| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 121 | GRASPING METHOD BY GRASPING APPARATUS | US14410865 | 2013-06-10 | US20150190929A1 | 2015-07-09 | Hirofumi Matsuoka |
| A grasping method by a grasping apparatus that is provided with a grasping portion that has a plurality of pawl portions, and a plurality of contact portions that are provided on portions of the plurality of pawl portions, which contact a workpiece, and that are able to be hardened, includes conforming the contact portions to an outer shape of a master workpiece that has an outer shape that is able to deform the contact portions to a shape for positioning the workpiece (STEP-02); hardening the contact portions in a state conformed to the outer shape of the master workpiece (STEP-03); positioning the workpiece by pushing the workpiece with the contact portions having the shape for positioning the workpiece (STEP-04); and grasping the positioned workpiece with the grasping portion by hardening the contact portions while keeping the contact portions in the shape conformed to the outer shape of the workpiece (STEP-06 and STEP-07). | ||||||
| 122 | Gripper of robot and method for controlling the same | US13846902 | 2013-03-18 | US08903550B2 | 2014-12-02 | Seok Won Lee; Woo Sung Yang |
| A robot gripper is provided comprising two robot arms, upper contact parts, and lower contact parts disposed at the ends of each of the two robot arms. The upper and lower contact parts are in contact with a top and a bottom of an article when gripping the article, The upper and lower contact parts are semispherical shaped and have predetermined radii. Sensor units are mounted on the upper contact parts and the lower contact parts. The sensor units measure vertical or horizontal forces applied to the upper contact parts or the lower contact parts when gripping the article. A control unit configured to determine whether the center of gravity of the article is located at a center position between the ends of the arms using vertical and horizontal distances between the ends of the arms and vertical components of the forces measured by the sensor units when gripping the article is provided. | ||||||
| 123 | Gripper device for transporting racks | US13469211 | 2012-05-11 | US08752873B2 | 2014-06-17 | Midhat Hajrovic |
| The present invention relates to a gripper device for transporting a rack (3) for microscope slides (4), in particular in systems for preparing tissue samples for histological examinations, the gripper device having a gripping mechanism including a pair of gripping arms (2), whose ends are configured as gripping sections (7) for gripping the rack. In order to provide a gripper device which can be used in a versatile manner in automated stainers and coverslippers and contributes to reducing the cost of manufacture, it is proposed that the gripping sections (7) be provided with first profiles (17) for gripping the rack (3) in a vertical position and second profiles (18) for gripping the rack (3) in a horizontal position. | ||||||
| 124 | ROBOT HAND AND ROBOT | US14109857 | 2013-12-17 | US20140102239A1 | 2014-04-17 | Makoto UMENO |
| A robot hand includes a pair of bits and holds a microtube by causing the pair of bits to perform an opening-closing operation. The pair of bits has a lug that comes into contact with an outer peripheral surface of a container body or a cap portion of the microtube, and a rectangular recess in which parts of the cap portion and a flange of the microtube are inserted while the lug is in contact with an outer peripheral surface of the microtube. The rectangular recess includes surfaces between which the cap portion and the flange are disposed. The pair of bits is closed while a corner of the rectangular recess is in contact with the outer peripheral surface of the container body to retain the microtube in an orientation different from that in the state in which the cap portion is inserted in the rectangular recess. | ||||||
| 125 | ROBOT SYSTEM AND METHOD FOR MANUFACTURING FITTING | US13761156 | 2013-02-07 | US20130345848A1 | 2013-12-26 | Tetsuro IZUMI; Yukio HASHIGUCHI; Takuya FUKUDA; Ryoichi NAGAI |
| In this robot system, a control portion includes a workpiece supporting operation command portion, a workpiece positioning operation command portion causing a second robot arm to move a workpiece toward a workpiece fitted portion while causing an end effector of the second robot arm to support the workpiece, and a fitting operation command portion causing a first robot arm to fit the workpiece into the workpiece fitted portion. | ||||||
| 126 | CLAMP SUITABLE FOR GRIPPING A BIOLOGICAL SAMPLE HOLDER, ASSEMBLY CONSISTING OF A BIOLOGICAL SAMPLE HOLDER AND A SUITABLE CLAMP, AND TREATMENT AND/OR ANALYSIS MACHINE | US12996580 | 2009-01-05 | US20110150611A1 | 2011-06-23 | Michel Philippon; Sébastien Bernay |
| A machine for treatment and/or analysis of biological samples, including a hinged arm to which a clamp for gripping a first biological sample holder is fixed. The clamp including first and second arms able to move relative to each other along a gripping position between a first position of gripping the first biological sample holder, and a first position of releasing the biological sample holder.Each arm of the clamp includes a groove. When the first and second arms are in the first position of release, the first and second grooves are spaced away from each other along the gripping direction, and when the first and second arms are in the first gripping position, the first and second grooves are brought closer to each other along the gripping direction, so as to be able to receive lateral edges of the first biological sample holder, so as to grip it by squeezing the lateral edges along the gripping direction. | ||||||
| 127 | ロール鍛造機とそのロール鍛造方法 | JP2017566372 | 2016-06-14 | JP2018528862A | 2018-10-04 | 越智 俊夫; ベルグラー−バルチ,クラウス; フリッツ,ラインハルト |
| 【課題】2台の搬送装置から交互に被成形材料を一対のロール金型に供給し、型成形加工を連続して行って生産効率の向上を図るロール鍛造機とそのロール鍛造方法の提供。 【解決手段】本発明のロール鍛造機は、駆動体により回転する一対のロール駆動軸3、5に設けられ、ロール鍛造による型成形を行うための複数の成形型を有する一対のロール金型4、6と、被成形材料に型成形を行う位置、受取位置、搬出位置に移動させるための搬送装置とからなる。搬送装置は、型成形位置に対応する直線状の成形用移動経路51と、成形用移動経路に対して一方の側に離れている第1退避経路52とを含むロ字状の第1移動経路50A上をロボットハンドが移動する第1ロボット10と、成形用移動経路51と、成形用移動経路に対して他方の側に離れている第2退避経路53とを含むロ字状の第2移動経路50B上をロボットハンドが移動する第2ロボット30とからなる。 【選択図】図1 |
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| 128 | ロボットグリッパー及びその制御方法 | JP2013196734 | 2013-09-24 | JP6313559B2 | 2018-04-18 | イ、ソク、ウォン; ヤン、ウ、ソン |
| 129 | 物品支持装置 | JP2014045125 | 2014-03-07 | JP6171984B2 | 2017-08-02 | 和田 吉成; 衣川 知孝 |
| 130 | ツイングリッパー | JP2016528020 | 2014-11-10 | JP2016538141A | 2016-12-08 | ラトゥンデ，ウーリッヒ |
| 本発明は、第1の軸受手段(6a)およびさらなる第1の軸受手段(6b)を有する第1の取付台(6)、ならびに、第2の軸受手段(7a)およびさらなる第2の軸受手段(7b)を有する第2の取付台(7)を有する、2つの丸形材部分(2、3)を同時に把持するためのツイングリッパー(1)であって、第1の軸受手段(6a)および第2の軸受手段(7a)は、固定位置において互いに接続され、第1のさらなる軸受手段(6b)および第2のさらなる軸受手段(7b)は弾力的に互いに接続され、2つの軸受手段(6a、7a)を、2つのさらなる軸受手段(6b、7b)との関連で変位方向(V)に前後に変位させることができる、ツイングリッパー(1)に関する。【選択図】図6 | ||||||
| 131 | 液体処理システム及び液体処理方法 | JP2011143457 | 2011-06-28 | JP5890623B2 | 2016-03-22 | 梅野 真; 新井 輝康 |
| 132 | ロボットハンド及びロボット | JP2013522901 | 2012-06-27 | JP5776772B2 | 2015-09-09 | 梅野 真 |
| 133 | ロボットハンド及びロボット | JP2013522901 | 2012-06-27 | JPWO2013002269A1 | 2015-02-23 | 梅野 真; 真 梅野 |
| 本発明のロボットハンドは、一対のビット(64)を開閉動作させてマイクロチューブ(19)を把持するロボットハンドであって、前記開閉動作によりマイクロチューブ(19)の容器本体部(19a)の外周面若しくはマイクロチューブ(19)の蓋部(19b)の外周面に当接する爪部(71)と、爪部(71)がマイクロチューブ(19)の外周面に当接している状態で蓋部(19b)の一部及びフランジ部(19d)の一部がともに挿入される矩形凹部(70)と、を備え、矩形凹部(70)は、蓋部(19b)とフランジ部(19d)とを間に挟む一対の面を有して矩形状に形成されており、矩形凹部(70)の角を容器本体部(19a)の外周面に当接させた状態で一対のビット(64)が閉じられることにより、蓋部(19b)が矩形凹部(70)内に挿入されている姿勢とは異なる姿勢でマイクロチューブ(19)を保持することを特徴とする。 | ||||||
| 134 | Robot gripper and robot gripper control method | JP2013196734 | 2013-09-24 | JP2014128869A | 2014-07-10 | LEE SEOK WON; YANG WOO SUNG |
| PROBLEM TO BE SOLVED: To provide a robot gripper capable of discriminating whether an unknown object is safe if the unknown object is operated, and a robot gripper control method.SOLUTION: A robot gripper and a robot gripper control method are introduced. The robot gripper comprises: an upper contact portion and a lower contact portion provided on ends 100' and 200' of two arms 100 and 200 of a robot, respectively, contacting an upper surface and a lower surface of a heavy object at a time of gripping the heavy object, respectively, and each formed into a sphere having a constant radius; sensors provided in the upper contact portion and the lower contact portion, respectively, and each measuring a pressing force in a perpendicular direction or a horizontal direction applied to the upper contact portion or the lower contact portion when the heavy object is gripped; and control unit 700 determining whether a center of gravity of the heavy object 10 is at a center between the ends 100' and 200' of the two arms using separating distances between the ends 100' and 200' of the two arms in the perpendicular direction and the horizontal direction when the heavy object 10 is gripped and pressing force components in the perpendicular direction measured by the respective sensors. | ||||||
| 135 | Holding method by holding device | JP2012147893 | 2012-06-29 | JP2014008583A | 2014-01-20 | MATSUOKA HIROSHI |
| PROBLEM TO BE SOLVED: To provide a holding method by a holding device for accurately positioning a work by the holding device having an abutting part which can deform in accordance with a shape of the work by hardening and softening.SOLUTION: A holding method includes: a process of copying an outer surface shape of a master work 60 to an abutting part 6 by using the master work 60 having the outer surface shape enabling the abutting part 6 to deform into a shape (that is, a positioning shape) suitable for positioning of a work 50 (STEP-02); a process of hardening the abutting part 6 in a deformed state into the positioning shape (STEP-03); a process of positioning the work 50 by pressing the work 50 by the abutting part 6 of the positioning shape (that is, having a positioning part 6f) (STEP-04); and processes of holding the positioned work 50 by a holding part 2 ((STEP-06) and (STEP-07)). | ||||||
| 136 | Liquid treatment system, and liquid treatment method | JP2011143457 | 2011-06-28 | JP2013009618A | 2013-01-17 | UMENO MAKOTO; ARAI TERUYASU |
| PROBLEM TO BE SOLVED: To provide a liquid treatment system 1 for performing a high-precision treatment by a simple constitution and a liquid treatment method.SOLUTION: The liquid treatment system 1 for treating a liquid biological material includes a trunk part 41 that is arranged rotatably around a shaft line set in a prescribed operation space, a first arm part 45L that is mounted on the trunk part 41 and has a degree of freedom of at least three or more, a second arm part 45R that is mounted on the trunk part 41 and has a degree of freedom of at least three or more, a drive means 75 for operating the trunk part 41, the first arm part 45L and the second arm part 45R, and a physical and chemical device 10 that is arranged in the operation space and in a movable range of at least either one of the first arm part 45L and the second arm part 45R. The drive means 75 is operated by a teaching playback based on the position and shape of the physical and chemical device 10 to treat a biological material using the physical and chemical device 10. | ||||||
| 137 | Holding device for moving rack | JP2012109980 | 2012-05-11 | JP2012242386A | 2012-12-10 | MIDHAT HAJROVIC |
| PROBLEM TO BE SOLVED: To provide a holding device which moves a rack (3) for a sample slide (4) in a system for preparing a tissue sample for a histological inspection in particular, provided with holding mechanism configured by including a pair of holding arms (2) with an end part configured as a holding part (7) for holding the rack, can diversely be used in an automatic dyeing device and an automatic enclosing device, and contributes to the reduction of a manufacturing cost.SOLUTION: The holding part (7) has a first shape part for holding the rack (3) in a horizontal state, and a second shape part for holding the rack (3) in a vertical state. | ||||||
| 138 | Gripping device and method for controlling the same | JP2011014598 | 2011-01-26 | JP2012152860A | 2012-08-16 | MATSUOKA HIROSHI |
| PROBLEM TO BE SOLVED: To provide a gripping device that can stably grip a plurality of kinds of workpieces having different shapes and extend lives of contact members to be longer than those of conventional products, and to provide a controlling method thereof.SOLUTION: The gripping device 1 includes: a gripping section 2 for gripping a workpiece 50; a control device 7 for controlling the gripping operation; and contact members 6 attached to the portions of the gripping section 2 which make contact with the workpiece 50 and is adapted to be deformed following the shape of the workpiece 50, and to be able to maintain the deformation. In the gripping device, the gripping operation of the gripping section 2 presses the contact members 6 against the workpiece 50 to make the contact members follow the contour of the workpiece 50, and grips the workpiece 50 with the shape of the contact members 6 maintained. For each cycle of a predetermined number of times of gripping operation, the control device 7 changes positions of the points of the contact of the contact members 6 with the workpiece 50 when the workpiece 50 is gripped. | ||||||
| 139 | Battery handling device | JP2001176547 | 2001-06-12 | JP2002370187A | 2002-12-24 | MATSUSHIMA HIDEKI |
| PROBLEM TO BE SOLVED: To reduce a manufacturing cost of a battery handling device, and to shorten manufacturing time of batteries. SOLUTION: This battery handling device is provided with a device body part 3 supported by a prescribed support part 2, a pair of movable parts 4 and 4 movably supported in the mutually separating-contacting direction by the device body part, and a pair of handling members 5 and 5 for sandwiching and gripping the batteries 100, (200, and 300) from both sides, and respectively installed in the pair of movable parts. A plurality of sandwiching recessed parts 8, 8, 9, and 9 for respectively and separately sandwiching a plurality of batteries different in a shape are formed in the handling members. COPYRIGHT: (C)2003,JPO | ||||||
| 140 | GRASPING METHOD BY GRASPING APPARATUS | PCT/IB2013001207 | 2013-06-10 | WO2014001866A2 | 2014-01-03 | MATSUOKA HIROFUMI |
| A grasping method by a grasping apparatus that is provided with a grasping portion that has a plurality of pawl portions, and a plurality of contact portions that are provided on portions of the plurality of pawl portions, which contact a workpiece, and that are able to be hardened, includes conforming the contact portions to an outer shape of a master workpiece that has an outer shape that is able to deform the contact portions to a shape for positioning the workpiece (STEP-02); hardening the contact portions in a state conformed to the outer shape of the master workpiece (STEP-03); positioning the workpiece by pushing the workpiece with the contact portions having the shape for positioning the workpiece (STEP-04); and grasping the positioned workpiece with the grasping portion by hardening the contact portions while keeping the contact portions in the shape conformed to the outer shape of the workpiece (STEP-06 and STEP-07). | ||||||
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