafts 40 and 41. One end of the first links is turnably connected to the side beams by first turning shafts 38 and 39, and one end of the second links is turnably connected to one end of the grip part by a third turning shaft 42. Extensions of the first and second turning shafts pass in the vicinity of the center O of rotation corresponding to the position of the gripping position.

3. 发明专利

JP2010151766A Method for detecting position of tool of robot, method for detecting relative position of robot and object, their apparatus 有权
标题翻译：用于检测机器人工具位置的方法，用于检测机器人和对象的相对位置的方法，其装置
公开(公告)号：JP2010151766A
公开(公告)日：2010-07-08
申请号：JP2008333175
申请日：2008-12-26
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： KUBOTA TETSUYA , FUJIMORI JUN , IENAKA RYOTA , HORIUCHI YUHEI
IPC分类号： G01B5/00 , G01B11/26
摘要： PROBLEM TO BE SOLVED: To easily and highly accurately detect the position of a tool and the relative position of a robot and an object.
SOLUTION: In a tool position detection method, the tool 8 having a spherical surface part 8a is mounted to a tool mounting part 7e at the tip of an arm 7 of the robot 2. An unknown number is set as a component of a tool vector from the tool mounting part 7e to the center of the spherical surface part 8a. The spherical surface part 8a is brought into contact with a flat plate 16 as changing the attitude of the tool 8 by at least the same number of times as the unknown number. The positions of the tool mounting part 7e in contact are each determined on the basis of an joint angle of the arm 7 of the robot 2 in contact. Simultaneous equations which mean that the Z-position of the center of the spherical surface part 8a obtained from the sum of the Z-position of the plat plate 16 and a curvature radius Rc of the spherical surface part 8a is equal to the Z-position of the center of the spherical surface part 8a obtained from the sum of the Z-position of the tool mounting part 7e and a Z-component of the tool vector in a specific coordinate system are formed by at least the same number of times as the unknown number. By solving the simultaneous equations, the component of the tool vector is determined.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了容易且高精度地检测工具的位置以及机器人和物体的相对位置。解决方案：在工具位置检测方法中，具有球形表面部分8a的工具8安装在机器人2的臂7的尖端处的工具安装部分7e上。将未知数设置为从刀具安装部7e到球面部8a的中心的刀具矢量。球形表面部分8a与平板16接触，使工具8的姿态与未知数至少相同的次数。接触的工具安装部7e的位置各自基于机器人2的臂7的接触角度的接触来确定。意味着从平板16的Z位置和球面部分8a的曲率半径Rc得到的球面部分8a的中心的Z位置等于Z位置的同时方程由工具安装部7e的Z位置之和得到的球面部8a的中心与特定坐标系中的刀具矢量的Z分量形成至少相同次数未知电话。通过求解联立方程，确定刀具矢量的分量。版权所有（C）2010，JPO＆INPIT

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