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21. 发明申请

US20120197184A1 MEDICINAL SOLUTION INJECTION DEVICE AND MEDICINAL SOLUTION INJECTION METHOD 有权
标题翻译：药物溶液注射装置和药物溶液注射方法
公开(公告)号：US20120197184A1
公开(公告)日：2012-08-02
申请号：US13394906
申请日：2010-09-17
申请人： Akinobu Okuda , Tohru Nakamura , Soichiro Fujioka , Osamu Mizuno , Akihiro Ohta
发明人： Akinobu Okuda , Tohru Nakamura , Soichiro Fujioka , Osamu Mizuno , Akihiro Ohta
IPC分类号： A61M5/168 , B65B3/04
CPC分类号： A61J1/2096 , A61J1/22 , A61J2200/76
摘要： A medicinal solution injection apparatus 10 includes a composite needle 12 including a needle base portion 12c, an injection needle 12d, and an adjustment needle 12e, a pressure generating portion 13 configured to discharge a compressed air, a measuring portion 14 configured to measure a filling amount and a filling speed of a medicinal solution by measuring a position of a gasket 17a of a syringe 17, and a control portion 15 configured to control the pressure generating portion 13 and the measuring portion 14. The compressed air is introduced into a vial container 16 through an edge 12h of the adjustment needle 12e located above a liquid surface 16a of the medicinal solution in the vial container 16 (outside the liquid surface) to press the liquid surface 16a of the medicinal solution downward, so that a medicinal solution 16b is injected into the syringe 17 through an edge 12i of the injection needle 12d in the medicinal solution 16b. The medicinal solution injection apparatus 10 can accurately and efficiently inject the medicinal solution 16b of the vial container 16 into the syringe 17 while suppressing the medicinal solution 16b from foaming.
摘要翻译：药液注射装置10包括：复合针12，其包括针基部12c，注射针12d和调节针12e，构造成排出压缩空气的压力产生部13;被配置为测量填充物的测量部14 通过测量注射器17的垫圈17a的位置以及被配置为控制压力产生部13和测量部14的控制部15，药液的量和灌装速度。压缩空气被引入小瓶容器 16通过位于小瓶容器16的药液的液面16a上方的调整针12e的边缘12h（液面外））向下方挤压药液的液面16a，药液16b 通过药液16b中的注射针12d的边缘12i注射到注射器17中。药液注入装置10能够精确高效地将药瓶容器16的药液16b注入注射器17中，同时抑制药液16b发泡。

22. 发明申请

US20070276540A1 Robot, radio detection system, radio detection method and recording medium storing radio detection processing program 审中-公开
标题翻译：机器人，无线电检测系统，无线电检测方法和存储无线电检测处理程序的记录介质
公开(公告)号：US20070276540A1
公开(公告)日：2007-11-29
申请号：US11798418
申请日：2007-05-14
申请人： Akinobu Okuda , Osamu Mizuno , Yoshihiko Matsukawa
发明人： Akinobu Okuda , Osamu Mizuno , Yoshihiko Matsukawa
IPC分类号： G06F19/00 , G05B19/00
CPC分类号： G05D1/028 , G05D1/0272 , G05D2201/0207
摘要： A robot is provided with a position setting unit for setting the position information of a destination, a locomotion unit for a movement to the set position, an actuator for driving the locomotion unit to the set position of movement, and a radio detection system for detecting the presence or absence of an unauthorized radio wave based on received radio waves. The radio detection system includes a radio receiver for detecting radio signals at mutually different positions in accordance with position information, a radio signal storage for storing the detected radio signals, a radio signal verifier for detecting the presence or absence of a radio signal having the same characteristics by comparing a detected radio signal and the radio signal stored in the radio signal storage, and an unauthorized radio wave detector for detecting the presence of an unauthorized radio wave when the radio signal having the same characteristics is present.
摘要翻译：机器人设置有用于将目的地的位置信息，用于移动到设定位置的移动单元，用于将移动单元驱动到设定移动位置的致动器的位置设定单元，以及用于检测基于接收的无线电波的存在或不存在未授权的无线电波。无线电检测系统包括：用于根据位置信息检测相互不同位置的无线电信号的无线电接收机，用于存储检测到的无线电信号的无线电信号存储器，用于检测有无相同信号的无线电信号的无线电信号验证器通过比较检测到的无线电信号和存储在无线电信号存储器中的无线电信号的特性，以及当存在具有相同特性的无线电信号时，用于检测未授权无线电波的存在的未授权无线电波检测器。

23. 发明申请

US20100005918A1 JOINT MECHANISM AND JOINT DEVICE 有权
标题翻译：联合机制和联合设备
公开(公告)号：US20100005918A1
公开(公告)日：2010-01-14
申请号：US12517710
申请日：2007-12-07
申请人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
发明人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
IPC分类号： B25J17/00 , B25J15/08 , F16H1/16
CPC分类号： B25J15/0009 , B25J9/102 , F16H1/16 , Y10T74/19637 , Y10T74/19828 , Y10T74/20317 , Y10T74/20329
摘要： The joint mechanism includes a first link, a second link, a third link, a shaft supported on the second link to be rotatable about an axis thereof, and movable in an axis direction thereof, a first worm and a second worm mounted on the shaft, a first worm wheel in mesh with the first worm to pivotally move the first link with respect to the second link, and a second worm wheel in mesh with the second worm to pivotally move the third link with respect to the second link. The first link and the third link are pivotally moved in opposite directions to each other by rotating the shaft, and pivotally moved in identical directions to each other by moving the shaft in the axis direction.
摘要翻译：所述关节机构包括：第一连杆，第二连杆，第三连杆，支撑在所述第二连杆上的轴，以绕其轴线旋转并且可沿其轴线方向移动;第一蜗杆和安装在所述轴上的第二蜗杆与所述第一蜗杆啮合的第一蜗轮，以相对于所述第二连杆枢转地移动所述第一连杆;以及与所述第二蜗杆啮合的第二蜗轮，以相对于所述第二连杆枢转地移动所述第三连杆。第一连杆和第三连杆通过旋转轴而以相反的方向枢转运动，并且通过沿着轴线方向移动轴而以相同的方向彼此枢转地运动。

24. 发明授权

US08141925B2 Joint mechanism and joint device 有权
标题翻译：接头机构和接头装置
公开(公告)号：US08141925B2
公开(公告)日：2012-03-27
申请号：US12517710
申请日：2007-12-07
申请人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
发明人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
IPC分类号： B66C1/00
CPC分类号： B25J15/0009 , B25J9/102 , F16H1/16 , Y10T74/19637 , Y10T74/19828 , Y10T74/20317 , Y10T74/20329
摘要： The joint mechanism includes a first link, a second link, a third link, a shaft supported on the second link to be rotatable about an axis thereof, and movable in an axis direction thereof, a first worm and a second worm mounted on the shaft, a first worm wheel in mesh with the first worm to pivotally move the first link with respect to the second link, and a second worm wheel in mesh with the second worm to pivotally move the third link with respect to the second link. The first link and the third link are pivotally moved in opposite directions to each other by rotating the shaft, and pivotally moved in identical directions to each other by moving the shaft in the axis direction.
摘要翻译：所述关节机构包括：第一连杆，第二连杆，第三连杆，支撑在所述第二连杆上的轴，以绕其轴线旋转并且可沿其轴线方向移动;第一蜗杆和安装在所述轴上的第二蜗杆与所述第一蜗杆啮合的第一蜗轮，以相对于所述第二连杆枢转地移动所述第一连杆;以及与所述第二蜗杆啮合的第二蜗轮，以相对于所述第二连杆枢转地移动所述第三连杆。第一连杆和第三连杆通过旋转轴而以相反的方向枢转运动，并且通过沿着轴线方向移动轴而以相同的方向彼此枢转地运动。

25. 发明授权

US08380351B2 Manipulator, manipulator collision detecting method and manipulator control method 有权
标题翻译：机械手，机械手碰撞检测方法和机械手控制方法
公开(公告)号：US08380351B2
公开(公告)日：2013-02-19
申请号：US12480985
申请日：2009-06-09
申请人： Akinobu Okuda , Osamu Mizuno , Tohru Nakamura
发明人： Akinobu Okuda , Osamu Mizuno , Tohru Nakamura
IPC分类号： G05B15/00
CPC分类号： B25J9/102 , F16H1/16 , Y10T74/20305
摘要： A manipulator is provided with a first link, a second link, first and second differential input shafts rotatably supported on the first link, a differential output shaft rotatably supported on the second link, a differential gear mechanism for rotating the differential output shaft about two axes orthogonal to each other in accordance with the sum or difference of rotating speeds of the first and second differential input shafts, a first shaft rotational angle sensor for detecting rotational angle information of the first differential input shaft, a second shaft rotational angle sensor for detecting rotational angle information of the second differential input shaft, and a controller for detecting the reception of an external force by the first or second link based on an output signal of the first or second shaft rotational angle sensor.
摘要翻译：机械手设置有第一连杆，第二连杆，可旋转地支撑在第一连杆上的第一和第二差动输入轴，可旋转地支撑在第二连杆上的差动输出轴，用于使差动输出轴绕两个轴旋转的差动齿轮机构第一轴旋转角度传感器，用于检测第一差动输入轴的旋转角度信息;第二轴旋转角度传感器，用于检测第一和第二差速器输入轴的旋转速度; 第二差动输入轴的角度信息，以及基于第一或第二轴转角传感器的输出信号检测由第一或第二连杆接收外力的控制器。

26. 发明授权

US08251420B2 Joint mechanism and joint device 失效
公开(公告)号：US08251420B2
公开(公告)日：2012-08-28
申请号：US13397212
申请日：2012-02-15
申请人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
发明人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
IPC分类号： B66C1/00
CPC分类号： B25J15/0009 , B25J9/102 , F16H1/16 , Y10T74/19637 , Y10T74/19828 , Y10T74/20317 , Y10T74/20329
摘要： The joint mechanism includes a first link, a second link, a third link, a shaft supported on the second link to be rotatable about an axis thereof, and movable in an axis direction thereof, a first worm and a second worm mounted on the shaft, a first worm wheel in mesh with the first worm to pivotally move the first link with respect to the second link, and a second worm wheel in mesh with the second worm to pivotally move the third link with respect to the second link. The first link and the third link are pivotally moved in opposite directions to each other by rotating the shaft, and pivotally moved in identical directions to each other by moving the shaft in the axis direction.

27. 发明申请

US20110100501A1 MEDICATION MIXING DEVICE AND MEDICATION MIXING METHOD 有权
标题翻译：药物混合装置和药物混合方法
公开(公告)号：US20110100501A1
公开(公告)日：2011-05-05
申请号：US13000053
申请日：2010-03-17
申请人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
发明人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
IPC分类号： B65B3/04
CPC分类号： A61J3/002 , A61J1/2065 , A61J1/2096 , A61M5/1782
摘要： A medicine mixing device includes a pedestal, a main rotating-base, a sub rotating-base, and a control unit. The pedestal is used to place medicine containers thereon. The main rotating-base includes a holding portion and a main rotating shaft, and rotates around the main rotating shaft. The holding portion holds a syringe for sucking a medicine at its center on its vertical plane. The main rotating shaft is orthogonal to the vertical plane. The sub rotating-base is disposed close to a part of the circumference of the main-rotating base and rotates relatively with respect to the main rotating-base. The sub rotating-base includes a fixing unit and a sub rotating shaft parallel to the main rotating shaft. The fixing unit fixes thereto one medicine container selected from the medicine containers on the pedestal. The control unit controls a medicine to be sucked out of the medicine container into the syringe.
摘要翻译：药物混合装置包括基座，主旋转基座，副旋转基座和控制单元。基座用于在其上放置药物容器。主旋转基座包括保持部和主旋转轴，并且绕主旋转轴旋转。保持部保持用于在其垂直平面上的中心吸取药物的注射器。主旋转轴与垂直平面垂直。副旋转底座靠近主旋转底座的圆周的一部分设置，相对于主旋转基座相对旋转。副旋转基座包括固定单元和平行于主旋转轴的副旋转轴。固定单元固定在从基座上的药剂容器中选出的一个药剂容器。控制单元将从药剂容器吸出的药物控制到注射器中。

28. 发明授权

US08596309B2 Medication mixing device and medication mixing method 有权
标题翻译：药物混合装置和药物混合方法
公开(公告)号：US08596309B2
公开(公告)日：2013-12-03
申请号：US13000053
申请日：2010-03-17
申请人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
发明人： Osamu Mizuno , Akinobu Okuda , Tohru Nakamura
IPC分类号： B65B3/04
CPC分类号： A61J3/002 , A61J1/2065 , A61J1/2096 , A61M5/1782
摘要： A medicine mixing device includes a pedestal, a main rotating-base, a sub rotating-base, and a control unit. The pedestal is used to place medicine containers thereon. The main rotating-base includes a holding portion and a main rotating shaft, and rotates around the main rotating shaft. The holding portion holds a syringe for sucking a medicine at its center on its vertical plane. The main rotating shaft is orthogonal to the vertical plane. The sub rotating-base is disposed close to a part of the circumference of the main-rotating base and rotates relatively with respect to the main rotating-base. The sub rotating-base includes a fixing unit and a sub rotating shaft parallel to the main rotating shaft. The fixing unit fixes thereto one medicine container selected from the medicine containers on the pedestal. The control unit controls a medicine to be sucked out of the medicine container into the syringe.
摘要翻译：药物混合装置包括基座，主旋转基座，副旋转基座和控制单元。基座用于在其上放置药物容器。主旋转基座包括保持部和主旋转轴，并且绕主旋转轴旋转。保持部保持用于在其垂直平面上的中心吸取药物的注射器。主旋转轴与垂直平面垂直。副旋转底座靠近主旋转底座的圆周的一部分设置，相对于主旋转基座相对旋转。副旋转基座包括固定单元和平行于主旋转轴的副旋转轴。固定单元固定在从基座上的药剂容器中选出的一个药剂容器。控制单元将从药剂容器吸出的药物控制到注射器中。

29. 发明授权

US08100451B2 Multi-fingered robot hand 有权
标题翻译：多指机器人手
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。

30. 发明申请

US20100176615A1 MULTI-FINGERED ROBOT HAND 有权
标题翻译：多功能机器人手
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。

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