公开(公告)号：US20110009433A1

公开(公告)日：2011-01-13

申请号：US12921529

申请日：2009-03-03

申请人： Yasumitsu Sakurai ,  Yukihiro Nishio ,  Hiroyuki Nakahira

发明人： Yasumitsu Sakurai ,  Yukihiro Nishio ,  Hiroyuki Nakahira

IPC分类号： A61K31/519 ,  C07D487/04 ,  A61P3/10

CPC分类号： C07D487/04

摘要： Disclosed is a compound composed of an easily-handleable crystal form and having storage stability that is practical enough to be used as an active ingredient of a pharmaceutical product. Specifically disclosed is 6-[(3R)-3-aminopiperidin-1-yl]-5-(2-chloro-5-fluorobenzyl)-1,3-dimethyl-1H-pyrrolo[3,2-d]pyrimidine-2,4(3H,5H)-dione monohydro chloride hemihydrate.

摘要翻译： 公开了一种由容易处理的晶体形式组成的化合物，其具有足够实用的储存稳定性，可用作药物的有效成分。 具体公开的是6 - [（3R）-3-氨基哌啶-1-基] -5-（2-氯-5-氟苄基）-1,3-二甲基-1H-吡咯并[3,2-d]嘧啶-2 ，4（3H，5H） - 二酮单氯化氢半水合物。

公开(公告)号：US09282976B2

公开(公告)日：2016-03-15

申请号：US13582819

申请日：2011-03-03

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： B23B45/00 ,  A61B17/16 ,  B23B39/14

CPC分类号： A61B17/1617 ,  A61B17/1624 ,  A61B17/1626 ,  A61B17/1628 ,  A61B17/1631 ,  A61B17/1642 ,  B23B39/14 ,  B23B45/005

摘要： A remote-controlled actuator assembly includes a guide section (3) of an elongated shape, a distal end member (2) fitted to a tip end of the guide section for alteration in attitude, an operating tool (1) in the distal end member, and a restraining tool (6) for aligning the distal end member straight with the guide section. The distal end member is altered in attitude through advancing/retracting attitude altering members (31) in the guide section by attitude altering drive sources (43), which are controlled by an attitude control unit (62). An advance or retraction position detector (45) detects an advance/retraction position of the attitude altering members while the attitude altering members applying a preload to the distal end member restrained by the restraining tool. The attitude control unit uses the detection value as information on the advance/retraction position corresponding to an initial position-attitude of the distal end member.

摘要翻译： 远程控制致动器组件包括细长形状的引导部分（3），安装在引导部分的顶端的用于改变姿态的远端部件（2），远端部件中的操作工具（1） ，以及用于将前端构件与引导部直线对准的约束工具（6）。 通过由姿态控制单元（62）控制的改变驱动源（43）的姿态改变导向部件中的前进/后退姿势改变构件（31）来改变姿势。 前进或后退位置检测器（45）检测姿态改变构件的前进/后退位置，同时姿势改变构件对由约束工具限制的远端构件施加预载荷。 姿势控制单元使用检测值作为与前端构件的初始位置姿势对应的前进/后退位置的信息。

公开(公告)号：US20160059426A1

公开(公告)日：2016-03-03

申请号：US14937117

申请日：2015-11-10

申请人： Keisuke SONE ,  Hiroshi Isobe ,  Yukihiro Nishio

发明人： Keisuke SONE ,  Hiroshi Isobe ,  Yukihiro Nishio

IPC分类号： B25J17/00

CPC分类号： B25J17/00 ,  B25J9/0048 ,  B25J19/0025

摘要： A distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that alteration in posture of the distal end side link hub is allowed.Each of the link mechanisms includes a proximal side end link member, a distal side end link member, and an intermediate link member. A line member is disposed between the link hubs, two ends of the line member being held at line member holding points which are on link hub central axes, respectively. In a state where the link hubs are parallel to each other, when the distance from a midpoint to each spherical link center is defined as (D) and the distance from each spherical link center to its corresponding line member holding point is defined as (H), the relationship H=0.5×D is established.

摘要翻译： 远端侧连接轮毂经由三根以上的连杆机构与近端侧连接轮毂连接，能够使前端侧连杆毂的姿态发生变化。 每个连杆机构包括近端侧连杆部件，远端侧连杆部件和中间连杆部件。 线构件设置在连接轮毂之间，线构件的两端分别保持在线构件保持点上，分别位于连杆毂中心轴上。 在连接轮毂彼此平行的状态下，当从中点到每个球形连杆中心的距离被定义为（D），并且从每个球形连杆中心到其对应的线构件保持点的距离被定义为（H ），建立了H = 0.5×D的关系。

公开(公告)号：US09243696B2

公开(公告)日：2016-01-26

申请号：US14346606

申请日：2012-09-11

申请人： Hiroshi Isobe ,  Hiroyuki Yamada ,  Yukihiro Nishio

发明人： Hiroshi Isobe ,  Hiroyuki Yamada ,  Yukihiro Nishio

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  F16H19/08 ,  F16H37/14 ,  B25J9/00 ,  B25J9/10 ,  F16H21/46

CPC分类号： F16H19/08 ,  B25J9/0048 ,  B25J9/102 ,  F16H21/46 ,  F16H37/14 ,  Y10T74/18792 ,  Y10T74/188

摘要： A distal side link hub is connected with a proximal end side link hub through three sets of link mechanisms for alteration in posture. At least two sets of the link mechanisms include an actuator for arbitrarily changing the posture of the distal end side link hub relative to the proximal end side link hub by rotating a proximal side end link member and a reduction gear unit for reducing the speed of and transmitting the operation amount of the actuator to the proximal side end link member. The reduction gear unit includes a geared speed reducing section having a small gear rotated by the actuator and a large gear provided in the proximal side end link member. The radius of pitch circle of the large gear is chosen to be equal to or greater than the arm length of the proximal side end link member.

摘要翻译： 远端侧连接轮毂通过三组用于姿势改变的连杆机构与近端侧连杆毂连接。 至少两组连杆机构包括用于通过旋转近端侧连杆构件和减速装置来相对于近端侧连杆毂任意改变前端侧连杆毂的姿态的致动器，用于降低速度和 将致动器的操作量传递到近端侧连杆构件。 减速装置包括齿轮减速部，该减速部具有由致动器旋转的小齿轮和设置在近端侧连杆部件上的大齿轮。 选择大齿轮的节圆半径等于或大于近端侧连杆构件的臂长。

公开(公告)号：US20130192420A1

公开(公告)日：2013-08-01

申请号：US13878523

申请日：2011-10-03

申请人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： F16H21/54 ,  B25J11/00

CPC分类号： F16H21/54 ,  B25J9/0048 ,  B25J9/0078 ,  B25J11/00 ,  Y10T74/18888

摘要： A link actuating device connects an output member to an input member through three or more link mechanisms for alteration in posture. Each of the link mechanisms includes end portion link members on input and output sides, and an intermediate link member. The link mechanisms are of such shapes that geometric models representing the link members by straight lines are such that input and output side portions are symmetrical to each other relative to an intermediate portion of each of the intermediate link members. Immobilizing mechanisms are provided in all of the link mechanisms to immobilize the output member in an arbitrary attitude relative to the input member. A structure body is provided to connect the input and output member to each other while being in contact with contacted portions formed in the input and output member.

摘要翻译： 链接致动装置通过三个或更多个用于姿势改变的连杆机构将输出构件连接到输入构件。 每个连杆机构包括在输入和输出侧的端部连杆构件和中间连杆构件。 链接机构具有这样的形状，即通过直线表示连杆部件的几何模型使得输入和输出侧部分相对于每个中间连接部件的中间部分彼此对称。 在所有连杆机构中提供固定机构，以使输出构件以相对于输入构件的任意姿势固定。 提供一种结构体，用于将输入和输出构件彼此连接，同时与形成在输入和输出构件中的接触部分接触。

公开(公告)号：US08221398B2

公开(公告)日：2012-07-17

申请号：US13116679

申请日：2011-05-26

申请人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano ,  Takayoshi Ozaki

发明人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano ,  Takayoshi Ozaki

IPC分类号： A61B17/16

CPC分类号： B23B39/14 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1642 ,  A61B17/1668 ,  B23B45/005

摘要： A remote-controlled actuator includes a spindle guide section of an elongated shape, a distal end member fitted to a distal end of the spindle guide section for alteration in attitude and rotatably supporting a tool, and a drive unit housing having a base end of the spindle guide section connected therewith. A rotary shaft for transmitting rotation of a tool rotation drive source within the drive unit housing to the tool and an attitude altering member for altering the attitude of the distal end member by the drive of an attitude altering drive source within the drive unit housing are accommodated within the spindle guide section. A cutting force estimator is provided for estimating the magnitude of at least one component force of a principle force, a radial force and a feed force in a cutting force which the tool applies to a work to be processed.

摘要翻译： 遥控执行器包括细长形状的主轴引导部分，安装在主轴引导部分的远端的远端部件，用于改变姿态并可旋转地支撑工具;以及驱动单元壳体，其具有基端 与其连接的主轴引导部。 用于将驱动单元壳体内的工具旋转驱动源的旋转传递到工具的旋转轴和用于通过驱动单元壳体内的改变驱动源的姿态来改变远端构件的姿态的姿态改变构件被容纳 在主轴引导部分内。 提供了一种切削力估算器，用于估计工具对待加工的工件施加的切削力中的主力，径向力和进给力的至少一个分力的大小。

公开(公告)号：US20120067604A1

公开(公告)日：2012-03-22

申请号：US13322739

申请日：2010-05-26

申请人： Hiroshi Isobe ,  Takayoshi Ozaki ,  Yoshitaka Nagano ,  Yukihiro Nishio

发明人： Hiroshi Isobe ,  Takayoshi Ozaki ,  Yoshitaka Nagano ,  Yukihiro Nishio

IPC分类号： B23B39/14

CPC分类号： A61B17/1631 ,  A61B17/32002 ,  A61B2017/00323 ,  A61B2017/00327 ,  B23B39/14

摘要： A remote controlled actuator includes an elongated spindle guide section (3), a distal end member (2) fitted to the distal end thereof for alteration in attitude, and a drive unit housing (4a) connected with a base end of the spindle guide section (3). The distal end member (2) rotatably support a spindle (13) holding a tool (1). The spindle guide section (3) includes a rotary shaft (22) for transmitting a rotation of the spindle (13) and an attitude altering member (31) for altering the attitude of the distal end member (2) both within an outer shell pipe (25) forming an outer shell. The attitude altering member (31) is reciprocally movably inserted in a guide pipe (30) within the outer shell pipe (25). A guide pipe restraining unit (50) is provided for restraining the guide pipe (30) from moving within the outer shell pipe (25).

摘要翻译： 远程控制致动器包括细长主轴引导部分（3），安装在其远端的远端部件（2），用于改变姿态;以及驱动单元壳体（4a），其与主轴引导部分 （3）。 远端构件（2）可旋转地支撑保持工具（1）的心轴（13）。 主轴引导部分（3）包括用于传递心轴（13）的旋转的旋转轴（22）和用于改变远端构件（2）的姿态的姿态改变构件（31），其在外壳管 （25）形成外壳。 姿态改变构件（31）可往复移动地插入到外壳管（25）内的导管（30）中。 引导管限制单元（50）用于限制导管（30）在外壳管（25）内移动。

公开(公告)号：US20110203825A1

公开(公告)日：2011-08-25

申请号：US13062711

申请日：2009-09-10

申请人： Yukihiro Nishio ,  Hiroshi Isobe ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Hiroshi Isobe ,  Yoshitaka Nagano

IPC分类号： B25F5/00

CPC分类号： B23B51/00 ,  A61B17/16 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1642 ,  A61B2017/00212 ,  B23B39/14 ,  B23B45/005 ,  Y10T74/20

摘要： A remote controlled actuator includes an elongated spindle guide section and a distal end member fitted to a distal end thereof for alteration in attitude. The distal end member rotatably supports a spindle for holding a tool. The spindle guide section includes a rotary shaft for transmitting rotation of a tool rotation drive source to the spindle. An attitude altering member inserted in a guide hole is selectively advanced or retracted by an attitude control drive source. An initial attitude hold control unit controls the attitude control drive source so that an initial attitude holding force necessary to maintain the distal end member in the initial attitude can be applied to the attitude altering member. An attitude alteration control unit controls the attitude control drive source so that the attitude of the distal end member can be altered by a force larger than the initial attitude holding force.

摘要翻译： 远程控制致动器包括细长主轴引导部分和安装到其远端的远端部件，用于改变姿态。 远端构件可旋转地支撑用于保持工具的心轴。 主轴引导部分包括用于将工具旋转驱动源的旋转传递到主轴的旋转轴。 插入引导孔中的姿态改变构件通过姿态控制驱动源选择性地前进或后退。 初始姿态保持控制单元控制姿态控制驱动源，使得能够将姿势改变构件应用于将前端构件保持在初始姿态所需的初始姿势保持力。 姿态改变控制单元控制姿态控制驱动源，使得可以通过大于初始姿态保持力的力来改变远端构件的姿态。

公开(公告)号：US20120325508A1

公开(公告)日：2012-12-27

申请号：US13582819

申请日：2011-03-03

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： B25B23/145

CPC分类号： A61B17/1617 ,  A61B17/1624 ,  A61B17/1626 ,  A61B17/1628 ,  A61B17/1631 ,  A61B17/1642 ,  B23B39/14 ,  B23B45/005

摘要： A remote-controlled actuator assembly includes a guide section (3) of an elongated shape, a distal end member (2) fitted to a tip end of the guide section for alteration in attitude, an operating tool (1) in the distal end member, and a restraining tool (6) for aligning the distal end member straight with the guide section. The distal end member is altered in attitude through advancing/retracting attitude altering members (31) in the guide section by attitude altering drive sources (43), which are controlled by an attitude control unit (62). An advance or retraction position detector (45) detects an advance/retraction position of the attitude altering members while the attitude altering members applying a preload to the distal end member restrained by the restraining tool. The attitude control unit uses the detection value as information on the advance/retraction position corresponding to an initial position-attitude of the distal end member.

摘要翻译： 远程控制致动器组件包括细长形状的引导部分（3），安装在引导部分的顶端的用于改变姿态的远端部件（2），远端部件中的操作工具（1） ，以及用于将前端构件与引导部直线对准的约束工具（6）。 通过由姿态控制单元（62）控制的改变驱动源（43）的姿态改变导向部件中的前进/后退姿势改变构件（31）来改变姿势。 前进或后退位置检测器（45）检测姿态改变构件的前进/后退位置，同时姿势改变构件对由约束工具限制的远端构件施加预载荷。 姿势控制单元使用检测值作为与前端构件的初始位置姿势对应的前进/后退位置的信息。

公开(公告)号：US20120160050A1

公开(公告)日：2012-06-28

申请号：US13394371

申请日：2010-09-22

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： B25J13/00 ,  B29C39/02

CPC分类号： B23B39/14 ,  A61B17/1631 ,  A61B17/1642 ,  A61B17/1668 ,  A61B2034/301 ,  Y10T74/20323

摘要： A remote controlled actuator includes an elongated guide section (3) of a curved shape, a distal end member (2) fitted to a tip of the guide section for alteration in attitude, and a work tool (1) provided in the distal end member. A drive shaft (22) for transmitting a driving force of a work tool drive source (41) to the work tool and a curved guide hole (30a) extending to its opposite ends are accommodated inside the guide section. A wire-like attitude altering member (31) is inserted within the guide hole for selective advance or retraction and then is driven by an attitude altering drive source (42) to alter the attitude of the distal end member. The attitude altering member has a curved shape identical with the curved shape of the guide hole under a natural condition while it has not yet been inserted into the guide hole.

摘要翻译： 远程控制致动器包括弯曲形状的细长引导部分（3），安装在导向部分的尖端以改变姿态的远端部件（2）和设置在远端部件中的作业工具（1） 。 用于将作业工具驱动源（41）的驱动力传递到作业工具的驱动轴（22）和延伸到其相对端部的弯曲导向孔（30a）容纳在引导部分内。 线状姿势改变构件（31）插入导向孔内用于选择性前进或后退，然后由姿态改变驱动源（42）驱动以改变远端构件的姿态。 姿态改变构件在尚未插入导孔中的情况下，在自然条件下具有与导孔的弯曲形状相同的弯曲形状。