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11. 发明授权

US08504198B2 Robot hand and control system, control method and control program for the same 有权
标题翻译：机器人手和控制系统，控制方法和控制程序相同
公开(公告)号：US08504198B2
公开(公告)日：2013-08-06
申请号：US12779298
申请日：2010-05-13
申请人： Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
发明人： Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
IPC分类号： G06F19/00 , G05B15/00
CPC分类号： G06N3/008 , B25J9/1612 , B25J15/0009
摘要： A robot hand has a pipe which is sufficiently flexible to allow a change in the cross-sectional area thereof according to the pressure of a fluid, thereby permitting a higher degree of freedom of the layouts of the pipe and a master cylinder connected through the pipe. Moreover, considerations are given to a change in the cross-sectional area of the pipe caused by a change in the pressure of the fluid in the pipe, thus making it possible to measure the position of a slave piston with high accuracy.
摘要翻译：机器人手具有足够柔性以允许根据流体的压力而改变其横截面面积的管，从而允许管的布局和通过管连接的主缸的更高自由度。此外，考虑到由管道中的流体的压力变化引起的管道的横截面积的变化，从而可以高精度地测量从动活塞的位置。

12. 发明授权

US08459711B2 Five-fingered hand device 有权
标题翻译：五指手装置
公开(公告)号：US08459711B2
公开(公告)日：2013-06-11
申请号：US13146093
申请日：2010-05-07
申请人： Masato Hayakawa , Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
发明人： Masato Hayakawa , Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
IPC分类号： B25J15/10 , B25J13/08
CPC分类号： B25J15/0009
摘要： A five-fingered hand device suitably applicable to a humanoid robot is provided. The device includes a hand body (2) which has a base (4) and five finger mechanisms (5) to (9), a drive unit (3) which drives the finger mechanisms, and a control unit (36) which controls bending and stretching of the finger mechanisms. The drive unit (3) has driven fluid pressure cylinders provided inside the hand body (2) and driving fluid pressure cylinders (37) provided outside the hand body (2), the driven fluid pressure cylinders being connected to the driving fluid pressure cylinders via fluid pressure transmission pipes (45).
摘要翻译：提供适用于人形机器人的五指手装置。该装置包括具有基座（4）和五个指状机构（5）至（9）的手柄（2），驱动手指机构的驱动单元（3），以及控制单元（36），其控制弯曲以及手指机构的伸展。驱动单元（3）驱动设置在手柄（2）内部的流体压力缸和设置在手柄（2）外部的驱动流体压力缸（37），被驱动流体压力缸经驱动流体压力缸经由流体压力传输管道（45）。

13. 发明申请

US20110288681A1 FIVE-FINGERED HAND DEVICE 有权
标题翻译：五手指装置
公开(公告)号：US20110288681A1
公开(公告)日：2011-11-24
申请号：US13146093
申请日：2010-05-07
申请人： Masato Hayakawa , Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
发明人： Masato Hayakawa , Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
IPC分类号： B25J15/08 , B25J9/14
CPC分类号： B25J15/0009
摘要： A five-fingered hand device suitably applicable to a humanoid robot is provided. The device includes a hand body (2) which has a base (4) and five finger mechanisms (5) to (9), a drive unit (3) which drives the finger mechanisms, and a control unit (36) which controls bending and stretching of the finger mechanisms. The drive unit (3) has driven fluid pressure cylinders provided inside the hand body (2) and driving fluid pressure cylinders (37) provided outside the hand body (2), the driven fluid pressure cylinders being connected to the driving fluid pressure cylinders via fluid pressure transmission pipes (45).
摘要翻译：提供适用于人形机器人的五指手装置。该装置包括具有基座（4）和五个指状机构（5）至（9）的手柄（2），驱动手指机构的驱动单元（3），以及控制单元（36），其控制弯曲以及手指机构的伸展。驱动单元（3）驱动设置在手柄（2）内部的流体压力缸和设置在手柄（2）外部的驱动流体压力缸（37），被驱动流体压力缸经驱动流体压力缸经由流体压力传输管道（45）。

14. 发明申请

US20050267633A1 Vehicle appraisal assisting robot and vehicle appraisal system using the robot 有权
标题翻译：使用机器人的车辆鉴定辅助机器人和车辆鉴定系统
公开(公告)号：US20050267633A1
公开(公告)日：2005-12-01
申请号：US11107827
申请日：2005-04-18
申请人： Hironori Waita
发明人： Hironori Waita
IPC分类号： G06F19/00 , G06Q30/06 , G06Q50/00 , G06Q50/10
CPC分类号： G06Q30/06 , G06Q99/00
摘要： A vehicle appraisal assisting robot (1) of the invention comprises: an information acquisition means (12) for acquiring basic information required for appraisal of a vehicle (7) from a client; an image taking unit (13) for taking an image of a portion of the vehicle required to evaluate a state of the vehicle; an action generator (17) for generating an action required for the image taking unit to take an appropriate image of the portion of the vehicle; a communication unit (15) for sending the information acquired by the information acquisition means and the image information obtained by the image taking unit to an apparatus (2) on an appraiser side, the apparatus on the appraiser side generating appraisal results information based on the information sent from the communication unit, wherein the communication unit also receives the appraisal results information from the apparatus on the appraiser side; and an information output means (15, 16) for outputting the appraisal results information received by the communication unit to whereby present the appraisal results information to the client.
摘要翻译：本发明的车辆评估辅助机器人（1）包括：信息获取装置（12），用于从客户端获取对车辆（7）的评估所需的基本信息; 图像摄取单元，用于拍摄评估车辆状态所需车辆的一部分的图像; 动作发生器（17），用于产生图像拍摄单元采取车辆的该部分的适当图像所需的动作; 通信单元（15），用于将由信息获取装置获取的信息和由图像获取单元获得的图像信息发送到评估者侧的装置（2），评估者侧的装置基于所述评估结果信息生成评估结果信息从所述通信单元发送的信息，其中所述通信单元还从所述评估者侧的所述装置接收所述评估结果信息; 以及信息输出装置（15,16），用于输出由通信单元接收的评估结果信息，从而向客户端呈现评估结果信息。

15. 发明授权

US07617161B2 Vehicle appraisal assisting robot and vehicle appraisal system using the robot 有权
标题翻译：使用机器人的车辆鉴定辅助机器人和车辆鉴定系统
公开(公告)号：US07617161B2
公开(公告)日：2009-11-10
申请号：US11107827
申请日：2005-04-18
申请人： Hironori Waita
发明人： Hironori Waita
IPC分类号： G06Q99/00 , G06F17/30 , G06F19/00
CPC分类号： G06Q30/06 , G06Q99/00
摘要： A vehicle appraisal assisting robot (1) includes an information acquisition unit (12) for acquiring basic information required for appraisal of a client vehicle (7), an image taking unit (13) for taking an image of a portion of the vehicle required to evaluate a state of the vehicles, an action generator (17) for generating an action required for the image taking unit to take an image of the portion of the vehicle, a communication unit (15) for sending the basic information and the image information to an apparatus (2) on an appraiser side, which generates appraisal results information based on the information sent from the communication unit. The communication unit also receives the appraisal results information from the apparatus on the appraiser side, and an information output unit (15, 16) outputs the appraisal results information received by the communication unit to present the appraisal results information to the client.
摘要翻译：车辆鉴定辅助机器人（1）包括：信息获取单元（12），用于获取对客户车辆（7）进行鉴定所需的基本信息;图像摄取单元（13），用于拍摄需要的车辆的一部分的图像评估车辆的状态，用于产生图像拍摄单元拍摄车辆部分的图像所需的动作的动作发生器（17），用于将基本信息和图像信息发送到的通信单元（15）评估器侧的装置（2），其基于从通信单元发送的信息生成评估结果信息。通信单元还从评估者侧的装置接收评估结果信息，信息输出单元（15,16）输出由通信单元接收的评估结果信息，以向客户端呈现评估结果信息。

16. 发明授权

US08469424B2 Fluid pressure transmission device and robot hand device 有权
标题翻译：流体压力传动装置和机器人手动装置
公开(公告)号：US08469424B2
公开(公告)日：2013-06-25
申请号：US13496119
申请日：2010-09-03
申请人： Toru Takenaka , Hironori Waita
发明人： Toru Takenaka , Hironori Waita
IPC分类号： B25J15/08
CPC分类号： B25J15/0009 , B25J9/144 , F15B7/00
摘要： A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 371, 372, a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23a, 24a thereof being communicated with cylinder chambers 3711, 3712 of the main driving fluid pressure cylinders 371, 372 via fluid pressure transmission pipes 381, 382, and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41a, 41b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 371, 372 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 3711, 3712 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 381, 382 and the cylinder chambers 41a, 41b of the sub driving fluid pressure cylinder are connected via connecting pipes 421, 422.
摘要翻译：液压传动装置配备有多个驱动流体压力缸371,372，多个从动流体压力缸23,24，其缸室23a，24a与主驱动流体压力的气缸室3711,3712连通通过流体压力传递管381,382和通过活塞412分成两个气缸室41a，41b的副驱动流体压力缸41和由主驱动流体压力缸371产生的流体压力的气缸371,372， 372被传递到从动流体压力缸23,24.活塞3711,3712由主电动机40驱动，活塞412由辅助电动机43驱动。流体压力传递管381,382和气缸室41a ，41b的副驱动液压缸通过连接管421,422连接。

17. 发明申请

US20120169081A1 FLUID PRESSURE TRANSMISSION DEVICE AND ROBOT HAND DEVICE 有权
标题翻译：流体压力传动装置和机器手动装置
公开(公告)号：US20120169081A1
公开(公告)日：2012-07-05
申请号：US13496119
申请日：2010-09-03
申请人： Toru Takenaka , Hironori Waita
发明人： Toru Takenaka , Hironori Waita
IPC分类号： B25J15/08 , B25J15/10 , F15B11/16
CPC分类号： B25J15/0009 , B25J9/144 , F15B7/00
摘要： A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 371, 372, a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23a, 24a thereof being communicated with cylinder chambers 3711, 3712 of the main driving fluid pressure cylinders 371, 372 via fluid pressure transmission pipes 381, 382, and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41a, 41b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 371, 372 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 3711, 3712 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 381, 382 and the cylinder chambers 41a, 41b of the sub driving fluid pressure cylinder are connected via connecting pipes 421, 422.
摘要翻译：液压传动装置配备有多个驱动流体压力缸371,372，多个从动流体压力缸23,24，其缸室23a，24a与主驱动流体压力的气缸室3711,3712连通通过流体压力传递管381,382和通过活塞412分成两个气缸室41a，41b的副驱动流体压力缸41和由主驱动流体压力缸371产生的流体压力的气缸371,372， 372被传递到从动流体压力缸23,24.活塞3711,3712由主电动机40驱动，活塞412由辅助电动机43驱动。流体压力传递管381,382和气缸室41a ，41b的副驱动液压缸通过连接管421,422连接。

18. 发明申请

US20050267632A1 Vehicle diagnosis robot 审中-公开
标题翻译：车辆诊断机器人
公开(公告)号：US20050267632A1
公开(公告)日：2005-12-01
申请号：US11106606
申请日：2005-04-15
申请人： Hironori Waita
发明人： Hironori Waita
IPC分类号： B25J13/00 , B25J5/00 , B60S5/00 , G06F7/00 , G06T1/00 , G06T7/00 , G06F19/00
CPC分类号： G06T7/001
摘要： A vehicle diagnosis robot of the invention comprises: an image taking unit (11) for taking an image of a portion of a vehicle to be inspected; an action generator (12) for generating an action required for the image taking unit to take an appropriate image of the portion of the vehicle; an information storage (14) for storing normal state information obtained from an image of the inspected portion of the vehicle in a normal state; means (17) for acquiring failure information by comparing current state information derived from a current image of the inspected portion of the vehicle taken by the image taking unit with the normal state information stored in the information storage; and information output means (15) for outputting the failure information acquired by the failure information acquiring means.
摘要翻译：本发明的车辆诊断机器人包括：摄像单元，用于拍摄被检查车辆的一部分的图像; 动作发生器（12），用于产生图像拍摄单元采取车辆的该部分的适当图像所需的动作; 用于存储从正常状态下的车辆被检查部分的图像获得的正常状态信息的信息存储器（14）用于通过将从图像拍摄单元拍摄的车辆的被检查部分的当前图像导出的当前状态信息与存储在信息存储器中的正常状态信息进行比较来获取故障信息的装置（17）以及用于输出由故障信息获取装置获取的故障信息的信息输出装置（15）。

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