JP2012148380A - Robot hand device - Google Patents

Robot hand device Download PDF

Info

Publication number
JP2012148380A
JP2012148380A JP2011010011A JP2011010011A JP2012148380A JP 2012148380 A JP2012148380 A JP 2012148380A JP 2011010011 A JP2011010011 A JP 2011010011A JP 2011010011 A JP2011010011 A JP 2011010011A JP 2012148380 A JP2012148380 A JP 2012148380A
Authority
JP
Japan
Prior art keywords
fluid
robot hand
gripping
gel
gripper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2011010011A
Other languages
Japanese (ja)
Other versions
JP5762758B2 (en
Inventor
Motoji Yamamoto
元司 山本
Ken Hachiya
健 八谷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SUNBIT KK
Original Assignee
SUNBIT KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SUNBIT KK filed Critical SUNBIT KK
Priority to JP2011010011A priority Critical patent/JP5762758B2/en
Publication of JP2012148380A publication Critical patent/JP2012148380A/en
Application granted granted Critical
Publication of JP5762758B2 publication Critical patent/JP5762758B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand device capable of holding a soft object without damaging and scratching the soft object.SOLUTION: There is provided the robot hand device including, in apical ends of hands, a pair of holders 1 for holding an object M, a pair of bags 2 each made up of a soft film fixed to a holding surface 1a of each holder 1 so as to cover the holding surface of each of the holders 1, and gelled bodies 3 of fluid filled in the bags 2. When the holders 1 hold the object M, nearly constant surface pressure acts on contact surfaces between the holders 1 and the object M not to produce unequal pressure, thereby enabling the soft object M to be held without damaging and scratching the soft object M.

Description

本発明は、柔軟な対象物を把持することが可能なロボットハンド装置に関する。   The present invention relates to a robot hand device capable of gripping a flexible object.

従来、ロボットにおいて対象物の形状に拘わらず、安定的に把持することが可能なロボットハンド装置の開発がなされている。例えば、特許文献１には、把持対象物を把持するフィンガに、粉体を入れた袋状の粉体ホルダが設けられ、粉体ホルダに流量検出手段、粉体給排手段および封入量制御手段によって適量の粉体を給排することで、把持対象物の安定把持を図るロボットハンドが開示されている。   2. Description of the Related Art Conventionally, a robot hand apparatus that can stably hold a robot regardless of the shape of an object has been developed. For example, in Patent Document 1, a bag-shaped powder holder in which powder is placed in a finger that grips an object to be gripped is provided. Discloses a robot hand that stably grasps an object to be grasped by supplying and discharging an appropriate amount of powder.

また、非特許文献１には、多数のリンクにより指を形成することにより、対象物の形状に沿った変形を可能とするなじみハンドが記載されている。また、非特許文献２には、指先を半球型とし、さらに柔軟被覆を施すことで、接触圧を軽減するロボットハンドが記載されている。また、非特許文献３には、粉体を充填した袋を対象物に押し付け、対象物の形状に合わせて変形したところで、袋内を真空にすることにより、対象物を把持可能としたグリッパーが記載されている。   Non-Patent Document 1 describes a familiar hand that enables deformation along the shape of an object by forming fingers with a large number of links. Non-Patent Document 2 describes a robot hand that reduces the contact pressure by providing a hemispherical fingertip and applying a flexible coating. Further, Non-Patent Document 3 discloses a gripper that can hold a target object by pressing a bag filled with powder against the target object and deforming it according to the shape of the target object, and then evacuating the bag. Are listed.

特開２００２−３７０１８８号公報JP 2002-370188 A

大道武生、沖野晃久，多本指ハンドの作業への応用，日本ロボット学会誌，日本ロボット学会，１９８９年１０月，第７巻，第５号，ｐｐ．１０１−１０８Takeo Ohmichi, Akihisa Okino, Application of Multi-fingered Hand, Journal of the Robotics Society of Japan, Robotics Society of Japan, October 1989, Vol. 7, No. 5, pp. 101-108 村上剛司、長谷川勉，器用な多関節多指ロボットハンドのための柔軟被覆と爪を有する指先，日本ロボット学会誌，日本ロボット学会，２００４年７月，第２２巻，第５号，ｐｐ．７４−８２Takeshi Murakami, Tsutomu Hasegawa, fingertips with flexible covering and nails for dexterous multi-jointed multi-fingered robot hands, Journal of the Robotics Society of Japan, The Robotics Society of Japan, July 2004, Vol. 74-82 エリック・ブラウン（Eric Brown）、ニコラス・ローデンベルグ（Nicholas Rodenberg）、ジョン・アメンド（John Amend）、アナン・モゼイカ（Annan Mozeika）、エリック・ステルツ（Erik Steltz）、ミッチェル・アール・ザーキン（Mitchell R. Zakin）、ホッド・リプソン（Hod Lipson）、ハインリヒ・エム・イェーガー（Heinrich M. Jaeger），ユニバーサル・ロボティック・グリッパー・ベースド・オン・ザ・ジャミング・オブ・グラニュラー・マテリアル（Universal robotic gripper based on the jamming of granular material），プロシーディング・オブ・ザ・ナショナル・アカデミー・オブ・サイエンシーズ（Proceedings of the National Academy of Sciences，ナショナル・アカデミー・オブ・サイエンシーズ（National Academy of Sciences），２０１０年１１月２日，第１０７巻，第４４号，ｐｐ．１８８０９−１８８１４Eric Brown, Nicholas Rodenberg, John Amend, Annan Mozeika, Eric Steltz, Mitchell R. Zakin, Hod Lipson, Heinrich M. Jaeger, Universal robotic gripper based on the jamming of granular material (Universal robotic gripper based on the the jamming of granular material, Proceedings of the National Academy of Sciences, National Academy of Sciences, November 2, 2010 Sun, 107, 44, pp.18 09-18814

非特許文献２に記載のロボットハンドでは、柔軟被覆によって接触圧のピークを軽減するものの、対象物を点で把持するため、柔軟な対象物の場合、対象物を痛めたり、傷つけたりする可能性がある。また、非特許文献１に記載のハンドでは、各リンクを細かく制御することで指形状を対象物の形状に沿った形状としても、対象物との接触点付近で接触圧がピークとなるため、柔らかく把持することができない。   In the robot hand described in Non-Patent Document 2, although the peak of the contact pressure is reduced by the flexible covering, the object is gripped by a point. Therefore, in the case of a flexible object, the object may be damaged or damaged. There is. Further, in the hand described in Non-Patent Document 1, even if the finger shape is shaped along the shape of the object by finely controlling each link, the contact pressure peaks near the contact point with the object, It cannot be gripped softly.

特許文献１に記載のロボットハンドでは、粉体ホルダに粉体を給排することで把持対象物の形状にフィンガの形状を合わせるが、把持対象物の形状に合わせた状態ではフィンガが硬くなってしまうため、柔軟な対象物を柔らかく把持することができない。また、非特許文献３に記載のグリッパーでも、対象物に対して押し付ける際に袋の表面が硬いため、局所的接触圧が発生し、柔軟な対象物を痛める可能性がある。   In the robot hand described in Patent Document 1, the shape of the finger is adjusted to the shape of the object to be grasped by supplying and discharging the powder to and from the powder holder. Therefore, a flexible object cannot be gripped softly. Further, even with the gripper described in Non-Patent Document 3, since the bag surface is hard when pressed against an object, local contact pressure is generated, which may damage a flexible object.

そこで、本発明においては、柔軟な対象物を痛めたり、傷つけたりすることなく、把持することが可能なロボットハンド装置を提供することを目的とする。   Therefore, an object of the present invention is to provide a robot hand device that can be gripped without damaging or damaging a flexible object.

本発明のロボットハンド装置は、対象物を把持する把持体と、把持体の把持面を覆う柔軟膜と、柔軟膜と把持体との間の空間に充填された流体またはゲル状流体とを有するものである。ここで、流体とは液体および気体をいう。また、ゲル状流体とは、ゲルのうち液体を多く含むゼリー状の流動物質をいう。   The robot hand device of the present invention includes a gripping body that grips an object, a flexible membrane that covers a gripping surface of the gripping body, and a fluid or gel fluid that is filled in a space between the flexible membrane and the gripping body. Is. Here, fluid refers to liquid and gas. Further, the gel fluid means a jelly fluid substance containing a lot of liquid in the gel.

本発明のロボットハンド装置では、柔軟膜と把持体との間の空間に流体またはゲル状流体が充填されていることにより、柔軟膜と把持体との間の空間内は静水圧に近い。そのため、柔軟膜および流体またはゲル状流体が変形して対象物が把持された際に、対象物との接触面に対して略一定の面圧が作用することになり、局所的な接触圧が発生しない。   In the robot hand device of the present invention, the space between the flexible membrane and the gripper is filled with a fluid or gel fluid, so that the space between the flexible membrane and the gripper is close to hydrostatic pressure. Therefore, when the flexible membrane and the fluid or gel fluid are deformed and the object is gripped, a substantially constant surface pressure acts on the contact surface with the object, and the local contact pressure is reduced. Does not occur.

また、本発明のロボットハンド装置は、把持体が対象物に近付くに連れて柔軟膜と把持体との間の空間内に流体またはゲル状流体を供給するとともに、把持体が対象物から離れるに連れて柔軟膜と把持体との間の空間から流体またはゲル状流体を排出する流体給排機構を有することが望ましい。   Further, the robot hand device of the present invention supplies fluid or gel fluid into the space between the flexible membrane and the gripper as the gripper approaches the object, and the gripper moves away from the object. Accordingly, it is desirable to have a fluid supply / discharge mechanism that discharges fluid or gel fluid from the space between the flexible membrane and the gripping body.

これにより、把持体が対象物から離れている場合には柔軟膜と把持体との間の空間内の流体またはゲル状流体を排出して少なくしておくことにより、重力による流体またはゲル状流体の偏りを防止し、把持体が対象物に近付くに連れて柔軟膜と把持体との間の空間内に流体またはゲル状流体を供給することで、対象物の全体を均一に把持することが可能となる。   As a result, when the gripping body is separated from the object, the fluid or gel-like fluid due to gravity is discharged and reduced in the space between the flexible membrane and the gripping body. By supplying a fluid or gel fluid into the space between the flexible membrane and the gripper as the gripper approaches the target, the entire target can be gripped uniformly. It becomes possible.

（１）対象物を把持する把持体と、把持体の把持面を覆う柔軟膜と、柔軟膜と把持体との間の空間に充填された流体またはゲル状流体とを有することにより、対象物が把持される際に、対象物との接触面に対して略一定の面圧が作用することになり、局所的な接触圧が発生しないため、柔軟な対象物を痛めたり、傷つけたりすることなく、把持することが可能となる。 (1) By having a gripping body that grips an object, a flexible membrane that covers the gripping surface of the gripping body, and a fluid or gel fluid filled in a space between the flexible membrane and the gripping body, When gripping an object, a substantially constant surface pressure acts on the contact surface with the object, and local contact pressure is not generated, so that the flexible object is damaged or damaged. Without being gripped.

（２）把持体が対象物に近付くに連れて柔軟膜と把持体との間の空間内に流体またはゲル状流体を供給するとともに、把持体が対象物から離れるに連れて柔軟膜と把持体との間の空間から流体またはゲル状流体を排出する流体給排機構を有することにより、重力の影響を排除して対象物の全体を均一に把持することが可能となる。 (2) As the gripping body approaches the object, fluid or gel fluid is supplied into the space between the flexible film and the gripping body, and the flexible film and the gripping body are moved away from the target object. By having a fluid supply / discharge mechanism that discharges fluid or gel fluid from the space between the two, it is possible to eliminate the influence of gravity and uniformly hold the entire object.

本発明の実施の形態におけるロボットハンド装置のハンド先端部の断面図である。It is sectional drawing of the hand front-end | tip part of the robot hand apparatus in embodiment of this invention. ハンド先端部の別の例を示す断面図である。It is sectional drawing which shows another example of a hand front-end | tip part. 図１のロボットハンド装置による対象物の把持の様子を示す説明図である。It is explanatory drawing which shows the mode of the holding | grip of the target object by the robot hand apparatus of FIG. 本発明のロボットハンド装置の別の実施形態を示す概略斜視図である。It is a schematic perspective view which shows another embodiment of the robot hand apparatus of this invention. 図４のロボットハンド装置の動作説明図である。It is operation | movement explanatory drawing of the robot hand apparatus of FIG. 開閉機構および流体給排機構の別の例を示す説明図である。It is explanatory drawing which shows another example of an opening / closing mechanism and a fluid supply / discharge mechanism. ３つの把持体により対象物を把持する構成とする場合の配置例を示す平面図である。It is a top view which shows the example of arrangement | positioning in the case of setting it as the structure which hold | grips a target object with three holding bodies.

図１は本発明の実施の形態におけるロボットハンド装置のハンド先端部の断面図である。図１において、本発明の実施の形態におけるロボットハンド装置は、ハンド先端部に、対象物Ｍを把持する一対の把持体１と、各保持体１の把持面１ａを覆うように固定された袋体２と、袋体２に充填されたゲル状流体３と、袋体２内の圧力を測定する圧力センサ４とを有する。   FIG. 1 is a cross-sectional view of a hand tip portion of a robot hand device according to an embodiment of the present invention. In FIG. 1, the robot hand device according to the embodiment of the present invention includes a pair of gripping bodies 1 for gripping an object M and bags fixed to cover the gripping surface 1 a of each holding body 1 at the tip of the hand. It has a body 2, a gel fluid 3 filled in the bag body 2, and a pressure sensor 4 that measures the pressure in the bag body 2.

把持体１は、金属や樹脂等の硬い物質により形成されたものである。袋体２は、ポリ塩化ビニル等の柔軟膜により袋状に形成されたものである。ゲル状流体３は、例えば液体としての水にグリセリンを加えてゼリー状にした流動物質であり、袋体２内に密封されている。なお、ゲル状流体３に代えて水などの液体や窒素ガスなどの気体を用いることも可能である。   The holding body 1 is formed of a hard substance such as metal or resin. The bag body 2 is formed in a bag shape by a flexible film such as polyvinyl chloride. The gel fluid 3 is a fluid substance obtained by adding glycerin to water as a liquid to form a jelly, for example, and is sealed in the bag body 2. Instead of the gel fluid 3, a liquid such as water or a gas such as nitrogen gas can be used.

また、図２に示すように、袋体２に代えて把持体１の把持面１ａ側に空間５が形成されるように、把持体１の把持面１ａを柔軟膜６により覆う構成とすることも可能である。この場合、柔軟膜６と把持体１との間の空間５にゲル状流体３等を充填する。   In addition, as shown in FIG. 2, the grip surface 1 a of the grip body 1 is covered with a flexible film 6 so that a space 5 is formed on the grip surface 1 a side of the grip body 1 instead of the bag body 2. Is also possible. In this case, the gel fluid 3 or the like is filled in the space 5 between the flexible membrane 6 and the gripping body 1.

図３は図１のロボットハンド装置による対象物の把持の様子を示す説明図である。図３（ａ）に示すように対象物Ｍとしての苺等の不定形柔軟物を挟み込むように一対の把持体１を移動すると、同図（ｂ）に示すように把持体１の把持面１ａに固定された袋体２の表面が対象物Ｍに接触する。このとき、袋体２の内部はゲル状流体３によって静水圧に近く、対象物Ｍとの接触面に対して略一定の面圧が作用する。   FIG. 3 is an explanatory view showing a state of gripping an object by the robot hand apparatus of FIG. As shown in FIG. 3A, when the pair of gripping bodies 1 are moved so as to sandwich an indeterminate flexible object such as a bag as the object M, the gripping surface 1a of the gripping body 1 is shown in FIG. The surface of the bag 2 fixed to the object contacts the object M. At this time, the inside of the bag 2 is close to the hydrostatic pressure by the gel fluid 3, and a substantially constant surface pressure acts on the contact surface with the object M.

続いて、一対の把持体１の間の距離を狭めていくと、同図（ｃ）、（ｄ）に示すように対象物Ｍの表面形状に沿って袋体２内でゲル状流体３が流動し、袋体２の表面と対象物Ｍとの接触面積が増えていく。このとき、前述と同様に、袋体２の内部はゲル状流体３によって静水圧に近く、対象物Ｍとの接触面に対して略一定の面圧が作用する。   Subsequently, when the distance between the pair of gripping bodies 1 is narrowed, the gel fluid 3 flows in the bag body 2 along the surface shape of the object M as shown in FIGS. It flows and the contact area of the surface of the bag body 2 and the target object M increases. At this time, as described above, the inside of the bag body 2 is close to the hydrostatic pressure by the gel fluid 3, and a substantially constant surface pressure acts on the contact surface with the object M.

そして、このロボットハンド装置では、圧力センサ４により袋体２内の圧力すなわちゲル状流体３の圧力を測定することにより、対象物Ｍの把持力を推定することができ、圧力センサ４により測定される圧力が所定値となるところで把持体１を停止することで、略一定の面圧で設定された把持力により対象物Ｍを把持することができる。   In this robot hand device, the pressure in the bag body 2, that is, the pressure of the gel fluid 3 can be estimated by the pressure sensor 4, whereby the gripping force of the object M can be estimated and measured by the pressure sensor 4. By stopping the gripping body 1 at a predetermined pressure, the object M can be gripped by a gripping force set at a substantially constant surface pressure.

このように、本実施形態におけるロボットハンド装置によれば、袋体２内にゲル状流体３が充填されていることにより、対象物Ｍが把持される際に、把持体１と対象物Ｍとの接触面に対して略一定の面圧が作用することになり、局所的な接触圧が発生しないため、柔軟な対象物Ｍを痛めたり、傷つけたりすることなく、把持することが可能である。   Thus, according to the robot hand apparatus in the present embodiment, when the object M is gripped by filling the bag body 2 with the gel fluid 3, the grip body 1 and the object M Since a substantially constant surface pressure acts on the contact surface of the material and no local contact pressure is generated, the flexible object M can be gripped without being damaged or damaged. .

次に、本発明のロボットハンド装置の別の実施形態について説明する。図４は本発明のロボットハンド装置の別の実施形態を示す概略斜視図、図５は図４のロボットハンド装置の動作説明図である。   Next, another embodiment of the robot hand apparatus of the present invention will be described. FIG. 4 is a schematic perspective view showing another embodiment of the robot hand apparatus of the present invention, and FIG. 5 is an operation explanatory view of the robot hand apparatus of FIG.

図４に示すロボットハンド装置では、ハンド先端部に、対象物を把持する一対の把持体１１と、各把持体１１の把持面を覆うように固定された袋体１２と、袋体１２に充填されたゲル状流体１３（図５参照。）と、袋体２内の圧力を測定する圧力センサ（図示せず。）と、一対の把持体１１を開閉動作する開閉機構１４と、開閉機構１４に連動して袋体１２内に対してゲル状流体１３を給排する流体給排機構１５とを有する。   In the robot hand apparatus shown in FIG. 4, a pair of gripping bodies 11 that grip a target object, a bag body 12 that is fixed so as to cover a gripping surface of each gripping body 11, and a bag body 12 are filled at the tip of the hand. The gel-like fluid 13 (see FIG. 5), a pressure sensor (not shown) for measuring the pressure in the bag body 2, an opening / closing mechanism 14 for opening / closing the pair of grip bodies 11, and an opening / closing mechanism 14 And a fluid supply / discharge mechanism 15 that supplies and discharges the gel fluid 13 to and from the bag body 12 in conjunction with the above.

開閉機構１４は、駆動源としてのモータ１４ａと、モータ１４ａの回転軸に固定されたギア１４ｂと、ギア１４ｂと噛み合って回転するギア１４ｃと、ギア１４ｃと噛み合って回転するギア１４ｄと、ギア１４ｃにより回動動作させる平行リンク１４ｅと、ギア１４ｄにより回動動作させる平行リンク１４ｆとを有する。一対の把持体１１は、それぞれ平行リンク１４ｅ，１４ｆの１つに固定されており、モータ１４ａの正転および逆転により開閉するようになっている。   The opening / closing mechanism 14 includes a motor 14a as a drive source, a gear 14b fixed to the rotation shaft of the motor 14a, a gear 14c that meshes with the gear 14b and rotates, a gear 14d that meshes with the gear 14c and rotates, and a gear 14c. A parallel link 14e that is rotated by the gear 14d, and a parallel link 14f that is rotated by the gear 14d. The pair of gripping bodies 11 are fixed to one of the parallel links 14e and 14f, respectively, and are opened and closed by normal rotation and reverse rotation of the motor 14a.

流体給排機構１５は、把持体１１の背面側に設けられたシリンダ１５ａと、シリンダ１５ａ内で進退するピストン１５ｂと、平行リンク１４ｅ，１４ｆの回動動作に連動してピストン１５ｂを進退動作させるリンク機構１５ｃと、把持体１１を貫通してシリンダ１５ａ内と袋体１２内とを連通する給排路１５ｄ（図５参照。）とを有する。この流体給排機構１５によって、ゲル状流体１３は、袋体１２内とシリンダ１５ａ内とを移動する。   The fluid supply / discharge mechanism 15 moves the piston 15b forward / backward in conjunction with the rotation of the cylinder 15a provided on the back side of the gripper 11, the piston 15b moving forward / backward in the cylinder 15a, and the parallel links 14e, 14f. A link mechanism 15c and a supply / discharge passage 15d (see FIG. 5) that penetrates the gripping body 11 and communicates the inside of the cylinder 15a and the inside of the bag body 12 are provided. The fluid supply / discharge mechanism 15 causes the gel fluid 13 to move between the bag body 12 and the cylinder 15a.

この構成のロボットハンド装置では、図５（ａ）から（ｄ）に順に示すように、開閉機構１４が動作して把持体１１が対象物に近付くに連れ、この開閉機構１４に連動する流体給排機構１５により袋体１２内にゲル状流体１３が供給される。逆に、把持体１１が対象物から離れる場合には、図５（ｄ）から（ａ）に示されるように、袋体１２内からゲル状流体１３が排出される。   In the robot hand device of this configuration, as shown in FIGS. 5A to 5D in order, as the opening / closing mechanism 14 operates and the gripper 11 approaches the object, the fluid supply interlocked with the opening / closing mechanism 14 is performed. The gel fluid 13 is supplied into the bag body 12 by the drain mechanism 15. Conversely, when the gripping body 11 is separated from the object, the gel fluid 13 is discharged from the bag 12 as shown in FIGS. 5 (d) to 5 (a).

したがって、このロボットハンド装置では、把持体１１が対象物から離れている場合には袋体１２内のゲル状流体１３を排出して少なくしておくことにより、袋体１２内でゲル状流体１３が重力により下方に偏るのを防止することができる。そして、把持体１１が対象物に近付くに連れて袋体１２内にゲル状流体１３を供給することで、対象物の全体を均一に把持することが可能となる。   Therefore, in this robot hand device, when the grip body 11 is away from the object, the gel fluid 13 in the bag body 12 is discharged and reduced so that the gel fluid 13 is contained in the bag body 12. Can be prevented from being biased downward due to gravity. Then, by supplying the gel fluid 13 into the bag body 12 as the grip body 11 approaches the target object, the entire target object can be gripped uniformly.

また、図６は開閉機構および流体給排機構の別の例を示している。図６に示す例では、開閉機構１４に代えてラック１６ａおよびピニオン１６ｂにより把持体１１を平行移動する開閉機構１６を有している。また、流体給排機構１５のリンク機構１５ｃに代えて、把持体１１の平行移動に連動してピストン１５ｂを進退動作させるリンク機構１７ａを備えた流体給排機構１７を有している。   FIG. 6 shows another example of the opening / closing mechanism and the fluid supply / discharge mechanism. In the example shown in FIG. 6, an opening / closing mechanism 16 that translates the gripper 11 by a rack 16 a and a pinion 16 b is provided instead of the opening / closing mechanism 14. Further, in place of the link mechanism 15 c of the fluid supply / discharge mechanism 15, the fluid supply / discharge mechanism 17 including a link mechanism 17 a that moves the piston 15 b forward and backward in conjunction with the parallel movement of the gripping body 11 is provided.

このような構成においても、開閉機構１６が動作して把持体１１が対象物に近付くに連れ、この把持体１１の平行移動に連動する流体給排機構１７により袋体１２内にゲル状流体１３が供給される。逆に、把持体１１が対象物から離れる場合には、袋体１２内からゲル状流体１３が排出される。   Even in such a configuration, as the opening / closing mechanism 16 operates to bring the gripping body 11 closer to the target object, the gel-like fluid 13 is placed in the bag body 12 by the fluid supply / discharge mechanism 17 that interlocks with the parallel movement of the gripping body 11. Is supplied. On the contrary, when the gripping body 11 is separated from the object, the gel fluid 13 is discharged from the bag body 12.

なお、上記説明においては一対の把持体１，１０により対象物を把持する構成であるが、把持体は３つ以上とすることも可能である。図７は図６に示す開閉機構１６および流体給排機構１７を３つ配置して３つの把持体により対象物を把持する構成とする場合の配置例を示す平面図である。   In the above description, the object is grasped by the pair of grasping bodies 1 and 10, but the number of grasping bodies may be three or more. FIG. 7 is a plan view showing an arrangement example when three opening / closing mechanisms 16 and fluid supply / discharge mechanisms 17 shown in FIG. 6 are arranged to hold an object by three holding bodies.

図７に示す例では、開閉機構１６を平面視で放射状に配置し、それぞれのピニオン１６ｂの軸に連結した傘歯車１６ｃを、傘歯車１６ｄおよびこの傘歯車１６ｄの軸に連結された傘歯車１６ｅを介してモータ（図示せず。）の回転軸に連結した傘歯車１８により回転させる。   In the example shown in FIG. 7, the opening / closing mechanisms 16 are arranged radially in plan view, and the bevel gear 16c connected to the shaft of each pinion 16b is connected to the bevel gear 16d and the bevel gear 16e connected to the shaft of the bevel gear 16d. Through a bevel gear 18 connected to a rotating shaft of a motor (not shown).

これにより、１つのモータを正転または逆転させることで３つの把持体１１を開閉し、これに連動して把持体１１が対象物に近付くに連れて流体給排機構１７により袋体１２内にゲル状流体１３が供給されるとともに、把持体１１が対象物から離れるに連れて袋体１２内からゲル状流体１３が排出されるようにすることが可能である。   As a result, the three gripping bodies 11 are opened and closed by rotating one motor forward or backward, and in conjunction with this, the fluid supply / discharge mechanism 17 moves the gripping body 11 into the bag body 12 as it approaches the object. While the gel-like fluid 13 is supplied, the gel-like fluid 13 can be discharged from the bag 12 as the gripping body 11 moves away from the object.

本発明のロボットハンド装置は、苺等の柔軟な対象物を痛めたり、傷つけたりすることなく、把持するための装置として有用である。   The robot hand apparatus of the present invention is useful as an apparatus for gripping a flexible object such as a heel without damaging or damaging the object.

１，１１ 把持体
２，１２ 袋体
３，１３ ゲル状流体
４ 圧力センサ
６ 柔軟膜
１４，１６ 開閉機構
１５，１７ 流体給排機構 DESCRIPTION OF SYMBOLS 1,11 Holding body 2,12 Bag body 3,13 Gel-like fluid 4 Pressure sensor 6 Flexible film 14,16 Opening / closing mechanism 15,17 Fluid supply / discharge mechanism

Claims (3)

対象物を把持する把持体と、
前記把持体の把持面を覆う柔軟膜と、
前記柔軟膜と前記把持体との間の空間に充填された流体またはゲル状流体と
を有するロボットハンド装置。 A gripping body for gripping an object;
A flexible membrane covering the gripping surface of the gripping body;
A robot hand apparatus having a fluid or a gel-like fluid filled in a space between the flexible membrane and the gripping body. 前記把持体が前記対象物に近付くに連れて前記柔軟膜と前記把持体との間の空間内に前記流体またはゲル状流体を供給するとともに、前記把持体が前記対象物から離れるに連れて前記柔軟膜と前記把持体との間の空間から前記流体またはゲル状流体を排出する流体給排機構を有する請求項１記載のロボットハンド装置。   As the gripper approaches the object, the fluid or gel fluid is supplied into the space between the flexible membrane and the gripper, and the gripper moves away from the object. The robot hand apparatus according to claim 1, further comprising a fluid supply / discharge mechanism that discharges the fluid or gel fluid from a space between the flexible membrane and the gripper. 前記柔軟膜は袋状であり、前記把持体の把持面に固定されたものである請求項１または２に記載のロボットハンド装置。   The robot hand apparatus according to claim 1 or 2, wherein the flexible membrane is in a bag shape and is fixed to a gripping surface of the gripping body.
JP2011010011A 2011-01-20 2011-01-20 Robot hand device Active JP5762758B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2011010011A JP5762758B2 (en) 2011-01-20 2011-01-20 Robot hand device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011010011A JP5762758B2 (en) 2011-01-20 2011-01-20 Robot hand device

Publications (2)

Publication Number Publication Date
JP2012148380A true JP2012148380A (en) 2012-08-09
JP5762758B2 JP5762758B2 (en) 2015-08-12

Family

ID=46791168

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011010011A Active JP5762758B2 (en) 2011-01-20 2011-01-20 Robot hand device

Country Status (1)

Country Link
JP (1) JP5762758B2 (en)

Cited By (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103029132A (en) * 2012-12-18 2013-04-10 西北农林科技大学 Tail end executing mechanism and picking method for spherical fruit automatic picker
CN103039196A (en) * 2012-09-26 2013-04-17 广西大学 Fruit detection and picking integrated device based on single chip microcomputer
KR101387554B1 (en) 2012-12-03 2014-04-23 서울대학교산학협력단 Leafy vegetables harvesting device and leafy vegetables harvesting robot with the same
CN104070528A (en) * 2014-06-05 2014-10-01 河海大学 Device and method for grabbing and releasing object
EP2865499A1 (en) 2013-10-28 2015-04-29 Seiko Epson Corporation Gripping apparatus, robot, and gripping method
WO2015095661A1 (en) * 2013-12-20 2015-06-25 Harvest Croo, Llc Automated selective harvesting of crops
US9156170B2 (en) 2013-03-05 2015-10-13 Seiko Epson Corporation Robot hand, robot, and holding method of holding object to be pinched by robot
CN105563505A (en) * 2016-02-24 2016-05-11 江南大学 Clamping jaw device used for grabbing finish machining face of turbine shell
CN105690411A (en) * 2016-02-18 2016-06-22 陆玉正 Pressure-controllable soft-body manipulator device
US9554513B2 (en) 2013-12-20 2017-01-31 Harvest Croo, Llc Automated selective harvesting of crops with continuous offload
KR101717884B1 (en) * 2016-08-29 2017-03-27 성균관대학교산학협력단 End-effector for auto-harvesting paprika
BE1023881B1 (en) * 2016-07-19 2017-09-04 Octinion Bvba Device for picking fruit
JP2017534475A (en) * 2014-11-18 2017-11-24 ソフト ロボティクス， インコーポレイテッド Improvement of soft robot actuator
WO2018015416A1 (en) * 2016-07-19 2018-01-25 Octinion Bvba Device for picking fruit having an improved robot arm
US9888631B2 (en) 2013-12-20 2018-02-13 Harvest Croo, Llc Foliage holding
US9888630B2 (en) 2013-12-20 2018-02-13 Harvest Croo, Llc Robot positioning with station-keeping
US9897429B2 (en) 2013-12-20 2018-02-20 Harvest Croo, Llc Harvester suspension
US9913428B2 (en) 2013-12-20 2018-03-13 Harvest Croo, Llc Individual plant location positioning
CN109328651A (en) * 2018-11-05 2019-02-15 昆明理工大学 A kind of multistage sorting-type vibration picking jujube robot
BE1025755B1 (en) * 2017-12-04 2019-07-04 Octinion Bvba IMPROVED FINGER FOR A GRIJPER MECHANISM FOR A FRUIT PICKING DEVICE
CN110142904A (en) * 2019-06-18 2019-08-20 浙江理工大学 A kind of manipulator mold and application method
WO2019224627A1 (en) * 2018-05-22 2019-11-28 Octinion Bvba Improved method and apparatus for automatically picking a fruit
BE1026294B1 (en) * 2018-05-22 2019-12-17 Octinion Bvba IMPROVED METHOD AND DEVICE FOR AUTOMATIC FRUIT PICKING
JP2020001143A (en) * 2018-06-29 2020-01-09 トヨタ車体株式会社 Workpiece holding device
CN110999632A (en) * 2019-12-27 2020-04-14 上海理工大学 Novel strawberry is picked transportation and is collected device
BE1026641B1 (en) * 2018-09-21 2020-04-20 Octinion Bvba IMPROVED METHOD AND DEVICE FOR AUTOMATIC PICKING OF A FRUIT
JP2020171218A (en) * 2019-04-10 2020-10-22 本田技研工業株式会社 Fruit vegetable separation method and separation means for the same
CN113290573A (en) * 2021-07-28 2021-08-24 江苏科华智能加热装备有限公司 Manipulator and intelligent robot
CN113301797A (en) * 2018-11-13 2021-08-24 迈辛克斯公司 Mushroom autonomous harvesting system and method
US11110616B2 (en) 2014-11-18 2021-09-07 Soft Robotics, Inc. Soft robotic actuator enhancements
US11483975B2 (en) 2013-12-20 2022-11-01 Harvest Croo, Llc Harvester pick deck suspension
KR20230030314A (en) * 2021-08-25 2023-03-06 국민대학교산학협력단 Crop cultivation apparatus
US11731292B2 (en) 2014-09-17 2023-08-22 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles
US11760516B2 (en) 2019-04-01 2023-09-19 Harvest Croo, Llc Automated packing of crops
JP7471541B1 (en) 2023-09-14 2024-04-19 三菱電機株式会社 GRIP FORCE ESTIMATION DEVICE AND GRIP FORCE ESTIMATION METHOD
FR3142063A1 (en) * 2022-11-23 2024-05-24 Claude Trudelle fruit picking tool high up in a tree

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6648653B2 (en) 2016-08-22 2020-02-14 株式会社デンソー Robot hand
JP6514254B2 (en) 2017-03-13 2019-05-15 株式会社東芝 Gripping tool and gripping system
CN108377749B (en) * 2017-12-30 2020-01-31 浙江工贸职业技术学院 End effector of citrus picking robots
CN108789386A (en) * 2018-05-31 2018-11-13 华南农业大学 The manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision
CN109496559B (en) * 2018-12-28 2022-04-19 贵州大学 Control device and method of roxburgh rose picking system
WO2020165648A1 (en) * 2019-02-15 2020-08-20 Nikon Corporation Gripper assembly using elastic members deformed with viscous fluid
JP6883908B1 (en) * 2020-10-02 2021-06-09 ＫｉＱ Ｒｏｂｏｔｉｃｓ株式会社 Robot hand device and gripping means used for it

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3675962A (en) * 1969-06-13 1972-07-11 Nat Res Dev Gripping
JPS4880276U (en) * 1971-12-29 1973-10-02
WO1982002872A1 (en) * 1981-02-24 1982-09-02 Huff Edward R Clamp assembly
JPS5855885U (en) * 1981-10-13 1983-04-15 日本ビクター株式会社 Robot gripping device
US4403801A (en) * 1981-02-24 1983-09-13 Caterpillar Tractor Co. Clamp assembly
JPS5930694A (en) * 1982-08-12 1984-02-18 株式会社明電舎 Method of grasping body of robot
JPS59109485U (en) * 1983-01-08 1984-07-24 三菱電機株式会社 Work gripping device
JPS61164790A (en) * 1985-01-16 1986-07-25 株式会社東芝 Gripper
JPH05261687A (en) * 1992-03-18 1993-10-12 Bridgestone Corp Gripping device
JP2000141267A (en) * 1998-11-11 2000-05-23 Mitsubishi Electric Corp Gripping device of industrial robot
JP2006000992A (en) * 2004-06-18 2006-01-05 Toyota Motor Corp Robot hand

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3675962A (en) * 1969-06-13 1972-07-11 Nat Res Dev Gripping
JPS4880276U (en) * 1971-12-29 1973-10-02
WO1982002872A1 (en) * 1981-02-24 1982-09-02 Huff Edward R Clamp assembly
JPS58500112A (en) * 1981-02-24 1983-01-20 キヤタピラ−　トラツクタ−　カンパニイ clamp assembly
US4403801A (en) * 1981-02-24 1983-09-13 Caterpillar Tractor Co. Clamp assembly
JPS5855885U (en) * 1981-10-13 1983-04-15 日本ビクター株式会社 Robot gripping device
JPS5930694A (en) * 1982-08-12 1984-02-18 株式会社明電舎 Method of grasping body of robot
JPS59109485U (en) * 1983-01-08 1984-07-24 三菱電機株式会社 Work gripping device
JPS61164790A (en) * 1985-01-16 1986-07-25 株式会社東芝 Gripper
JPH05261687A (en) * 1992-03-18 1993-10-12 Bridgestone Corp Gripping device
JP2000141267A (en) * 1998-11-11 2000-05-23 Mitsubishi Electric Corp Gripping device of industrial robot
JP2006000992A (en) * 2004-06-18 2006-01-05 Toyota Motor Corp Robot hand

Cited By (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103039196A (en) * 2012-09-26 2013-04-17 广西大学 Fruit detection and picking integrated device based on single chip microcomputer
KR101387554B1 (en) 2012-12-03 2014-04-23 서울대학교산학협력단 Leafy vegetables harvesting device and leafy vegetables harvesting robot with the same
CN103029132A (en) * 2012-12-18 2013-04-10 西北农林科技大学 Tail end executing mechanism and picking method for spherical fruit automatic picker
US9156170B2 (en) 2013-03-05 2015-10-13 Seiko Epson Corporation Robot hand, robot, and holding method of holding object to be pinched by robot
EP2865499A1 (en) 2013-10-28 2015-04-29 Seiko Epson Corporation Gripping apparatus, robot, and gripping method
EP3082397A4 (en) * 2013-12-20 2017-11-22 Harvest Croo, LLC Automated selective harvesting of crops
US9888630B2 (en) 2013-12-20 2018-02-13 Harvest Croo, Llc Robot positioning with station-keeping
WO2015095661A1 (en) * 2013-12-20 2015-06-25 Harvest Croo, Llc Automated selective harvesting of crops
US11483975B2 (en) 2013-12-20 2022-11-01 Harvest Croo, Llc Harvester pick deck suspension
US9480202B2 (en) 2013-12-20 2016-11-01 Harvest Croo, Llc Automated selective harvesting of crops
US9554513B2 (en) 2013-12-20 2017-01-31 Harvest Croo, Llc Automated selective harvesting of crops with continuous offload
US12089531B2 (en) 2013-12-20 2024-09-17 Harvest Croo, Llc Automated harvesting of crops
US9913428B2 (en) 2013-12-20 2018-03-13 Harvest Croo, Llc Individual plant location positioning
US10420283B2 (en) 2013-12-20 2019-09-24 Harvest Croo, Llc Automated selective harvesting of crops
US9897429B2 (en) 2013-12-20 2018-02-20 Harvest Croo, Llc Harvester suspension
US10721868B2 (en) 2013-12-20 2020-07-28 Harvest Croo, Llc Robot positioning with station-keeping
US9888631B2 (en) 2013-12-20 2018-02-13 Harvest Croo, Llc Foliage holding
CN104070528A (en) * 2014-06-05 2014-10-01 河海大学 Device and method for grabbing and releasing object
US11731292B2 (en) 2014-09-17 2023-08-22 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
US20220088801A1 (en) * 2014-11-18 2022-03-24 Soft Robotics Inc. Soft robotic actuator enhancements
JP2017534475A (en) * 2014-11-18 2017-11-24 ソフト ロボティクス， インコーポレイテッド Improvement of soft robot actuator
US11110616B2 (en) 2014-11-18 2021-09-07 Soft Robotics, Inc. Soft robotic actuator enhancements
US11738471B2 (en) * 2014-11-18 2023-08-29 Soft Robotics, Inc. Soft robotic actuator enhancements
CN105690411A (en) * 2016-02-18 2016-06-22 陆玉正 Pressure-controllable soft-body manipulator device
CN105563505A (en) * 2016-02-24 2016-05-11 江南大学 Clamping jaw device used for grabbing finish machining face of turbine shell
BE1023881B1 (en) * 2016-07-19 2017-09-04 Octinion Bvba Device for picking fruit
WO2018015416A1 (en) * 2016-07-19 2018-01-25 Octinion Bvba Device for picking fruit having an improved robot arm
US11968928B2 (en) 2016-07-19 2024-04-30 Octiva Belgium Bv Device for picking fruit having an improved robot arm
BE1023905B1 (en) * 2016-07-19 2017-09-07 Octinion Bvba Device for picking fruit
KR101717884B1 (en) * 2016-08-29 2017-03-27 성균관대학교산학협력단 End-effector for auto-harvesting paprika
BE1025755B1 (en) * 2017-12-04 2019-07-04 Octinion Bvba IMPROVED FINGER FOR A GRIJPER MECHANISM FOR A FRUIT PICKING DEVICE
WO2019224627A1 (en) * 2018-05-22 2019-11-28 Octinion Bvba Improved method and apparatus for automatically picking a fruit
US20210337733A1 (en) * 2018-05-22 2021-11-04 Octinion Bvba Improved method and apparatus for automatically picking a fruit
BE1026294B1 (en) * 2018-05-22 2019-12-17 Octinion Bvba IMPROVED METHOD AND DEVICE FOR AUTOMATIC FRUIT PICKING
JP2020001143A (en) * 2018-06-29 2020-01-09 トヨタ車体株式会社 Workpiece holding device
BE1026641B1 (en) * 2018-09-21 2020-04-20 Octinion Bvba IMPROVED METHOD AND DEVICE FOR AUTOMATIC PICKING OF A FRUIT
CN109328651A (en) * 2018-11-05 2019-02-15 昆明理工大学 A kind of multistage sorting-type vibration picking jujube robot
CN113301797A (en) * 2018-11-13 2021-08-24 迈辛克斯公司 Mushroom autonomous harvesting system and method
US11760516B2 (en) 2019-04-01 2023-09-19 Harvest Croo, Llc Automated packing of crops
JP2020171218A (en) * 2019-04-10 2020-10-22 本田技研工業株式会社 Fruit vegetable separation method and separation means for the same
JP7111649B2 (en) 2019-04-10 2022-08-02 本田技研工業株式会社 Fruit and vegetable separation method and separation means
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles
CN110142904A (en) * 2019-06-18 2019-08-20 浙江理工大学 A kind of manipulator mold and application method
CN110142904B (en) * 2019-06-18 2021-07-23 浙江理工大学 Manipulator mold and using method
CN110999632A (en) * 2019-12-27 2020-04-14 上海理工大学 Novel strawberry is picked transportation and is collected device
CN113290573B (en) * 2021-07-28 2021-10-29 江苏科华智能加热装备有限公司 Manipulator and intelligent robot
CN113290573A (en) * 2021-07-28 2021-08-24 江苏科华智能加热装备有限公司 Manipulator and intelligent robot
KR20230030314A (en) * 2021-08-25 2023-03-06 국민대학교산학협력단 Crop cultivation apparatus
KR102613439B1 (en) 2021-08-25 2023-12-12 국민대학교산학협력단 Crop cultivation apparatus
FR3142063A1 (en) * 2022-11-23 2024-05-24 Claude Trudelle fruit picking tool high up in a tree
WO2024110877A1 (en) * 2022-11-23 2024-05-30 Trudelle Claude Tool for picking fruit high up in a tree
JP7471541B1 (en) 2023-09-14 2024-04-19 三菱電機株式会社 GRIP FORCE ESTIMATION DEVICE AND GRIP FORCE ESTIMATION METHOD

Also Published As

Publication number Publication date
JP5762758B2 (en) 2015-08-12

Similar Documents

Publication Publication Date Title
JP5762758B2 (en) Robot hand device
KR102431743B1 (en) Grasping gripper
Fei et al. A novel fabric-based versatile and stiffness-tunable soft gripper integrating soft pneumatic fingers and wrist
JP6365832B2 (en) Gripping device
CN201998169U (en) Mechanical arm system for nuclear detecting and emergency processing robot
Yamaguchi et al. Development of robot hand with suction mechanism for robust and dexterous grasping
US9390762B1 (en) Method for assembling a storage device
TWI633986B (en) Robotic hand
Ho et al. Design and analysis of a soft-fingered hand with contact feedback
JP2017185553A (en) Holding device and industrial robot
JP2012081575A5 (en)
JP2014240110A5 (en)
JP7036486B2 (en) Gripping device and gripping method
Nguyen et al. Fabric-based soft grippers capable of selective distributed bending for assistance of daily living tasks
TWI344936B (en) Shaft sleeve for packing film
Kanegae et al. Easily fabricatable shell gripper for packaging multiple cucumbers simultaneously
CN207645084U (en) A kind of radiation-resource intelligent operating system
Balaji et al. Design and analysis of universal gripper for robotics applications
Tadakuma et al. Robotic finger mechanism equipped omnidirectional driving roller with two active rotational axes
Hattori et al. Multifunctional parallel gripper with three actuators
KR102168085B1 (en) Mobile cover glass handling apparatus and etching system with the same
CN212314036U (en) Bag smoothing bionic manipulator
JP2018069441A (en) Control device, robot, and robot system
KR20130115790A (en) Gripper
Xia et al. Design of a novel dexterous robotic finger with sensing parallel and self-adaptive grasp

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20140115

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20141017

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20141021

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20141114

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20150526

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20150610

R150 Certificate of patent or registration of utility model

Ref document number: 5762758

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250