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1. 发明授权

US08798790B2 Apparatus and method for detecting contact position of robot 有权
标题翻译：机器人接触位置检测装置及方法
公开(公告)号：US08798790B2
公开(公告)日：2014-08-05
申请号：US13043493
申请日：2011-03-09
申请人： Yosuke Kamiya , Yasuyuki Inoue , Hideo Nagata
发明人： Yosuke Kamiya , Yasuyuki Inoue , Hideo Nagata
IPC分类号： G06F19/00
CPC分类号： G05B19/401
摘要： An apparatus for detecting a contact position where a robot makes contact with an object includes a probe, a probe-position calculating unit, a contact detecting unit, and a contact-position calculating unit. The probe is attached to the robot and is configured to make a displacement in a direction of making contact with the object in an elastic manner. The probe-position calculating unit calculates a position of the probe of the robot in operation. The contact detecting unit detects a contact state of the probe with the object. When the contact state of the probe is detected, the contact-position calculating unit derives the contact position based on a calculated position of the probe.
摘要翻译：用于检测机器人与物体接触的接触位置的装置包括探针，探针位置计算单元，接触检测单元和接触位置计算单元。探针附接到机器人，并且被配置为使得能够以弹性方式与物体接触的方向发生位移。探测位置计算单元计算操作中的机器人的探头的位置。接触检测单元检测探头与物体的接触状态。当检测到探针的接触状态时，接触位置计算单元基于计算出的探针的位置导出接触位置。

2. 发明授权

US08712589B2 System and method for judging success or failure of work of robot 失效
标题翻译：用于判断机器人工作成功或失败的系统和方法
公开(公告)号：US08712589B2
公开(公告)日：2014-04-29
申请号：US13042478
申请日：2011-03-08
申请人： Hideo Nagata , Yasuyuki Inoue , Yosuke Kamiya
发明人： Hideo Nagata , Yasuyuki Inoue , Yosuke Kamiya
IPC分类号： G05B15/00 , G05B19/18
CPC分类号： B25J9/1633 , G05B19/401
摘要： A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success/failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit. The work success/failure judging unit judges the predetermined work to be successful when the calculated contact position is within a predetermined range and judges the predetermined work to be failed when the calculated contact position is not within the predetermined range.
摘要翻译：用于判断机器人的作业的成败的系统包括位置指令生成单元，接触位置检测单元和作业成功/失败判定单元。位置指令生成部生成能够使机器人的指尖运动的位置指令，使安装在机器人的指尖上并具有弹性变形区域的位置姿势检测部与预定位置接触在通过机器人对工作目标进行预定工作之后与工作目标相关。接触位置检测单元基于施加到指尖的外力的值和位置上的位置来计算作为与所述预定位置接触时的位置和姿势检测单元的末端的位置的接触位置位置姿势检测单元的末端。当所计算的接触位置在预定范围内时，工作成功/失败判断单元判定预定的工作成功，并且当所计算的接触位置不在预定范围内时，判定预定工作失败。

3. 发明申请

US20110270444A1 SYSTEM AND METHOD FOR JUDGING SUCCESS OR FAILURE OF WORK OF ROBOT 失效
标题翻译：用于判断机器人成功或失败的系统和方法
公开(公告)号：US20110270444A1
公开(公告)日：2011-11-03
申请号：US13042478
申请日：2011-03-08
申请人： Hideo NAGATA , Yasuyuki Inoue , Yosuke Kamiya
发明人： Hideo NAGATA , Yasuyuki Inoue , Yosuke Kamiya
IPC分类号： B25J13/08
CPC分类号： B25J9/1633 , G05B19/401
摘要： A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success/failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit. The work success/failure judging unit judges the predetermined work to be successful when the calculated contact position is within a predetermined range and judges the predetermined work to be failed when the calculated contact position is not within the predetermined range.
摘要翻译：用于判断机器人的作业的成败的系统包括位置指令生成单元，接触位置检测单元和作业成功/失败判定单元。位置指令生成部生成能够使机器人的指尖运动的位置指令，使安装在机器人的指尖上并具有弹性变形区域的位置姿势检测部与预定位置接触在通过机器人对工作目标进行预定工作之后与工作目标相关。接触位置检测单元基于施加到指尖的外力的值和位置上的位置来计算作为与所述预定位置接触时的位置和姿势检测单元的末端的位置的接触位置位置姿势检测单元的末端。当所计算的接触位置在预定范围内时，工作成功/失败判断单元判定预定的工作成功，并且当所计算的接触位置不在预定范围内时，判定预定工作失败。

4. 发明授权

US09822832B2 Disc brake device 有权
公开(公告)号：US09822832B2
公开(公告)日：2017-11-21
申请号：US14786393
申请日：2014-04-24
申请人： Yuichi Takeo , Yoshitaka Ishimaru , Yosuke Kamiya , Yohei Komizo
发明人： Yuichi Takeo , Yoshitaka Ishimaru , Yosuke Kamiya , Yohei Komizo
IPC分类号： F16D65/097 , F16D55/2265 , F16D55/226
CPC分类号： F16D65/0972 , F16D55/226 , F16D55/2265
摘要： A disc brake device includes flat springs assembled in a support body and holding the brake pad back plates. The flat springs have a C-shaped part provided with: a connection surface part comprising a pad-receiving surface part; an outer circumferential surface part extending along the rotor circumferential direction from the end region of the connection surface part in the rotor radially outward direction; and an inner circumferential surface part extending along the rotor circumferential direction from the end region of the connection surface part in the rotor radially inward direction. Each flat spring also has a tongue-shaped part that: extends towards the connection surface part from the tip region of the inner circumferential surface part in the rotor circumferential direction; elastically engages an inner circumferential wall of a recess at a tip region of the tongue-shaped part; and biases the pad-receiving surface part towards a base wall of the recess.

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