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53 条记录 (耗时 0.025 秒)

    MANIPULATOR
    2.
    发明申请
    MANIPULATOR 审中-公开
    操纵器

    公开(公告)号：US20080091072A1

    公开(公告)日：2008-04-17

    申请号：US11870849

    申请日：2007-10-11

    申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B1/012

    CPC分类号： A61B17/29 ,  A61B17/062 ,  A61B17/2909 ,  A61B34/70 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B2017/00199 ,  A61B2017/00367 ,  A61B2017/00424 ,  A61B2017/2925 ,  A61B2017/2929 ,  A61B2017/2939 ,  A61B2034/742

    摘要： A manipulator includes an operation command unit to be gripped by a hand, a composite input unit operable by a finger, a connector shaft extending from the operation command unit, and a working unit disposed on a distal end of the connector shaft. The working unit includes a yawing mechanism, a rolling mechanism, and an opening and closing mechanism. The composite input unit has a shuttle ring for actuating the rolling mechanism, and a pad for actuating the yawing mechanism. The shuttle ring is an angularly movable member having two knobs disposed in respective left and right positions. The pad is disposed inside of the shuttle ring.

    摘要翻译： 机械手包括用手抓握的操作指令单元，由手指操作的复合输入单元，从操作命令单元延伸的连接器轴以及设置在连接器轴的远端上的工作单元。 工作单元包括偏航机构，滚动机构以及开闭机构。 复合输入单元具有用于致动滚动机构的梭环和用于致动偏航机构的垫。 梭环是具有设置在相应的左右位置的两个旋钮的可角度运动的构件。 垫片设置在梭环内部。

    MANIPULATOR FOR MEDICAL USE
    5.
    发明申请
    MANIPULATOR FOR MEDICAL USE 审中-公开
    用于医疗用途的操纵器

    公开(公告)号：US20080183193A1

    公开(公告)日：2008-07-31

    申请号：US11923159

    申请日：2007-10-24

    申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B19/00

    CPC分类号： A61B17/29 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/00455 ,  A61B2017/2926 ,  A61B2017/2927 ,  A61B2034/742 ,  A61B2090/0811

    摘要： A manipulator comprises a hollow shaft, wires provided on the shaft and a working unit disposed on one end of the shaft and being driven by at least one wire of the wires, the working unit having a tip tool including a rolling mechanism which rotates about an axis Or directed to a distal end thereof. A tip side surface of a proximal end member and a cover of a distal end member are relatively rotated by the rolling mechanism. The cover has a rotation identifier for indicating a degree of relative rotation of the tip side surface. The tip side surface has an alignment indicator for indicating an initial position of the cover.

    摘要翻译： 操纵器包括中空轴，设置在轴上的线和设置在所述轴的一端上并由所述线的至少一根线驱动的工作单元，所述工作单元具有尖端工具，所述尖端工具包括滚动机构， 或指向其远端。 近端构件的前端侧表面和远端构件的盖通过滚动机构相对旋转。 盖具有用于指示尖端侧表面的相对旋转度的旋转标识符。 尖端侧表面具有用于指示盖的初始位置的对准指示器。

    Manipulator
    6.
    发明授权
    Manipulator 有权
    机械手

    公开(公告)号：US08002784B2

    公开(公告)日：2011-08-23

    申请号：US11743222

    申请日：2007-05-02

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    IPC分类号： A61B17/32

    CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2934 ,  A61B2017/2936 ,  A61B2017/2939

    摘要： A manipulator has a working unit in which when at least a first end effector finger and a second end effector finger are maximally closed on each other, at least the distance between a third joint axis and a first joint axis is greater than the distance between the first joint axis and a distal end of the second end effector finger, or the distance between the third joint axis and the first joint axis is greater than the distance between third joint axis and a second joint axis, or the angle formed between a direction from the third joint axis to the first joint axis and a direction from the third joint axis to the second joint axis is not π.

    摘要翻译： 操纵器具有工作单元，其中当至少第一末端执行器指状物和第二末端执行器指状物彼此最大程度地闭合时，至少第三关节轴线与第一关节轴线之间的距离大于 或者第三关节轴线与第一关节轴线之间的距离大于第三关节轴线和第二关节轴线之间的距离，或者第一关节轴线与第二关节轴线的方向之间形成的角度， 与第一关节轴线的第三关节轴线和从第三关节轴线到第二关节轴线的方向不是＆pgr。

    MANIPULATOR
    7.
    发明申请
    MANIPULATOR 有权
    操纵器

    公开(公告)号：US20070288044A1

    公开(公告)日：2007-12-13

    申请号：US11743222

    申请日：2007-05-02

    申请人： Makoto JINNO ,  Takamitsu Sunaoshi ,  Shigeru Omori

    发明人： Makoto JINNO ,  Takamitsu Sunaoshi ,  Shigeru Omori

    IPC分类号： B25J17/02

    CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2934 ,  A61B2017/2936 ,  A61B2017/2939

    摘要： A manipulator has a working unit in which when at least a first end effector finger and a second end effector finger are maximally closed on each other, at least the distance between a third joint axis and a first joint axis is greater than the distance between the first joint axis and a distal end of the second end effector finger, or the distance between the third joint axis and the first joint axis is greater than the distance between third joint axis and a second joint axis, or the angle formed between a direction from the third joint axis to the first joint axis and a direction from the third joint axis to the second joint axis is not π.

    摘要翻译： 操纵器具有工作单元，其中当至少第一末端执行器指状物和第二末端执行器指状物彼此最大程度地闭合时，至少第三关节轴线与第一关节轴线之间的距离大于 或者第三关节轴线与第一关节轴线之间的距离大于第三关节轴线和第二关节轴线之间的距离，或者第一关节轴线与第二关节轴线的方向之间形成的角度， 与第一关节轴线的第三关节轴线和从第三关节轴线到第二关节轴线的方向不是pi。

    Working mechanical device and manipulator
    8.
    发明授权
    Working mechanical device and manipulator 有权
    工作机械装置和机械手

    公开(公告)号：US07942895B2

    公开(公告)日：2011-05-17

    申请号：US11833023

    申请日：2007-08-02

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    IPC分类号： A61B17/00

    CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/2936 ,  A61B2017/2939

    摘要： A working unit comprises a gear body rotatable in a direction perpendicular to a reference axis, a gear ring including a proximal end surface held in contact with the gear body and rotatable about the reference axis to change the direction of rotation of the gear body, a first end effector body held in contact with an axially distal end surface of the gear ring at an upper portion thereof, and rotatable about a rotational axis perpendicular to the reference axis to change the direction of rotation of the gear ring, and a second end effector body held in contact with the axially distal end surface of the gear ring at a lower portion thereof, and rotatable in a direction opposite to the direction in which the first end effector body rotates, about the rotational axis. The first end effector body and the second end effector body are openable and closable symmetrically with respect to the reference axis.

    摘要翻译： 工作单元包括：齿轮体，其可沿垂直于基准轴线的方向旋转;齿圈，其包括保持与齿轮体接触并可围绕参考轴线旋转的近端表面，以改变齿轮体的旋转方向; 第一末端执行器主体在其上部保持与齿圈的轴向远端表面接触，并且能够绕垂直于参考轴线的旋转轴线旋转以改变齿圈的旋转方向，并且第二末端执行器 主体在其下部保持与齿圈的轴向远端表面接触，并且能够沿与第一端部执行器主体的旋转方向相反的方向围绕旋转轴线旋转。 第一末端执行器主体和第二末端执行器主体相对于参考轴线对称地打开和关闭。

    Manipulator and control method therefor
    9.
    发明授权
    Manipulator and control method therefor 有权
    机械手及其控制方法

    公开(公告)号：US08237388B2

    公开(公告)日：2012-08-07

    申请号：US12061092

    申请日：2008-04-02

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    IPC分类号： G05B11/01

    CPC分类号： B25J9/1641 ,  A61B34/70 ,  A61B34/72 ,  A61B2017/2943 ,  G05B2219/39457 ,  G05B2219/41195 ,  G05B2219/41361 ,  G05B2219/45118 ,  Y10T74/20 ,  Y10T74/20207 ,  Y10T74/20305

    摘要： A manipulator has a working unit including an end effector and a posture axis for changing the orientation of the manipulator, a compound mechanism provided on the working unit, and a controller for actuating a gripper axis, a yaw axis, and a roll axis by respectively controlling movement positions of three motors. The controller includes a torque generation detector for detecting a timing at which torque is generated on the gripper axis. When the controller detects the timing at which a torque τg′ is generated on the gripper axis under operation of a given motor, the movement positions of the plural motors are shifted and set, corresponding to the directions at which interference torques are generated with respect to the yaw axis and the roll axis, and to predetermined positions of the same directions.

    摘要翻译： 操纵器具有工作单元，其包括末端执行器和用于改变操纵器的定向的姿势轴，设置在作业单元上的复合机构和用于分别致动夹持器轴线，偏转轴线和滚动轴线的控制器 控制三台电机的运动位置。 控制器包括用于检测在夹持器轴上产生扭矩的定时的转矩产生检测器。 当控制器检测到在给定电动机的操作下在夹具轴上产生转矩τg'的定时时，多个电动机的移动位置相对于相对于产生干扰转矩的方向被移位和设定 偏转轴和滚动轴线，以及相同方向的预定位置。

    Working mechanism and manipulator
    10.
    发明授权
    Working mechanism and manipulator 有权
    工作机制和操纵者

    公开(公告)号：US08137339B2

    公开(公告)日：2012-03-20

    申请号：US11832872

    申请日：2007-08-02

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    IPC分类号： A61B17/00

    CPC分类号： A61B17/29 ,  A61B17/00234 ,  A61B17/062 ,  A61B34/30 ,  A61B34/35 ,  A61B34/71 ,  A61B34/72 ,  A61B34/74 ,  A61B2017/2929 ,  A61B2017/2943 ,  A61B2034/305 ,  A61B2034/306

    摘要： A working unit includes a gear body disposed forwardly of a tubular member around which a wire is wound and having a rotational axis disposed substantially parallel to the tubular member, and a first gear and a second gear for transmitting rotation of a gear body to another gear body. The numbers of turns of wires, the size of a main shaft, and the size of a gear body, which are positioned forwardly of the tubular member, have no adverse effect on the manner in which a wire is wound around the tubular member. The wire can be wound around the tubular member over a wide region thereof for increasing the angular displacement of the gear body. The increased angular displacement of the gear body makes it possible to increase the angular displacement and rotational torque of the gear body.

    摘要翻译： 工作单元包括齿轮体，该齿轮体设置在管状构件的前方，线圈围绕该管状构件缠绕并且具有基本上平行于管状构件设置的旋转轴线;以及第一齿轮和第二齿轮，用于将齿轮体的旋转传递到另一齿轮 身体。 位于筒状构件前方的线的匝数，主轴的尺寸以及齿轮体的尺寸对于将线缠绕在筒状构件上的方式没有不利影响。 线可以在其宽的区域上缠绕在管状构件周围，以增加齿轮体的角位移。 齿轮体的增大的角位移使得可以增加齿轮体的角位移和旋转扭矩。