公开(公告)号：US08401699B2

公开(公告)日：2013-03-19

申请号：US12480973

申请日：2009-06-09

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

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

IPC分类号： G06F19/00

CPC分类号： B25J9/1676

摘要： A manipulator includes a main unit movable to a specified target position, an arm unit rotatably provided on the main unit, and a posture controller. The posture controller controls the posture of the arm unit so that a front surface of the arm unit facing forward in a moving direction of the main unit is not orthogonal to the moving direction of the main unit when the movement of the main unit is performed. The arm unit may be inclined obliquely backward with respect to a moving direction of the main unit when the main unit is moved to a specified target position.

摘要翻译： 机械手包括可移动到指定目标位置的主单元，可旋转地设置在主单元上的臂单元和姿势控制器。 姿势控制器控制臂单元的姿势，使得当执行主单元的移动时，在主单元的移动方向上面向前的臂单元的前表面与主单元的移动方向不正交。 当主单元移动到指定的目标位置时，臂单元可相对于主单元的移动方向倾斜向后倾斜。

公开(公告)号：US08286528B2

公开(公告)日：2012-10-16

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： B25J17/00 ,  B25J17/02 ,  B25J18/00

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 a collision between the arm and the obstacle. The robot arm enables quick cushioning of the impact force of the collision.

摘要翻译： 机器人臂具有驱动齿轮，其具有轴，齿轮架能够围绕驱动齿轮的轴转动，第一从动齿轮能够与驱动齿轮同步地绕固定到齿轮的轴转动 框架，在与驱动齿轮的转动方向相反的方向上，能够将第一从动齿轮锁定到驱动齿轮的传动控制机构，与第一从动齿轮同步移动的臂，以及碰撞检测单元 能够检测手臂与障碍物之间的碰撞。 变速器控制机构响应于碰撞检测单元检测到臂和障碍物之间的碰撞而将从动齿轮从驱动齿轮解锁。 机器人手臂能够快速缓冲碰撞的冲击力。

公开(公告)号：US09089195B2

公开(公告)日：2015-07-28

申请号：US13816979

申请日：2011-08-15

申请人： Osamu Mizuno ,  Soichiro Fujioka ,  Tohru Nakamura ,  Akinobu Okuda ,  Tsuyoshi Tojo

发明人： Osamu Mizuno ,  Soichiro Fujioka ,  Tohru Nakamura ,  Akinobu Okuda ,  Tsuyoshi Tojo

IPC分类号： A45D19/14 ,  A45D19/02 ,  A45D19/00

CPC分类号： A45D19/14 ,  A45D19/02 ,  A45D2019/005

摘要： Provided is an automatic hair washing apparatus for washing person's hair in a safe and effective manner without applying a straining force on person's neck. An automatic hair washing apparatus 100 comprises a bowl 101 having a head support 11; washing units 12L and 12R arranged with the head support 11 interposed therebetween, the support shafts thereof being attached to the bowl 101; a driving section for rotating the washing units 12L and 12R about the respective support shafts 104L and 104R; and a control section for controlling the driving of the driving section; wherein each of the washing units 12L and 12R comprises a plurality of contacts 109 on a surface opposite to the surface supported by the support shaft 104L and 104R.

摘要翻译： 本发明提供一种自动洗发装置，以安全有效的方式洗涤人的头发，而不会对人的颈部施加紧张力。 自动洗发装置100包括具有头部支撑件11的碗101; 洗涤单元12L和12R与头部支撑件11插入在其间，其支撑轴安装在碗101上; 用于使洗涤单元12L和12R围绕各个支撑轴104L和104R旋转的驱动部分; 以及控制部分，用于控制驱动部分的驱动; 其中每个洗涤单元12L和12R在与由支撑轴104L和104R支撑的表面相对的表面上包括多个触点109。

公开(公告)号：US20100318224A1

公开(公告)日：2010-12-16

申请号：US12866959

申请日：2009-03-05

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

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

IPC分类号： B25J13/08 ,  B25J17/02 ,  B25J18/00 ,  B25J9/00 ,  G05B15/00 ,  G06F19/00 ,  B25J19/06

CPC分类号： B25J9/1676 ,  G05B2219/39082 ,  Y10T74/20329

摘要： A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.

摘要翻译： 操纵器具有臂，臂，保持部，枢转地互连臂和臂的第一接合部，将臂和保持部枢转地相互连接的第二接头部，能够驱动第一接头的第一接头驱动部 接合部，能够驱动第二接合部的第二关节驱动部，用于指定具有与障碍物碰撞的可能性或与障碍物碰撞的一个臂的部件指定部，以及用于控制 第一关节驱动部和第二关节驱动部，用于使远离障碍物的方向枢转地移动由构件指定部指定的臂中的一个臂，并且使臂中的另一个朝向障碍物的方向。

公开(公告)号：US08647305B2

公开(公告)日：2014-02-11

申请号：US13257338

申请日：2010-03-23

申请人： Akihiro Ohta ,  Tohru Nakamura ,  Osamu Mizuno ,  Soichiro Fujioka ,  Akinobu Okuda ,  Tsuyoshi Tojo

发明人： Akihiro Ohta ,  Tohru Nakamura ,  Osamu Mizuno ,  Soichiro Fujioka ,  Akinobu Okuda ,  Tsuyoshi Tojo

IPC分类号： A61M5/00

CPC分类号： A61M5/007 ,  A61M5/1407 ,  A61M5/14546 ,  A61M5/1456 ,  A61M5/1782 ,  A61M2005/1403

摘要： A syringe drive device drives a syringe including a cylindrical cylinder and a piston. The cylinder includes a solution supply port at one end, and an opening at the other end. The piston is inserted into the cylinder through the opening. The syringe drive device includes a cylinder holder to rotatably hold the cylinder of the syringe, and a piston driver to drive the piston in its axial direction with respect to the cylinder held in the cylinder holder.

摘要翻译： 注射器驱动装置驱动包括圆柱形气缸和活塞的注射器。 圆筒包括一端的溶液供给口和另一端的开口。 活塞通过开口插入气缸。 注射器驱动装置包括可旋转地保持注射器的气缸的气缸保持器和用于相对于保持在气缸保持器中的气缸沿其轴向方向驱动活塞的活塞驱动器。

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：US20120127290A1

公开(公告)日：2012-05-24

申请号：US13387818

申请日：2011-05-19

申请人： Tsuyoshi Tojo ,  Soichiro Fujioka ,  Tohru Nakamura

发明人： Tsuyoshi Tojo ,  Soichiro Fujioka ,  Tohru Nakamura

IPC分类号： H04N7/18

CPC分类号： G01N21/9027 ,  G01N21/41

摘要： A liquid medicine identification apparatus includes a pattern projection unit, a placing unit that places thereon a medicine container filled with a liquid medicine, an imaging camera, and an image processing unit. Imaged image information imaged by the imaging camera after transmitting light and dark patterns of the pattern projection unit through the medicine container is compared with reference image information by the image processing unit, and a type of the liquid medicine or the medicine container is determined.

摘要翻译： 液体药物识别装置包括图案投影单元，放置有充满药液的药剂容器的放置单元，成像照相机和图像处理单元。 通过图像处理单元将图案投影单元的光和暗图案透过药剂容器传送到成像摄像机后成像的成像图像信息与参考图像信息进行比较，并且确定液体药物或药剂容器的类型。

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：US08529509B2

公开(公告)日：2013-09-10

申请号：US13322650

申请日：2010-07-22

申请人： Tsuyoshi Tojo ,  Soichiro Fujioka ,  Tohru Nakamura

发明人： Tsuyoshi Tojo ,  Soichiro Fujioka ,  Tohru Nakamura

IPC分类号： A61M37/00

CPC分类号： A61J1/2096 ,  A61J1/20 ,  A61J1/201 ,  A61M5/20 ,  A61M5/3148 ,  A61M5/486 ,  A61M2005/3125

摘要： A syringe drive device 1 includes: a syringe holding section 3; a piston manipulating section 4; and a display section 6. An outer tube 202 of a syringe 201 is detachably held by the syringe holding section 3. A piston 203 of the syringe 201 is detachably engaged with the piston manipulating section 4. The piston manipulating section 4 moves in a direction in response to an operation of operation buttons 8A and 8B, and the piston 203 is thereby moved in a direction where the piston is pushed into or pulled out from the outer tube 202. An internal pressure of a medicinal solution container punctured with an injection needle 204 attached to the outer tube 202 of the syringe 201 is measured and displayed on the display section 6.

摘要翻译： 注射器驱动装置1包括：注射器保持部3; 活塞操纵部4; 注射器201的外管202由注射器保持部3可拆卸地保持。注射器201的活塞203与活塞操作部4可拆卸地接合。活塞操纵部4沿着方向 响应于操作按钮8A和8B的操作，并且活塞203因此沿着活塞被从外管202推入或拉出的方向移动。用注射针刺入的药液容器的内部压力 在显示部6上测量并显示附着于注射器201的外管202的204。

公开(公告)号：US08504203B2

公开(公告)日：2013-08-06

申请号：US12866959

申请日：2009-03-05

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

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

IPC分类号： G05B19/04

CPC分类号： B25J9/1676 ,  G05B2219/39082 ,  Y10T74/20329

摘要： A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.

摘要翻译： 操纵器具有臂，臂，保持部，枢转地互连臂和臂的第一接合部，将臂和保持部枢转地相互连接的第二接头部，能够驱动第一接头的第一接头驱动部 接合部，能够驱动第二接合部的第二关节驱动部，用于指定具有与障碍物碰撞的可能性或与障碍物碰撞的一个臂的部件指定部，以及用于控制 第一关节驱动部和第二关节驱动部，用于使远离障碍物的方向枢转地移动由构件指定部指定的臂中的一个臂，并且使臂中的另一个朝向障碍物的方向。