公开(公告)号：US07539558B2

公开(公告)日：2009-05-26

申请号：US11783582

申请日：2007-04-10

申请人： Yuji Adachi ,  Yasunao Okazaki ,  Katsuhiko Asai ,  Kazuo Yokoyama

发明人： Yuji Adachi ,  Yasunao Okazaki ,  Katsuhiko Asai ,  Kazuo Yokoyama

IPC分类号： G08B23/00

CPC分类号： B25J9/0084 ,  B25J9/0003 ,  B25J9/1676 ,  B25J9/1697

摘要： A working robot arm and an object recognizing unit used for recognizing a moving body such as a person and an animal are prepared, and while an object recognized by the object recognizing unit is blocked by a shielding operation by the use of one portion of a robot mechanism unit, a job is carried out by the working robot arm so that it becomes possible to actively ensure a working space of the robot mechanism unit, and consequently to continue the job safely.

摘要翻译： 准备用于识别诸如人和动物等移动体的工作机器人手臂和物体识别单元，并且当由物体识别单元识别的物体被使用机器人的一部分的屏蔽操作阻挡时 机械单元，由作业机器人手臂执行作业，从而可以主动地确保机器人机构单元的工作空间，从而安全地继续作业。

公开(公告)号：US20090125145A1

公开(公告)日：2009-05-14

申请号：US12356719

申请日：2009-01-21

申请人： Yuji Adachi ,  Yasunao Okazaki ,  Katsuhiko Asai ,  Kazuo Yokoyama

发明人： Yuji Adachi ,  Yasunao Okazaki ,  Katsuhiko Asai ,  Kazuo Yokoyama

IPC分类号： B25J9/16

CPC分类号： B25J9/0084 ,  B25J9/0003 ,  B25J9/1676 ,  B25J9/1697

摘要： A working robot arm and an object recognizing unit used for recognizing a moving body such as a person and an animal are prepared, and while an object recognized by the object recognizing unit is blocked by a shielding operation by the use of the robot arm or a trunk portion of a robot mechanism unit, a job is carried out by the working robot arm so that it becomes possible to actively ensure a working space of the robot mechanism unit, and consequently to continue the job safely.

摘要翻译： 准备用于识别诸如人和动物等移动体的工作机器人手臂和物体识别单元，并且当由物体识别单元识别的物体被使用机器人手臂或 机器人机构单元的主干部分，由作业机器人手臂执行作业，从而可以主动地确保机器人机构单元的工作空间，并且因此能够安全地继续工作。

公开(公告)号：US07778732B2

公开(公告)日：2010-08-17

申请号：US12356719

申请日：2009-01-21

申请人： Yuji Adachi ,  Yasunao Okazaki ,  Katsuhiko Asai ,  Kazuo Yokoyama

发明人： Yuji Adachi ,  Yasunao Okazaki ,  Katsuhiko Asai ,  Kazuo Yokoyama

IPC分类号： G06F19/00

CPC分类号： B25J9/0084 ,  B25J9/0003 ,  B25J9/1676 ,  B25J9/1697

摘要： A working robot arm and an object recognizing unit used for recognizing a moving body such as a person and an animal are prepared, and while an object recognized by the object recognizing unit is blocked by a shielding operation by the use of the robot arm or a trunk portion of a robot mechanism unit, a job is carried out by the working robot arm so that it becomes possible to actively ensure a working space of the robot mechanism unit, and consequently to continue the job safely.

摘要翻译： 准备用于识别诸如人和动物等移动体的工作机器人手臂和物体识别单元，并且当由物体识别单元识别的物体被使用机器人手臂或 机器人机构单元的主干部分，由作业机器人手臂执行作业，从而可以主动地确保机器人机构单元的工作空间，并且因此能够安全地继续工作。

公开(公告)号：US20080161970A1

公开(公告)日：2008-07-03

申请号：US11783582

申请日：2007-04-10

申请人： Yuji Adachi ,  Yasunao Okazaki ,  Katsuhiko Asai ,  Kazuo Yokoyama

发明人： Yuji Adachi ,  Yasunao Okazaki ,  Katsuhiko Asai ,  Kazuo Yokoyama

IPC分类号： B25J19/00 ,  B25J9/02

CPC分类号： B25J9/0084 ,  B25J9/0003 ,  B25J9/1676 ,  B25J9/1697

摘要： A working robot arm and an object recognizing unit used for recognizing a moving body such as a person and an animal are prepared, and while an object recognized by the object recognizing unit is blocked by a shielding operation by the use of one portion of a robot mechanism unit, a job is carried out by the working robot arm so that it becomes possible to actively ensure a working space of the robot mechanism unit, and consequently to continue the job safely.

摘要翻译： 准备用于识别诸如人和动物等移动体的工作机器人手臂和物体识别单元，并且当由物体识别单元识别的物体被使用机器人的一部分的屏蔽操作阻挡时 机械单元，由作业机器人手臂执行作业，从而可以主动地确保机器人机构单元的工作空间，从而安全地继续作业。

公开(公告)号：US07654595B2

公开(公告)日：2010-02-02

申请号：US10518756

申请日：2003-06-23

申请人： Kazuo Yokoyama ,  Atsushi Ono ,  Katsuhiko Asai ,  Yuji Adachi ,  Masaki Yamamoto

发明人： Kazuo Yokoyama ,  Atsushi Ono ,  Katsuhiko Asai ,  Yuji Adachi ,  Masaki Yamamoto

IPC分类号： B25J15/12

CPC分类号： B25J9/142 ,  B25J15/10

摘要： A multi-joint drive mechanism includes a bone-member layer member (101) in which a plurality of bone members are arranged in arrays and in a generally planar fashion, the plurality of bone members being movably coupled at coupling portions (3A), and elastically expanding/contracting members (3) which are arranged so as to stretch over the coupling portions on one side or both sides of the bone-member layer member and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions of joints between the plurality of adjoining bone members by expanding or contracting the elastically expanding/contracting member.

摘要翻译： 多关节驱动机构包括骨构件层构件（101），其中多个骨构件以阵列方式布置并且以大致平面的方式布置，所述多个骨构件在联接部分（3A）处可移动地联接，以及 弹性扩张/收缩构件（3），其布置成在骨构件层构件的一侧或两侧上的连接部分上延伸，并且还固定在多个骨构件之间，其中多关节驱动 机构通过扩张或收缩弹性膨胀/收缩构件来驱动多个相邻的骨构件之间的接合部的弯曲运动。

公开(公告)号：US20050218679A1

公开(公告)日：2005-10-06

申请号：US10518756

申请日：2003-06-23

申请人： Kazuo Yokoyama ,  Atsushi Ono ,  Katsuhiko Asai ,  Yuji Adachi ,  Masaki Yamamoto

发明人： Kazuo Yokoyama ,  Atsushi Ono ,  Katsuhiko Asai ,  Yuji Adachi ,  Masaki Yamamoto

IPC分类号： B25J9/14 ,  B25J15/10 ,  B25J15/12

CPC分类号： B25J9/142 ,  B25J15/10

摘要： A multi-joint drive mechanism includes a bone-member layer member in which a plurality of bone members are arranged in arrays and in a generally planar fashion, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on one side or both sides of the bone-member layer member and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions of joints between the plurality of adjoining bone members by expanding or contracting the elastically expanding/contracting member.

摘要翻译： 多关节驱动机构包括：骨构件层构件，其中多个骨构件以阵列方式布置并且以大致平面的方式布置，所述多个骨构件在联接部处可移动地联接，弹性扩张/收缩构件 被布置成在骨构件层构件的一侧或两侧上的连接部分上延伸，并且还固定在多个骨构件之间，其中多关节驱动机构驱动多个骨构件之间的关节的弯曲运动 通过膨胀或收缩弹性膨胀/收缩构件的邻接的骨构件。

公开(公告)号：US20060219983A1

公开(公告)日：2006-10-05

申请号：US11271971

申请日：2005-11-14

申请人： Katsuhiko Asai ,  Kazuo Yokoyama

发明人： Katsuhiko Asai ,  Kazuo Yokoyama

IPC分类号： H01B1/12

CPC分类号： H02N11/006 ,  Y10S310/80

摘要： Two conductive polymer films, one of which swells and the other of which shrinks by an oxidation-reduction reaction, are connected to a link mechanism for reciprocally converting shrinkage-directional displacements of one film to swell-directional displacements of the other film, so that driving force in the expansion direction of one conductive polymer film can be generated by driving force in contraction direction of the other conductive polymer film.

摘要翻译： 两个导电聚合物膜，其中一个溶胀，另一个通过氧化还原反应收缩，连接到连接机构，用于将一个膜的收缩定向位移往另一个膜的膨胀方向位移往复转换，使得 可以通过另一导电性聚合物膜的收缩方向的驱动力来产生一个导电性高分子膜的膨胀方向的驱动力。

公开(公告)号：US07586242B2

公开(公告)日：2009-09-08

申请号：US10588260

申请日：2005-02-03

申请人： Kazuo Yokoyama ,  Katsuhiko Asai ,  Nozomu Matsukawa ,  Masaki Yamamoto

发明人： Kazuo Yokoyama ,  Katsuhiko Asai ,  Nozomu Matsukawa ,  Masaki Yamamoto

IPC分类号： H01L41/047

CPC分类号： B25J9/1095 ,  H02N11/006 ,  Y10S310/80 ,  Y10T156/1043

摘要： An actuator as a drive source of robots and the like is usable for housekeeping assistance, job assistance, and nursing help. The drive source itself is small, light, flexible, and safe. A manufacturing method for a planar electrode support therefor is also described. The actuator has an electrolyte layer in contact with a conductive polymer layer disposed in between a first electrode having the conductive polymer layer attached thereto and opposite second electrode, for deforming the conductive polymer layer by application of electric fields to the electrodes. The first electrode has low rigidity in a longitudinal direction of the conductive polymer layer to facilitate expansion and contraction thereof.

摘要翻译： 作为机器人等的驱动源的致动器可用于家政帮助，工作援助和护理帮助。 驱动源本身体积小，重量轻，灵活，安全。 还描述了一种用于其平面电极支撑件的制造方法。 致动器具有与导电聚合物层接触的电解质层，导电聚合物层设置在具有附着于其上的导电聚合物层的第一电极和相对的第二电极之间，用于通过向电极施加电场来使导电聚合物层变形。 第一电极在导电聚合物层的纵向上具有低刚性以便于其膨胀和收缩。

公开(公告)号：US20070159031A1

公开(公告)日：2007-07-12

申请号：US10588260

申请日：2005-02-03

申请人： Kazuo Yokoyama ,  Katsuhiko Asai ,  Nozomu Matsukawa ,  Masaki Yamamoto

发明人： Kazuo Yokoyama ,  Katsuhiko Asai ,  Nozomu Matsukawa ,  Masaki Yamamoto

IPC分类号： H01L41/08

CPC分类号： B25J9/1095 ,  H02N11/006 ,  Y10S310/80 ,  Y10T156/1043

摘要： An actuator as a drive source of robots and the like usable for housekeeping assistance, job assistance, and nursing help, in which a drive source itself is small-size, light-weighted, and flexible as well as safe, and a manufacturing method for a planar electrode support therefor are provided. The actuator has an electrolyte layer in contact with a conductive polymer layer disposed in between an electrode having the conductive polymer layer attached thereto and an opposite electrode, for deforming the conductive polymer layer to be swelled and shrunken by application of electric fields to between both electrodes, in which the electrode having the conductive polymer layer attached thereto is a planar electrode which is patterned so that rigidity in a longitudinal direction that is an expansion and contraction direction of the conductive polymer layer is low.

摘要翻译： 作为可用于家庭帮助，作业辅助和护理帮助的机器人的驱动源的致动器，其中驱动源本身是小尺寸，轻重量，并且柔性以及安全的，以及制造方法 提供了一种平面电极支撑。 致动器具有与导电聚合物层接触的电解质层，该导电聚合物层设置在其上附着有导电聚合物层的电极和相对电极之间，用于使导电聚合物层变形以通过施加到两个电极之间的电场而膨胀和收缩 其中附着有导电聚合物层的电极是平面电极，其被图案化，使得作为导电聚合物层的膨胀和收缩方向的纵向方向的刚性低。

公开(公告)号：US20050094931A1

公开(公告)日：2005-05-05

申请号：US10501893

申请日：2003-01-20

申请人： Kazuo Yokoyama ,  Katsuhiko Asai ,  Yousuke Irie ,  Shinichiro Aoki ,  Kouji Nomura ,  Katsuya Morinaka

发明人： Kazuo Yokoyama ,  Katsuhiko Asai ,  Yousuke Irie ,  Shinichiro Aoki ,  Kouji Nomura ,  Katsuya Morinaka

IPC分类号： B81B3/00 ,  G02B6/35 ,  G02B26/08 ,  G02B6/26

CPC分类号： G02B6/3578 ,  G02B6/352 ,  G02B6/3556 ,  G02B6/356 ,  G02B6/3566 ,  G02B26/0858

摘要： On a substrate are configured piezoelectric elements composed of a mirror device, piezoelectric thin films, electrodes, and elastic members, and application of a voltage to the electrodes causes flexure deformation in the piezoelectric thin films, so that the mirror device is actuated. A plurality of the piezoelectric elements are arranged in parallel with a longitudinal direction thereof, and torsion springs are provided so as to extend in a direction orthogonal to the longitudinal direction and so as to hold the mirror device in connection with the substrate. The mirror device is connected to the piezoelectric elements through strain absorbers. In such a configuration, the torsion springs serve as a rotation axis, and the mirror device is inclined about the rotation axis.

摘要翻译： 在基板上配置由反射镜装置，压电薄膜，电极和弹性部件构成的压电元件，并且向电极施加电压引起压电薄膜的弯曲变形，使得反射镜装置被致动。 多个压电元件与其长度方向平行地布置，并且扭转弹簧设置成在与纵向方向正交的方向上延伸，并且保持反射镜装置与基板连接。 镜装置通过应变吸收器连接到压电元件。 在这种构造中，扭转弹簧用作旋转轴，并且反射镜装置围绕旋转轴线倾斜。