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1. 发明申请

US20110288683A1 GRIP POSITION CALCULATOR AND METHOD OF CALCULATING GRIP POSITION 有权
标题翻译： GRIP位置计算器和计算GRIP位置的方法
公开(公告)号：US20110288683A1
公开(公告)日：2011-11-24
申请号：US13148183
申请日：2010-01-28
申请人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba , Yoshikazu Hayakawa , Kenji Fujimoto , Akira Nakashima , Takashi Uno
发明人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba , Yoshikazu Hayakawa , Kenji Fujimoto , Akira Nakashima , Takashi Uno
IPC分类号： B25J13/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J15/10
摘要： The grip position calculator determines a grip position where the fingers can grip a workpiece in any orientation of the workpiece. The calculator then determines an initial position where the finger tips can grip the workpiece and set the initial position as a point of calculation. Then an allowable gripping force is calculated which is an index that indicates an allowable force to be applied to the workpiece at point. Then other allowable forces are calculated for a plurality of points near the point of calculation. Then the point of calculation is selected as a possible gripping position if the allowable force a point is greater than any of the allowable forces. Otherwise, one of the points is selected for another point of calculation where the greatest allowable force (De) has been calculated and return to calculating an allowable gripping force.
摘要翻译：握持位置计算器确定手指可以在工件的任何取向上夹持工件的抓握位置。然后，计算器确定指尖可握住工件的初始位置，并将初始位置设置为计算点。然后，计算出允许的夹持力，其是指示在点处施加到工件的允许力的指标。然后对于计算点附近的多个点计算其他容许力。然后，如果允许的力一点大于任何允许的力，则选择计算点作为可能的夹持位置。否则，在计算最大容许力（De）的另一个计算点中选择一个点，并返回到计算允许的夹紧力。

2. 发明授权

US08452452B2 Grip position calculator and method of calculating grip position 有权
标题翻译：抓握位置计算器和计算抓地位置的方法
公开(公告)号：US08452452B2
公开(公告)日：2013-05-28
申请号：US13148183
申请日：2010-01-28
申请人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba , Yoshikazu Hayakawa , Kenji Fujimoto , Akira Nakashima , Takashi Uno
发明人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba , Yoshikazu Hayakawa , Kenji Fujimoto , Akira Nakashima , Takashi Uno
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J15/10
摘要： The grip position calculator determines a grip position where the fingers can grip a workpiece in any orientation of the workpiece. The calculator then determines an initial position where the finger tips can grip the workpiece and set the initial position as a point of calculation. Then an allowable gripping force is calculated which is an index that indicates an allowable force to be applied to the workpiece at point. Then other allowable forces are calculated for a plurality of points near the point of calculation. Then the point of calculation is selected as a possible gripping position if the allowable force a point is greater than any of the allowable forces. Otherwise, one of the points is selected for another point of calculation where the greatest allowable force (De) has been calculated and return to calculating an allowable gripping force.
摘要翻译：握持位置计算器确定手指可以在工件的任何取向上夹持工件的抓握位置。然后，计算器确定指尖可握住工件的初始位置，并将初始位置设置为计算点。然后，计算出允许的夹持力，其是指示在点处施加到工件的允许力的指标。然后对于计算点附近的多个点计算其他容许力。然后，如果允许的力一点大于任何允许的力，则选择计算点作为可能的夹持位置。否则，在计算最大容许力（De）的另一个计算点中选择一个点，并返回到计算允许的夹紧力。

3. 发明申请

US20110265311A1 WORKPIECE HOLDING METHOD 审中-公开
标题翻译：工作控制方法
公开(公告)号：US20110265311A1
公开(公告)日：2011-11-03
申请号：US13089572
申请日：2011-04-19
申请人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba
发明人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba
IPC分类号： B23Q7/04
CPC分类号： B25J9/1697 , B25J9/0084 , B25J9/1612 , B25J15/0009 , G05B2219/39114 , G05B2219/39485 , G05B2219/39503 , G05B2219/40053 , G05B2219/40604 , Y10T29/49998
摘要： It is an object of the present invention to provide a workpiece holding method which enables a workpiece to be held when a multi-fingered hand is used to grasp the workpiece that is in an untidy heap, even if a target workpiece is subject to interference from another workpiece, and thereby the method enhances the success rate for holding the workpiece. A workpiece holding method, when two holding devices (first to fourth fingers F1 to F4) are used to hold a workpiece (reinforcement W), including a unilateral holding process of inserting a first holding device (the first finger F1 and the second finger F2) at one holding device insert position (region A) to hold and lift a workpiece-to-be-held (reinforcement-to-be-held T) in a state where the workpiece-to-be-held has no interference from any other workpieces at the region A, and a bilateral holding process of inserting a second holding device (the third finger F3 and the fourth finger F4) around (region D) the workpiece-to-be-held lifted by the first holding device, to hold the workpiece-to-be-held.
摘要翻译：本发明的目的是提供一种工件保持方法，即使在使用多指手抓住位于不整齐的堆中的工件时能够保持工件，即使目标工件受到来自另一工件，从而提高了保持工件的成功率。当使用两个保持装置（第一至第四手指F1至F4）来夹持工件（加强件W）时的工件保持方法，包括插入第一保持装置的单边保持处理（第一手指F1和第二手指F2 ）在一个保持装置插入位置（区域A）处，以在要被保持的工件不受任何干扰的状态下保持和提起待保持的工件（待加固的T）区域A中的其他工件，以及通过第一保持装置将第二保持装置（第三手指F3和第四手指F4）插入（区域D）被提升的工件的双边保持处理，握住要保持的工件。

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