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    • 72. 发明授权
    • Multi-fingered robot hand
    • 多指机器人手
    • US08100451B2
    • 2012-01-24
    • US12376536
    • 2007-10-24
    • Akinobu OkudaOsamu MizunoTohru Nakamura
    • Akinobu OkudaOsamu MizunoTohru Nakamura
    • B25J15/10
    • B25J15/0009A61F2/583A61F2002/501A61F2002/5018
    • 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.
    • 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。
    • 73. 发明申请
    • MULTI-FINGERED ROBOT HAND
    • 多功能机器人手
    • US20100176615A1
    • 2010-07-15
    • US12376536
    • 2007-10-24
    • Akinobu OkudaOsamu MizunoTohru Nakamura
    • Akinobu OkudaOsamu MizunoTohru Nakamura
    • B25J15/10B25J15/08A61F2/54
    • B25J15/0009A61F2/583A61F2002/501A61F2002/5018
    • 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.
    • 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。
    • 80. 发明授权
    • Drug transferring needle and drug transferring method
    • 药物转移针和药物转移方法
    • US09254243B2
    • 2016-02-09
    • US14008808
    • 2012-03-14
    • Akira HiguchiAkinobu OkudaAkihiro OhtaYuki TakenakaTohru Nakamura
    • Akira HiguchiAkinobu OkudaAkihiro OhtaYuki TakenakaTohru Nakamura
    • A61J1/20A61M5/162
    • A61J1/2096A61M5/162
    • A drug transferring needle includes a needle base portion, a first needle portion having therein an air passage, and a second needle portion longer than the first needle portion and arranged parallel to the first needle portion. In the first needle portion, a first air vent being one end of the air passage is provided on a distal end side of the second needle portion from a second air vent being the other end of the air passage. In the second needle portion, one end of a liquid passage is connected to the inside of the needle base portion, and the other end thereof is a liquid pass opening of the second needle portion. The second needle portion has a distal end having the liquid pass opening, a base portion connected to the needle base portion, and an intermediate portion connecting the distal end and the base portion.
    • 药物传送针包括针基部,其中具有空气通道的第一针部分和比第一针部长并且平行于第一针部分布置的第二针部分。 在第一针部中,作为空气通路的另一端的第二排气口在第二针部的前端侧设置有作为空气通路一端的第一排气口。 在第二针部中,液体通路的一端与针基部的内侧连接,另一端为第二针部的液体通过口。 第二针部具有具有液体通过口的远端,与针基部连接的基部,以及连接前端和基部的中间部。