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1. 发明授权

US08287017B2 Robot hand and method for handling planar article 有权
标题翻译：机器人手和处理平面物品的方法
公开(公告)号：US08287017B2
公开(公告)日：2012-10-16
申请号：US12737769
申请日：2008-09-10
申请人： Junji Koyama , Syunichi Tezuka , Kazuhiro Kosuge , Yasuhisa Hirata , Junya Ichinose
发明人： Junji Koyama , Syunichi Tezuka , Kazuhiro Kosuge , Yasuhisa Hirata , Junya Ichinose
IPC分类号： B66C1/42
CPC分类号： B25J15/0009 , B25J15/08
摘要： When dishes are held by means of a robot hand (10), its fixed side engaging plate (13) and movable side engaging finger (14) are moved under horizontal state toward a dish (20) to be handled, and the outer circumferential edge side portion of the dish (20) is inserted between them. The distal end portion (14b) of the movable side engaging finger (14) is then bent by a predetermined amount to the side of the dish (20) and the robot hand (10) is raised. Consequently, the dish (20) is brought into a state where it is held by its own weight between the fixed side engaging plate (13) and the movable side engaging finger (14). Thereafter, the right and left first finger units (15, 16) are bent to the side of the dish (20) and the dish (20) is pushed by their dish pushing faces (15g, 16g), thus bringing about such a state as the dish (20) is held surely between the fixed side engaging plate (13) and the movable side engaging finger (14).
摘要翻译：当通过机器人手（10）保持盘时，其固定侧接合板（13）和可动侧接合指状物（14）在水平状态下朝向待操作的盘（20）移动，并且外周边缘盘（20）的侧部插入它们之间。然后，可动侧接合爪（14）的前端部（14b）向盘（20）的侧面弯曲规定量，使机械手（10）上升。因此，盘（20）进入固定侧卡合板（13）与可动侧卡合爪（14）之间的自重保持状态。此后，左右第一指状单元（15,16）向盘（20）侧弯曲，并通过其盘推动面（15g，16g）推动盘20，从而形成这样的状态因为盘（20）可靠地固定在固定侧接合板（13）和可动侧接合指状物（14）之间。

2. 发明申请

US20110133502A1 ROBOT HAND AND METHOD FOR HANDLING PLANAR ARTICLE 有权
标题翻译：机器人手柄和方法处理平面文章
公开(公告)号：US20110133502A1
公开(公告)日：2011-06-09
申请号：US12737769
申请日：2008-09-10
申请人： Junji Koyama , Syunichi Tezuka , Kazuhiro Kosuge , Yasuhisa Hirata , Junya Ichinose
发明人： Junji Koyama , Syunichi Tezuka , Kazuhiro Kosuge , Yasuhisa Hirata , Junya Ichinose
IPC分类号： B25J15/08
CPC分类号： B25J15/0009 , B25J15/08
摘要： When dishes are held by means of a robot hand (10), its fixed side engaging plate (13) and movable side engaging finger (14) are moved under horizontal state toward a dish (20) to be handled, and the outer circumferential edge side portion of the dish (20) is inserted between them. The distal end portion (14b) of the movable side engaging finger (14) is then bent by a predetermined amount to the side of the dish (20) and the robot hand (10) is raised. Consequently, the dish (20) is brought into a state where it is held by its own weight between the fixed side engaging plate (13) and the movable side engaging finger (14). Thereafter, the right and left first finger units (15, 16) are bent to the side of the dish (20) and the dish (20) is pushed by their dish pushing faces (15g, 16g), thus bringing about such a state as the dish (20) is held surely between the fixed side engaging plate (13) and the movable side engaging finger (14).
摘要翻译：当通过机器人手（10）保持盘时，其固定侧接合板（13）和可动侧接合指状物（14）在水平状态下朝向待操作的盘（20）移动，并且外周边缘盘（20）的侧部插入它们之间。然后，可动侧接合爪（14）的前端部（14b）向盘（20）的侧面弯曲规定量，使机械手（10）上升。因此，盘（20）进入固定侧卡合板（13）与可动侧卡合爪（14）之间的自重保持状态。此后，左右第一指状单元（15,16）向盘（20）侧弯曲，并通过其盘推动面（15g，16g）推动盘20，从而形成这样的状态因为盘（20）可靠地固定在固定侧接合板（13）和可动侧接合指状物（14）之间。

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