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公开(公告)号：JPH10235526A
公开(公告)日：1998-09-08
申请号：JP4184897
申请日：1997-02-26
Applicant: KUBOTA KK
Inventor： MATSUBARA KAZUAKI , KUROMI AKISHI
Abstract: PROBLEM TO BE SOLVED: To enable an oscillating arm to be constantly stopped at each desired position, and avoid a bad condition at the time when dispersion in the stopping position of the oscillating arm is generated, namely the bad condition where the stopping position is brought excessively close to an article supply part side for the tip of an article takeoff part to collide with the article supply part. SOLUTION: Article takeoff parts 3 are provided on the oscillating end parts of an oscillating arm 5 swingably supported on a supporting member 26, a position detecting means 45 for detecting that the oscillating arm 5 is stopped at each target stopping position on the article supply part 35A side and the article receiving part side, and a control means for controlling the oscillating arm 5 and the article takeoff parts 3 are provided, and an elastic stopper 41 for stopping the operation of the oscillating arm 5 when the position detecting means 45 detects that the oscillating arm 5 is stopped at each target stopping position, and for receiving and supporting the oscillating arm 5 positioned at the target stopping position, is provided.
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公开(公告)号：JPH1025014A
公开(公告)日：1998-01-27
申请号：JP17884296
申请日：1996-07-09
Applicant: KUBOTA KK
Inventor： MATSUBARA KAZUAKI , IWAMI KENICHI
Abstract: PROBLEM TO BE SOLVED: To enable any spherical vegetable to be securely transported by making it possible to hold the spherical vegetable stably by means of a vegetable receiving part. SOLUTION: In a belt conveyer for transporting spherical vegetables to a processing unit 2 side by holding the spherical vegetable by means of a vegetable holding part 6 provided on a conveyer transport surface 10a, the vegetable holding part 6 is constituted by projecting, plural vegetable receiving bodies 7 in divided annular shape in a plan view on the conveyer transport surface and the vegetable receiving part 7a of each vegetable receiving body 7 is so constituted as being freely retreating elastically in the radially outside direction in compliance with fitting of the spherical vegetable.
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公开(公告)号：JPH1024906A
公开(公告)日：1998-01-27
申请号：JP17883696
申请日：1996-07-09
Applicant: KUBOTA KK
Inventor： KUROMI AKISHI , MATSUBARA KAZUAKI , IWAMI KENICHI , IWAKAWA TAKASHI
Abstract: PROBLEM TO BE SOLVED: To make work easier for a worker. SOLUTION: Packaging equipment 2 for packaging a globular vegetable and vegetable feeding equipment 4 for feeding the globular vegetable to this packaging equipment 2 are provided and as to the composition of this vegetable feeding equipment 4, a plurality of finger parts 16 for holding the globular vegetable and a pushing body 44 for pushing the globular vegetable held by the finger part 16 to a vegetable receiving part 8 of the packaging equipment 2 in a state in which the globular vegetable is held are supported by a supporting member 15. A control means for controlling the finger part 16 and the pushing body 44 are provided so that the pushing body 44 pushes out the globular vegetable while the finger part 16 is decreasing its holding power or after its holding power is decreased to a predetermined value.
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公开(公告)号：JPH08336788A
公开(公告)日：1996-12-24
申请号：JP14278895
申请日：1995-06-09
Applicant: KUBOTA KK
Inventor： KUROMI AKISHI , MATSUBARA KAZUAKI
Abstract: PURPOSE: To provide a robot hand of excellent workability that can feed a gripped object correctly into a target position on the gripped object receiving side even in the case a space around the target position on the gripped object receiving side is narrow being surrounded by other material. CONSTITUTION: A plurarity of finger forming bodies 1 are dispersedly arranged around a support member 2, and each base end part is supported on the support member 2. Each finger forming body 1 is so constituted as to be switched in a grip attitude of being bent to the web side and a grip release attitude of being reset-extended onto the back side. The support member 2 is provided with gripped object push-out mechanism A for holding a gripped object gripped by each finger forming body 1 and pushing it out to the outside of the tip of each finger forming body 1 so as to feed it into a target position on the gripped object receiving side.
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公开(公告)号：JPH10249774A
公开(公告)日：1998-09-22
申请号：JP5584997
申请日：1997-03-11
Applicant: KUBOTA KK
Inventor： MATSUBARA KAZUAKI
Abstract: PROBLEM TO BE SOLVED: To provide a robot hand finger with excellent durability. SOLUTION: For a robot hand finger, a hollow bag shaped figer former A with the base end open is molded of elastic resin and bent and deformed in the held condition with the supply pressure of fluid from a fluid supply part into a hollow part to be elastically recovered in the not-held condition with the discharge of the fluid while the base end is supported by a supporting member. The finger former A has plural finger former sections 10, 11 parted in the longitudinal direction to be molded for every section, the finger former sections 10, 11 neighboring each other being connected in communication.
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Patent Agency Ranking
公开(公告)号：JPH10175604A
公开(公告)日：1998-06-30
申请号：JP33791696
申请日：1996-12-18
Applicant: KUBOTA KK
Inventor： KUROMI AKISHI , MATSUBARA KAZUAKI , IWAMI KENICHI
Abstract: PROBLEM TO BE SOLVED: To make equipment small in size, to simplify its structure and to make its driving part with less output than a conventional one. SOLUTION: An article fetching part 16 is provided at the swing end side of a swinging arm 40. An attitude keeping mechanism 42 for the article fetching part 16 is so provided that the article fetching part 16 travels back and forth between the first position and the second position in a predetermined attitude. The attitude keeping mechanism 42 is so structured that a supporting shaft 47 integrally provided on the article fetching part 16 is supported by the swing end part of the swinging arm 40 freely rotatable around the supporting shaft center P in an attitude in which the same is parallel to the swinging shaft center O of the swinging arm 40. An endless body 51 is made in a nonslip condition covering the first winding member 48 provided integrally and freely rotatable on the supporting shaft 47 in a condition in which the shaft center is positioned on the supporting shaft center P and the second winding member 49 position fixed at a supporting part 39 in a condition in which the shaft center is positioned on the swinging shaft center O.
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公开(公告)号：JPH1034584A
公开(公告)日：1998-02-10
申请号：JP19436696
申请日：1996-07-24
Applicant: KUBOTA KK
Inventor： KUROMI AKISHI , MATSUBARA KAZUAKI
Abstract: PROBLEM TO BE SOLVED: To provide a feed-in device for a spherical vegetable which can be used even for a treating device such as a packaging device necessary for feeding the spherical vegetable in a squeezed condition. SOLUTION: This device is constituted such that a fluid pressure cylinder 7 provided with a vegetable extruding unit 8 in a protruded end part of a piston rod 8 is supported by a support member, and, in a support part 15B integrally formed in a cylinder tube 15A of the fluid pressure cylinder 7, a base end side of a plurality of clamp units 16 holding a spherical vegetable is support connected in a condition dispersedly positioned around a cylinder axial center, and the spherical vegetable clamped by the clamp unit 16, left as in the clamped condition, is extruded to a vegetable receiving part of a vegetable processor by the vegetable extruding unit 9.
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公开(公告)号：JPH1029187A
公开(公告)日：1998-02-03
申请号：JP18304996
申请日：1996-07-12
Applicant: KUBOTA KK
Inventor： IWAMI KENICHI , MATSUBARA KAZUAKI , KUROMI AKISHI
Abstract: PROBLEM TO BE SOLVED: To simplify structure and control for changing the position of an article takeout part, to reduce a manufacturing cost. SOLUTION: In this constitution, an article takeout part supporting member 15 is made so that it can reciprocatively oscillating between first and second positions A and B on both the sides of a virtual line L with an attitude in parallel to the virtual line L kept following the oscillation of an oscillation arm 14, by pivotally connecting separately one end side and another side of an article takeout part supporting member 15 to the oscillation end part of the oscillation arm 14 supported oscillation freely around a first oscillation axis core X, and the oscillation end part of an auxiliary oscillation arm 18 supported oscillation-freely around a second oscillation axis core Y. A position sensor for detecting the position of the oscillation arm 14 is provided, and a controlling means is provided which is stopping oscillation arm 14 so that it can not be overlapped with the virtual line L based on the detection information of the position sensor in switching the supporting member 15 in oscillation to a standby condition.
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公开(公告)号：JPH1015871A
公开(公告)日：1998-01-20
申请号：JP17929096
申请日：1996-07-09
Applicant: KUBOTA KK
Inventor： MATSUBARA KAZUAKI , KUROMI AKISHI
IPC: B25J15/08
Abstract: PROBLEM TO BE SOLVED: To provide a finger for robot hand which can grasp and bend a finger forming body easily, even when the pressure of a fluid from a fluid feeding part is increased. SOLUTION: A finger forming body is formed of a tubular soft material whose base end is opened and play end is blocked, and at the middle parts in the longitudinal direction of the finger forming body, bellows 16a to permit the finger forming body to bend to the belly side are formed, and while reinforcing threads 19 to block the expansion of the bellows 16a are wound on the bellows 16a of the finger forming body, grooves for thread 40 to sink the reinforcing threads 19 are formed at the belly side of the finger forming body.
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公开(公告)号：JPH08282623A
公开(公告)日：1996-10-29
申请号：JP9465795
申请日：1995-04-20
Applicant: KUBOTA KK
Inventor： MATSUFUJI HIDETO , YASUMATSU MAMORU , MATSUBARA KAZUAKI , ITO TSUKASA
IPC: B65B25/04
Abstract: PURPOSE: To save the labor for an attitude changing work when the attitude is changed between an open state wherein leaf vegetables can be received and a squeezed state wherein the leaf vegetables are pressed forcibly such as being gathered, and improve the workability. CONSTITUTION: By providing a receiving table 4 of which the attitude can be freely changed between an open state wherein leaf vegetables can be received, and a squeezed state wherein the leaf vegetables are pressed forcibly such as being gathered, and a storage bag 27 for the leaf vegetables is constituted in such a manner that the storage bag 27 can be covered on the receiving table 4 under the squeezed state. Then, after covering the receiving table 4 with the storage bag 27, the receiving table 4 only is relatively pulled out to package leaf vegetables. For such a packaging device for leaf vegetables, the receiving table 4 is provided movably along a specified path. Then, an attitude setting mechanism which sets the receiving table 4 under an open state at a first specified location on the specified path, and sets the receiving table under a squeezed state at a second specified location respectively is provided.
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