公开(公告)号：US08402860B2

公开(公告)日：2013-03-26

申请号：US12249414

申请日：2008-10-10

申请人： Osamu Mizuno ,  Akinobu Okuda ,  Tsuyoshi Tojo ,  Tohru Nakamura ,  Rie Takahashi ,  Soichiro Fujioka ,  Yoshihiko Matsukawa

发明人： Osamu Mizuno ,  Akinobu Okuda ,  Tsuyoshi Tojo ,  Tohru Nakamura ,  Rie Takahashi ,  Soichiro Fujioka ,  Yoshihiko Matsukawa

IPC分类号： B25J18/00

CPC分类号： B25J19/063 ,  B25J9/1045 ,  B25J18/06 ,  Y10T74/20305

摘要： A structure is provided with a first member at a base end side, a third member at a leading end side, a second member arranged between the first and third members, and a coupling force generator for generating a first coupling force for pressing an end surface of the first member and that of the second member against each other and a second coupling force for pressing an end surface of the second member and that of the third member against each other. In this structure, the first and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the first member and that of the second member by the first coupling force, whereas the second and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the second member and that of the first member by the second coupling force.

摘要翻译： 一种结构在基端侧具有第一构件，在前端侧具有第三构件，在第一构件和第三构件之间设置有第二构件，以及联接力发生器，用于产生用于按压端面的第一联接力 的第一构件和第二构件的第二构件和第二构件彼此抵靠的第二联接力。 在该结构中，第一和第三构件在施加比第一构件的端面和第二构件的端面之间产生的耦合力大的外力作用第一联接力时相对移位，而第二和第三构件 当施加大于通过第二联接力在第二构件的端面与第一构件的端面之间产生的联接力的外力时，构件相对移位。

公开(公告)号：US20120330237A1

公开(公告)日：2012-12-27

申请号：US13575124

申请日：2011-01-26

申请人： Soichiro Fujioka ,  Tohru Nakamura ,  Osamu Mizuno ,  Akinobu Okuda ,  Akihiro Ohta ,  Mizuho Sakakibara ,  Toshihide Ueda

发明人： Soichiro Fujioka ,  Tohru Nakamura ,  Osamu Mizuno ,  Akinobu Okuda ,  Akihiro Ohta ,  Mizuho Sakakibara ,  Toshihide Ueda

IPC分类号： A61M5/145

CPC分类号： A61M5/14546 ,  A61M5/1458

摘要： A syringe drive device 15 according to the present invention includes: an outer tube fixing portion 31 that detachably fixes an outer tube 22 of a syringe 16; a plunger holder 21 that holds a plunger 17 of the syringe 16; and a drive portion that moves the plunger holder 21 along an axis of the syringe. The outer tube fixing portion 31 includes: a flange catcher 33 facing a rear end of a flange 22a of the outer tube 22, the rear end being located far from the plunger 17 to be pushed; slide portions 34 and 35 that are located in front of a front end of the flange 22a to hold the flange 22a between the flange catcher 33 and the slide portions, the front end being located close to the plunger 17 to be pushed; slide guides 36 and 37 that support the slide portions 34 and 35 so as to be slidable along the axis of the syringe; and a slide portion operation mechanism that is switchable between a first state where the slide portions 34 and 35 slide along the axis of the syringe, and a second state where the slide portions 34 and 35 are held at positions to hold the flange 22a between the flange catcher 33 and the slide portions.

摘要翻译： 根据本发明的注射器驱动装置15包括：可拆卸地固定注射器16的外管22的外管固定部31; 保持注射器16的柱塞17的柱塞保持件21; 以及沿着注射器的轴线移动柱塞保持器21的驱动部。 外管固定部分31包括：面对外管22的凸缘22a的后端的凸缘捕获器33，后端远离柱塞17被推动; 位于凸缘22a的前端前方的滑动部分34和35，以将凸缘22a保持在凸缘捕获器33和滑动部分之间，前端靠近柱塞17定位以被推动; 滑动引导件36和37，其支撑滑动部分34和35以沿着注射器的轴线滑动; 以及滑动部分操作机构，其可以在滑动部分34和35沿着注射器的轴线滑动的第一状态和第二状态之间切换，其中滑动部分34和35被保持在将凸缘22a保持在 凸缘捕获器33和滑动部分。

公开(公告)号：US08100451B2

公开(公告)日：2012-01-24

申请号：US12376536

申请日：2007-10-24

申请人： Akinobu Okuda ,  Osamu Mizuno ,  Tohru Nakamura

发明人： Akinobu Okuda ,  Osamu Mizuno ,  Tohru Nakamura

IPC分类号： B25J15/10

CPC分类号： B25J15/0009 ,  A61F2/583 ,  A61F2002/501 ,  A61F2002/5018

摘要： A multi-fingered robot hand has a minimum required number of joints in finger mechanisms and is capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion provided with three finger mechanisms each connected by a root joint; a second palm portion provided with one finger mechanism connected by a root joint; and a palm joint connecting the first palm portion and the second palm portion. The palm joint permits a variation in the connection angle of the second palm portion to the first palm portion. The palm joint, bending joints, bending joints of the root joints and the root joint have rotation axes parallel to each other, and the finger mechanisms bend while turning around the rotation axes.

摘要翻译： 多指机器人手具有手指机构中所需数量的最少关节，并且能够稳定地抓握各种物品。 多指机器人手包括：第一手掌部分，其设有三根手指机构，每个手指机构均由根部接头连接; 第二手掌部，其设置有由根接头连接的一个指状机构; 以及连接第一手掌部分和第二手掌部分的手掌关节。 手掌关节允许第二手掌部分与第一手掌部分的连接角度的变化。 掌关节，弯曲接头，根部接头和根部接头的弯曲接头具有彼此平行的旋转轴线，并且手指机构在转动旋转轴线的同时弯曲。

公开(公告)号：US20110036188A1

公开(公告)日：2011-02-17

申请号：US12863644

申请日：2009-01-21

申请人： Soichiro Fujioka ,  Osamu Mizuno ,  Yoshihiko Matsukawa ,  Akinobu Okuda ,  Tsuyoshi Tojo ,  Rie Takahashi ,  Tohru Nakamura

发明人： Soichiro Fujioka ,  Osamu Mizuno ,  Yoshihiko Matsukawa ,  Akinobu Okuda ,  Tsuyoshi Tojo ,  Rie Takahashi ,  Tohru Nakamura

IPC分类号： F16H3/02 ,  F16H3/44

CPC分类号： B25J19/06 ,  B25J9/102 ,  B25J19/0091 ,  F16H35/10 ,  Y10T74/19614 ,  Y10T74/20305 ,  Y10T74/20329

摘要： A robot arm has: a drive gear that has a shaft; a gear frame being capable of turning about the shaft of the drive gear; a first follower gear being capable of turning, in synchronization with the drive gear, about a shaft fixed to the gear frame, in a direction opposite to the turning direction of the drive gear; a transmission control mechanism that is capable of locking the first follower gear to the drive gear; an arm that moves in synchronization with the first follower gear; and a collision detection unit that is capable of detecting a collision between the arm and an obstacle. The transmission control mechanism unlocks the follower gear from the drive gear in response to detection, by the collision detection unit, of collision between the arm and the obstacle.

摘要翻译： 机器人臂具有：具有轴的驱动齿轮; 能够围绕驱动齿轮的轴转动的齿轮架; 第一从动齿轮能够与驱动齿轮同步地沿与驱动齿轮的转动方向相反的方向围绕固定到齿轮架的轴转动; 传动控制机构，其能够将第一从动齿轮锁定到驱动齿轮; 与第一从动齿轮同步移动的臂; 以及能够检测臂与障碍物之间的碰撞的碰撞检测单元。 响应于碰撞检测单元检测到臂与障碍物之间的碰撞，变速器控制机构从驱动齿轮解锁从动齿轮。

公开(公告)号：US20100176615A1

公开(公告)日：2010-07-15

申请号：US12376536

申请日：2007-10-24

申请人： Akinobu Okuda ,  Osamu Mizuno ,  Tohru Nakamura

发明人： Akinobu Okuda ,  Osamu Mizuno ,  Tohru Nakamura

IPC分类号： B25J15/10 ,  B25J15/08 ,  A61F2/54

CPC分类号： B25J15/0009 ,  A61F2/583 ,  A61F2002/501 ,  A61F2002/5018

摘要： A multi-fingered robot hand having a minimum required number of joints in finger mechanisms and capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion (8) provided with three finger mechanisms (2, 3, 4) each connected by a root joint (12); a second palm portion (9) provided with one finger mechanism (1) connected by a root joint (13); and a palm joint (10) connecting the first palm portion (8) and the second palm portion (9). The palm joint (10) permits a variation in the connection angle of the second palm portion (9) to the first palm portion (8). The palm joint (10), bending joints (5), bending joints (6) of the root joints (12) and the root joint (13) have rotation axes parallel to each other, and the finger mechanisms (1, 2, 3, 4) bend while turning around the rotation axes.

摘要翻译： 多指机器人手具有手指机构中所需数量的最少关节并能够稳定地抓握各种物品。 多指机器人手包括：设有三根手指机构（2,3,4）的第一手掌部分（8），每个手指机构均由根部接头（12）连接; 设置有由根接头（13）连接的一个指状机构（1）的第二手掌部分（9）; 以及连接第一手掌部分（8）和第二手掌部分（9）的手掌关节（10）。 掌关节（10）允许第二手掌部分（9）与第一手掌部分（8）的连接角度的变化。 根部接头（12）和根部接头（13）的手掌接头（10），弯曲接头（5），弯曲接头（6）具有彼此平行的旋转轴线，手指机构（1,2,3） ，4）在转动旋转轴的同时弯曲。

公开(公告)号：US07173645B2

公开(公告)日：2007-02-06

申请号：US10487975

申请日：2002-12-19

申请人： Motonobu Yoshikawa ,  Yoshiharu Yamamoto ,  Daizaburo Matsuki ,  Hajime Yamamoto ,  Masanori Yoshikawa ,  Akinobu Okuda

发明人： Motonobu Yoshikawa ,  Yoshiharu Yamamoto ,  Daizaburo Matsuki ,  Hajime Yamamoto ,  Masanori Yoshikawa ,  Akinobu Okuda

IPC分类号： G02B26/10 ,  G02B26/12 ,  B41J2/447

CPC分类号： G02B26/123 ,  G02B26/125 ,  G06K2215/0094 ,  H04N1/113

摘要： An optical scan apparatus includes an optical deflection unit (4), an image formation optical system (3), and curved surface mirrors (7a to 7d). Light fluxes from the image formation optical system (3) come onto the deflection surface (4a) of die optical deflection unit (4) in an oblique direction. Light fluxes from the optical deflection unit (4) come onto the curved surface mirrors (7a to 7d) in an oblique direction. When a boundary is a plane (6) including a normal at the center of the deflection surface (4a) and parallel to the main scan direction, the curved surface mirrors (7a to 7d) are arranged in the same space divided by the boundary and the scan speeds of fluxes scanning the surfaces to be scanned (8a to 8d) are almost identical. Thus, it is possible to obtain identical drive frequencies of the light sources (1a to 1d), thereby simplifying the circuit.

摘要翻译： 光学扫描装置包括光学偏转单元（4），图像形成光学系统（3）和曲面镜（7a至7d）。 来自图像形成光学系统（3）的光通量在倾斜方向上到达光学偏转单元（4）的偏转面（4a）。 来自光学偏转单元（4）的光束在倾斜方向上到达曲面镜（7A至7d）。 当边界是包括在偏转表面（4a）的中心并且平行于主扫描方向的中心的法线的平面（6）时，曲面镜（7A至7d）被布置在与 扫描要扫描的表面（8 a至8 d）的通量的边界和扫描速度几乎相同。 因此，可以获得相同的光源（1a至1d）的驱动频率，从而简化电路。

公开(公告)号：US07087892B2

公开(公告)日：2006-08-08

申请号：US10645759

申请日：2003-08-19

申请人： Masanori Yoshikawa ,  Akinobu Okuda

发明人： Masanori Yoshikawa ,  Akinobu Okuda

IPC分类号： G01N21/86 ,  G02B26/08

CPC分类号： H04N1/047 ,  G02B26/126 ,  G02B26/127 ,  H04N1/1135 ,  H04N1/12 ,  H04N2201/0471 ,  H04N2201/04744

摘要： A light scanner includes a semiconductor laser, a polygon mirror, a first imaging optical system for guiding a light beam from the laser to the deflection surface of the polygon mirror, a second imaging optical system of a single curved mirror for guiding the light beam from the polygon mirror to a photosensitive drum, and a photodiode for detecting the light beam scanned by the polygon mirror. The first imaging optical system, the polygon mirror, and the second imaging optical system are located at different positions in the sub-scanning direction so that the light beam from the first imaging optical system enters the deflection surface obliquely, and the light beam from the polygon mirror enters the curved mirror obliquely.

摘要翻译： 光扫描器包括半导体激光器，多面镜，用于将来自激光器的光束引导到多面镜的偏转表面的第一成像光学系统，用于引导来自多角镜的偏转表面的光束的单个曲面镜的第二成像光学系统 到感光鼓的多面镜，以及用于检测由多面镜扫描的光束的光电二极管。 第一成像光学系统，多面镜和第二成像光学系统位于副扫描方向上的不同位置，使得来自第一成像光学系统的光束倾斜地进入偏转表面，并且来自 多面镜倾斜地进入曲面镜。