Canon Kabushiki Kaisha

Takao Komiya

Shojiro Danmoto

Fumio Kanno

Sumiyoshi Ito

Masaki Machino

Mitsuo Minomiya

A hand apparatus of a robot includes fingers for clamping a first workpiece and inserting a second workpiece into the first workpiece, a compliance device disposed between an arm of the robot and the fingers, and a calculator for determining shifting information between the first and second workpieces. A memory memorizes design information associated with the insertion operation of the first and second workpieces, and the hand apparatus selects whether the compliance device is required or not on the basis of the information provided by the calculator and the memory.

Robot hand structure, and method of selecting hand structure

A hand mechanism for a robot is attached to the distal end of an arm portion of a robot and has independent modules for executing predetermined elementary motions, which modules can be combined with each other in selected arbitrary combinations to attain desired elementary motions. The hand mechanism includes a holder module which includes a fixing member fixed to the arm portion, an attaching plate to be attached to other modules and a coupling mechanism for coupling the fixing member and the attaching plate. The coupling mechanism includes angle an adjustment pin for adjusting the attaching angle of the attaching plate about the arm portion, and a shear pin bolt for releasing a coupling state between the fixing member and the attaching plate upon application of a shock to the hand mechanism.

Hand mechanism for robot

A photosensitive medium for electrophotography comprises an electricaly conductive or a dielectric substrate, a photoconductive layer overlying the substrate, and a transparent dielectric layer overlying the photoconductive layer. The substrate has the entire peripheral portion thereof formed to provide a region uncovered by the photoconductive layer. The transparent dielectric layer is resistant to liquid developer used in electrophotography and may cover the photoconductive layer and the uncovered region of the substrate. Alternatively, the transparent dielectric layer may be secured to the photoconductive layer and the uncovered region of the substrate by the use of an adhesive which is also resistant to the liquid developer.

Growing community of inventors

Ushiku, Japan

Takao Komiya