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1. 发明申请

US20120153652A1 ROBOT AND ROBOT HAND 有权
标题翻译：机器人和机器人手
公开(公告)号：US20120153652A1
公开(公告)日：2012-06-21
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： B25J15/00
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且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度α大于0度，小于90度，角度＆bgr; 在正交线之间形成，并且包括在近端侧表面中的直线大于0度且小于90度，并且从基点到正交线的长度d大于0。

2. 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。

3. 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。

4. 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。

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