Life Robotics Inc.

National Institute of Advanced Industrial Science and Technology

Yoshinoya Holdings Co., Ltd.

Fanuc Corporation

Life Robotics R.e.d Inc.

Kawabuchi Mechanical Engineering Laboratory, Inc.

Woo-Keun Yoon

Hiroaki Matsuda

Ichiro Kawabuchi

Daisuke Kanda

Shigeru Haruki

Tetsuo Kotoku

A proximity sensor apparatus has a detection electrode that forms an electrostatic capacitance between the detection electrode and an object to be detected. The detection electrode is fitted to an electrode base plate. The detection section detects electrostatic capacitance based on output of the detection electrode. The electrode base plate is supported by a push-button switch. When the object to be detected approaches the detection electrode, the electrostatic capacitance changes. Approach of the object to be detected can be detected by a change in electrostatic capacitance. When the object to be detected contacts the detection electrode, the push-button switch is turned on. The push-button switch is turned on, and thereby contact of the object to be detected can be detected.

Proximity sensor apparatus and robot arm mechanism

A robot arm mechanism has a plurality of link sections. The plurality of link sections are connected by a plurality of joints. Each of the link sections is provided with a plurality of photoelectric sensors. The photoelectric sensor is constituted of a light projecting section and a light receiving section. The light projecting section is installed at one end of the link section. The light receiving section is installed at the other end of the link section. On an outside of the link section, an optical path reaching the light receiving section from the light projecting section is positioned. Approach of a worker to the link section can be detected by the optical path of any of the photoelectric sensors being cut off.

Robot arm mechanism

A dishwashing system includes: a dishwasher that washes tableware contained in a dishwashing rack, inside a washing chamber; a carry-in stand for placing the dishwashing rack that is to be carried into the washing chamber on; a carry-out stand for placing the dishwashing rack that is carried out from the washing chamber on; and a robot device including a robot arm mechanism. The carry-in stand and the dishwasher are arranged within a movable range of the robot arm mechanism. The robot arm mechanism transfers the dishwashing rack from the carry-in stand to the washing chamber, and also operates the dishwasher.

Dishwashing system

A linear extension and retraction mechanism that is mounted in a robot arm mechanism includes: a plurality of first pieces having a flat plate shape which are bendably connected to each other at front and rear end faces; a plurality of second pieces having a groove shape which are bendably connected to each other at front and rear end faces of a bottom part, with the first and second pieces becoming linearly rigid when superposed, and the first and second pieces returning to a bent state when separated from each other; a head section which joins a leading first piece of the plurality of first pieces and a leading second piece of the plurality of second pieces; and a sending-out mechanism section including a plurality of rollers and for firmly superposing the first and second pieces and supporting the first and second pieces movably to front and rear. At least one groove section that extends from front to rear is formed in the surfaces of the first and second pieces that contact the rollers.

Linear extension and retraction mechanism

A robot arm mechanism capable of structurally eliminating or reducing a singular point posture within a movable range has a plurality of joints. The first joint is a rotational joint that rotates on a first axis, a second joint is a rotational joint that rotates on a second axis, and a third joint is a linear motion joint that moves along a third axis. The first joint, the second joint and the third joint are arranged in order from a base. The first joint is arranged so that the first axis is perpendicular to the base. The second joint is offset with respect to the first joint in a direction (Z axis direction) of the first axis and a direction (Y axis direction) perpendicular to the first axis.

A dishwashing system includes: a conveyor-type dishwasher that washes tableware in a washing machine main body while conveying the tableware by means of a conveyor; a robot device having a robot arm mechanism that is installed in the vicinity of a picking area outside of the washing machine main body in order to pick up tableware that is conveyed to the picking area by conveyors, and to transfer the tableware to a stock area; and a control device that generates an enabling signal relating to operations of the conveyors with respect to the dishwasher.

Dishwashing system and robot device

A linear extension and retraction mechanism includes a plurality of first pieces shaped like a plate and coupled bendably with one another by first hinge sections, and a plurality of second pieces C-shaped or hollow square-shaped in transverse section. Each of the first hinge sections is made up of a shaft, columnar in shape, and bearing sections for the shaft, the bearing sections being provided on front and rear ends of each of the first pieces. A flange, non-circular in shape, is provided at a rear end of the shaft. A receiving section shaped as a recess and configured to accommodate a shape of the flange is provided in the bearing section at the front or rear end of the first piece. The flange is fitted in the receiving section.

Linear extension and retraction mechanism and robot arm mechanism

A linear extension and retraction mechanism includes a plurality of flat-plate shaped first pieces that are connected to each other, and a plurality of second pieces having a cross-sectional U-shaped groove frame shape that are connected to each other. A leading first piece of the plurality of first pieces and a leading second piece of the plurality of second pieces are joined by a head section. The first and second pieces become linearly rigid when the first pieces are joined to an upper part of the second pieces, and the first and second pieces return to a bent state when separated from each other. Protrusion sections that protrude inward are extended in the width direction in a bottom plate of each second piece. Corners of edge parts of the protrusion sections are chamfered.

Linear extension and retraction mechanism, and robot arm mechanism equipped with same

An up/down sectionof a robot arm mechanism includes: a pair of side frames disposed on a rotating section of a turning rotary joint; a cylindrical body supported in an axially rotatable manner by the side frames; a motor unit including a motor and a gearbox for rotationally driving the cylindrical body; connecting sections for connecting with an arm support body that movably supports an arm section; and a guide structure for guiding second pieces that were separated from first pieces into a columnar support section. The motor unit, connecting sections and guide structure are integrated with the cylindrical body. The motor unit is housed inside the cylindrical body, and an output shaft of the motor unit is connected to one of the side frames. The connecting sections are fixed to the outer circumferential surface of the cylindrical body. The guide structure is an annular body provided on the outer circumferential surface of the cylindrical body.

Robot arm mechanism and rotary joint apparatus

A robot arm mechanism is capable of preventing a first piece string from colliding with a support column inner wall in the robot arm mechanism having a linear extension and retraction joint. The robot arm mechanism includes a plurality of first pieces that are connected in a string shape and a plurality of second pieces that are connected in a string shape, a feed mechanism section that supports the first and second strings movably forward and backward, a storage section in a square cylinder shape that stores the first pieces and the second pieces, and a guide that guides reciprocating movement of the first pieces between the feed mechanism section and the storage section from outside of the first pieces. The guide has a plurality of guide pieces that are connected bendably in mutual front and rear end surfaces to deform in accordance with rising and lowering movement of a rising and lowering rotation joint, and the guide hangs into the storage section from a tip position where the guide is fixed to the feed mechanism section.

A linear extension and retraction mechanism has a plurality of flat-plate shaped first connection pieces and a plurality of grooved-frame shaped second connection pieces. Each of the first connection pieces is bendably connected at front and rear end surfaces to adjacent first connection pieces. Each of the second connection pieces is bendably connected at bottom front and rear end surfaces to adjacent second connection pieces. The first and second connection pieces become linearly rigid when overlapped together, and the first and second connection pieces return to a bent state when separated from each other. A cushion member is mounted on the front end surface of each first connection piece to cushion a shock of a collision between end surfaces of the first connection pieces. A slot section for fitting the cushion member is provided in the front end surface of each first connection piece.

A stable extension and retraction motion is realized in a robot arm mechanism including a linear extension and retraction joint. In the robot arm mechanism including the linear extension and retraction joint, the linear a extension and retraction joint includes an arm section, and an ejection section for supporting the arm section. The arm section includes a first connection piece string and a second connection piece string. The first connection piece string includes a plurality of first connection pieces. The second connection piece string includes a plurality of second connection pieces each having a substantially flat plate shape. The first connection piece string is joined to the second connection piece string to thereby constitute a columnar body. The columnar body is sent out forward from the ejection section. A guide roller for guiding the second connection piece string to the ejection section and keeping an engaged state of a linear gear provided on the second connection piece and a drive gear is provided behind the ejection section.

A robot arm mechanism has a plurality of joints. Of the plural joints, a first joint is a rotational joint that rotates on a first axis, a second joint is a rotational joint that rotates on a second axis, and a third joint is a linear motion joint that moves along a third axis. The second axis is perpendicular to the first axis and is a first distance away from the first axis. The third axis is perpendicular to the second axis and is a second distance away from the second axis.

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Tokyo, Japan

Woo-Keun Yoon