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1. 发明申请

US20120266720A1 DRIVE APPARATUS AND ROBOT 有权
标题翻译：驱动装置和机器人
公开(公告)号：US20120266720A1
公开(公告)日：2012-10-25
申请号：US13405359
申请日：2012-02-27
申请人： Takenori OKA , Masato Itou , Yusuke Kinoshita , Manabu Okahisa
发明人： Takenori OKA , Masato Itou , Yusuke Kinoshita , Manabu Okahisa
IPC分类号： B25J17/02 , F16H1/22
CPC分类号： B25J17/0283 , Y10T74/19079 , Y10T74/19107 , Y10T74/20335
摘要： This drive apparatus includes a first rotation mechanism portion including a first driven gear portion rotated by a first drive gear portion rotating about a first axis and a second rotation mechanism portion including a second driven gear portion rotated by a second drive gear portion rotating about the first axis.
摘要翻译：该驱动装置包括：第一旋转机构部，包括由围绕第一轴线旋转的第一驱动齿轮部旋转的第一从动齿轮部;第二旋转机构部，具有第二从动齿轮部，轴。

2. 发明申请

US20120266712A1 ROBOT 审中-公开
标题翻译：机器人
公开(公告)号：US20120266712A1
公开(公告)日：2012-10-25
申请号：US13404002
申请日：2012-02-24
申请人： Takenori OKA , Masato Itou , Yusuke Kinoshita , Manabu Okahisa
发明人： Takenori OKA , Masato Itou , Yusuke Kinoshita , Manabu Okahisa
IPC分类号： B25J18/00
CPC分类号： B25J17/0283 , Y10T74/20329
摘要： This robot includes an arm and a joint provided on one end portion of the arm, and either the arm or the joint is provided with an end effector driving source to operate an end effector mounted to the arm through the joint.
摘要翻译：该机器人包括设置在臂的一个端部上的臂和接头，并且臂或接头设置有末端执行器驱动源，以通过接头操作安装到臂的端部执行器。

3. 发明授权

US09095982B2 Drive apparatus and robot 有权
标题翻译：驱动装置和机器人
公开(公告)号：US09095982B2
公开(公告)日：2015-08-04
申请号：US13405359
申请日：2012-02-27
申请人： Takenori Oka , Masato Itou , Yusuke Kinoshita , Manabu Okahisa
发明人： Takenori Oka , Masato Itou , Yusuke Kinoshita , Manabu Okahisa
IPC分类号： H02K7/14 , H02P5/00 , B25J17/00 , B25J17/02
CPC分类号： B25J17/0283 , Y10T74/19079 , Y10T74/19107 , Y10T74/20335
摘要： This drive apparatus includes a first rotation mechanism portion including a first driven gear portion rotated by a first drive gear portion rotating about a first axis and a second rotation mechanism portion including a second driven gear portion rotated by a second drive gear portion rotating about the first axis.
摘要翻译：该驱动装置包括：第一旋转机构部，包括由围绕第一轴线旋转的第一驱动齿轮部旋转的第一从动齿轮部;第二旋转机构部，具有第二从动齿轮部，轴。

4. 发明授权

US08396596B2 Robot with load sensor 有权
标题翻译：带负载传感器的机器人
公开(公告)号：US08396596B2
公开(公告)日：2013-03-12
申请号：US12832018
申请日：2010-07-07
申请人： Takenori Oka , Manabu Okahisa
发明人： Takenori Oka , Manabu Okahisa
IPC分类号： G05B15/00 , B25J9/06 , B25J13/08
CPC分类号： B25J9/1694 , B25J9/1633 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317
摘要： A robot includes an arm including a plurality of joints, arm members that form the arm, each arm member supporting a load, actuators that drive the joints and that are supported by the arm members, a load sensor embedded in at least one of the arm members to measure the load applied to the at least one of the arm members, a controller that controls movements of the actuators on the basis of a result of the measurement performed by the load sensor, and a wire hole through which a sensor line extend from a space inside the at least one of the arm members to a space inside the arm, the sensor line connecting the load sensor to the controller.
摘要翻译：一种机器人包括：臂，包括多个接头，形成臂的臂构件，支撑负载的每个臂构件，驱动接头并由臂构件支撑的致动器，嵌入至少一个臂的负载传感器用于测量施加到所述至少一个臂构件的负载的控制器，控制器，其基于由所述负载传感器执行的测量结果来控制所述致动器的运动;以及线孔，所述传感器线从所述线孔延伸所述至少一个臂构件内的空间到所述臂内的空间，所述传感器线将所述负载传感器连接到所述控制器。

5. 发明申请

US20110107866A1 ROBOT 审中-公开
标题翻译：机器人
公开(公告)号：US20110107866A1
公开(公告)日：2011-05-12
申请号：US12912750
申请日：2010-10-27
申请人： Takenori OKA , Manabu Okahisa
发明人： Takenori OKA , Manabu Okahisa
IPC分类号： B25J18/00 , B25J17/00
CPC分类号： B25J17/00 , B25J9/0084 , B25J9/0087 , B25J9/046 , B25J9/06 , Y10T74/20317 , Y10T74/20323 , Y10T74/20329
摘要： A robot includes a base and an arm formed by a plurality of members connected by a plurality of joints. The arm has an offset portion where a rotation axis of a certain joint is offset from a rotation axis of the next joint in a predetermined direction and the rotation axis of the next joint is offset from a rotation axis of a joint next to the next joint in a direction opposite the predetermined direction.
摘要翻译：机器人包括由多个通过多个接头连接的多个构件形成的底座和臂。臂具有偏移部，其中某个接头的旋转轴线沿着预定方向偏离下一个接头的旋转轴线，并且下一个接头的旋转轴线偏离接下来接头旁边的接头的旋转轴线在与预定方向相反的方向上。

6. 发明申请

US20110010011A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：US20110010011A1
公开(公告)日：2011-01-13
申请号：US12832018
申请日：2010-07-07
申请人： Takenori OKA , Manabu Okahisa
发明人： Takenori OKA , Manabu Okahisa
IPC分类号： G05B15/00
CPC分类号： B25J9/1694 , B25J9/1633 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317
摘要： A robot includes an arm including a plurality of joints, arm members that form the arm, each arm member supporting a load, actuators that drive the joints and that are supported by the arm members, a load sensor embedded in at least one of the arm members to measure the load applied to the at least one of the arm members, a controller that controls movements of the actuators on the basis of a result of the measurement performed by the load sensor, and a wire hole through which a sensor line extend from a space inside the at least one of the arm members to a space inside the arm, the sensor line connecting the load sensor to the controller.
摘要翻译：一种机器人包括：臂，包括多个接头，形成臂的臂构件，支撑负载的每个臂构件，驱动接头并由臂构件支撑的致动器，嵌入至少一个臂的负载传感器用于测量施加到所述至少一个臂构件的负载的控制器，控制器，其基于由所述负载传感器执行的测量结果来控制所述致动器的运动;以及线孔，所述传感器线从所述线孔延伸所述至少一个臂构件内的空间到所述臂内的空间，所述传感器线将所述负载传感器连接到所述控制器。

7. 发明授权

US08650965B2 Robot, robot system, robot control device, and state determining method 有权
标题翻译：机器人，机器人系统，机器人控制装置和状态确定方法
公开(公告)号：US08650965B2
公开(公告)日：2014-02-18
申请号：US13221868
申请日：2011-08-30
申请人： Yukio Hashiguchi , Shingo Ando , Takuya Fukuda , Takenori Oka , Shinji Murai , Takeomi Hidaka , Manabu Okahisa
发明人： Yukio Hashiguchi , Shingo Ando , Takuya Fukuda , Takenori Oka , Shinji Murai , Takeomi Hidaka , Manabu Okahisa
IPC分类号： G01L1/00
CPC分类号： B25J9/1633 , B25J9/0087 , B25J13/085
摘要： A robot according to an embodiment includes an arm, a strain sensor, one or more actuator, and a sensor fixing jig. The strain sensor includes a piezoelectric body that has a natural frequency higher than a natural frequency of a structural material forming the arm. The one or more actuators are provided in the arm to drive the arm. The sensor fixing jig is provided in a base of the actuator, among the actuators in the arm, closest to a base end of the arm. The strain sensor is provided in the sensor fixing jig.
摘要翻译：根据实施例的机器人包括臂，应变传感器，一个或多个致动器和传感器固定夹具。应变传感器包括具有比形成臂的结构材料的固有频率高的固有频率的压电体。一个或多个致动器设置在臂中以驱动臂。传感器固定夹具设置在致动器的基部中，臂中的致动器最靠近臂的基端。应变传感器设置在传感器固定夹具中。

8. 发明申请

US20120048027A1 ROBOT, ROBOT SYSTEM, ROBOT CONTROL DEVICE, AND STATE DETERMINING METHOD 有权
标题翻译：机器人，机器人系统，机器人控制装置和状态确定方法
公开(公告)号：US20120048027A1
公开(公告)日：2012-03-01
申请号：US13221868
申请日：2011-08-30
申请人： Yukio HASHIGUCHI , Shingo Ando , Takuya Fukuda , Takenori Oka , Shinji Murai , Takeomi Hidaka , Manabu Okahisa
发明人： Yukio HASHIGUCHI , Shingo Ando , Takuya Fukuda , Takenori Oka , Shinji Murai , Takeomi Hidaka , Manabu Okahisa
IPC分类号： G01L1/16
CPC分类号： B25J9/1633 , B25J9/0087 , B25J13/085
摘要： A robot according to an embodiment includes arm and a strain sensor. The strain sensor includes a piezoelectric body that has a natural frequency higher than a natural frequency of a structural material forming the arm.
摘要翻译：根据实施例的机器人包括臂和应变传感器。应变传感器包括具有比形成臂的结构材料的固有频率高的固有频率的压电体。

9. 发明授权

US09409269B2 Positioning apparatus, working system, and hot working apparatus 有权
标题翻译：定位装置，工作系统和热加工装置
公开(公告)号：US09409269B2
公开(公告)日：2016-08-09
申请号：US13606686
申请日：2012-09-07
申请人： Manabu Okahisa , Yusuke Kinoshita , Takashi Suyama , Atsushi Tomizawa , Shinjiro Kuwayama , Mitsusato Hara
发明人： Manabu Okahisa , Yusuke Kinoshita , Takashi Suyama , Atsushi Tomizawa , Shinjiro Kuwayama , Mitsusato Hara
IPC分类号： B21B39/00 , B23Q3/02 , B25J9/00
CPC分类号： B23Q3/02 , B21B39/00 , B25J9/0048 , B25J9/009 , Y10S901/03 , Y10S901/27
摘要： A positioning apparatus and a working system which can position a workpiece with better accuracy at a lower cost and in a reduced space even when the workpiece is heavy are provided. The positioning apparatus has 3 robot arms (1)-(3) each having an arm and an actuator which drives the arm, a mounting platform (5) which is supported by the ends of the three robot arms (1)-(3), a securing jig (6) which secures a workpiece W which is mounted on the mounting platform (5) to the mounting platform (5), and a controller (9) which controls the operation of each of the actuators.
摘要翻译：提供了一种定位装置和工作系统，即使在工件重的情况下，也能够以更低的成本和更小的空间对工件进行更精确的定位。（3）机器人手臂（1） - （3）具有臂和驱动臂的致动器，安装平台（5）由三个机器人臂（1）的端部支撑，，将固定在安装平台（5）上的工件W固定到安装平台（5）上的固定夹具（6）和控制每个致动器的操作的控制器（9）。

10. 发明授权

US09457390B2 Method and apparatus for manufacturing a bent member 有权
标题翻译：用于制造弯曲构件的方法和装置
公开(公告)号：US09457390B2
公开(公告)日：2016-10-04
申请号：US13336172
申请日：2011-12-23
申请人： Atsushi Tomizawa , Naoaki Shimada , Shinjiro Kuwayama , Saburo Inoue , Manabu Okahisa , Yusuke Kinoshita , Takashi Suyama
发明人： Atsushi Tomizawa , Naoaki Shimada , Shinjiro Kuwayama , Saburo Inoue , Manabu Okahisa , Yusuke Kinoshita , Takashi Suyama
IPC分类号： B21D7/16 , B21D7/04
CPC分类号： B21D7/04 , B21D7/16 , B21D7/162 , B21D7/165
摘要： A bending apparatus has (a) a first manipulator which feeds a hollow metal blank of closed cross section in its lengthwise direction, (b) a second manipulator which supports a first support means disposed at a first position and a metal blank while feeding it, a heating means disposed at a second position downstream of the first position in the blank feed direction for heating all or part of the circumference of the blank, and a cooling means disposed at a third position downstream of the second position for cooling a portion of the heated blank, and (c) a third manipulator which constitutes a second support means disposed at a fourth position downstream of the third position in the feed direction of the blank and which moves two-dimensionally or three-dimensionally while supporting at least one location of the metal blank to bend the metal blank into a desired shape.
摘要翻译：弯曲装置具有：（a）第一操纵器，其在长度方向上供给封闭截面的中空金属坯料，（b）第二操作器，其支撑设置在第一位置的第一支撑装置和金属坯料，同时进给，加热装置，其设置在坯料供给方向上的第一位置下游的第二位置处，用于加热坯料的全部或部分周边;以及冷却装置，其设置在第二位置的下游的第三位置处，用于冷却坯料的一部分加热的坯料，和（c）构成第二支撑装置的第三操纵器，所述第二支撑装置设置在所述坯料的进给方向上位于所述第三位置下游的第四位置处，并且在支撑所述坯料的至少一个位置的同时二维或三维地移动金属坯料将金属坯料弯曲成所需的形状。

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