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1. 发明授权

US09089195B2 Automatic hair washing apparatus 有权
标题翻译：自动洗发器
公开(公告)号：US09089195B2
公开(公告)日：2015-07-28
申请号：US13816979
申请日：2011-08-15
申请人： Osamu Mizuno , Soichiro Fujioka , Tohru Nakamura , Akinobu Okuda , Tsuyoshi Tojo
发明人： Osamu Mizuno , Soichiro Fujioka , Tohru Nakamura , Akinobu Okuda , Tsuyoshi Tojo
IPC分类号： A45D19/14 , A45D19/02 , A45D19/00
CPC分类号： A45D19/14 , A45D19/02 , A45D2019/005
摘要： Provided is an automatic hair washing apparatus for washing person's hair in a safe and effective manner without applying a straining force on person's neck. An automatic hair washing apparatus 100 comprises a bowl 101 having a head support 11; washing units 12L and 12R arranged with the head support 11 interposed therebetween, the support shafts thereof being attached to the bowl 101; a driving section for rotating the washing units 12L and 12R about the respective support shafts 104L and 104R; and a control section for controlling the driving of the driving section; wherein each of the washing units 12L and 12R comprises a plurality of contacts 109 on a surface opposite to the surface supported by the support shaft 104L and 104R.
摘要翻译：本发明提供一种自动洗发装置，以安全有效的方式洗涤人的头发，而不会对人的颈部施加紧张力。自动洗发装置100包括具有头部支撑件11的碗101; 洗涤单元12L和12R与头部支撑件11插入在其间，其支撑轴安装在碗101上; 用于使洗涤单元12L和12R围绕各个支撑轴104L和104R旋转的驱动部分; 以及控制部分，用于控制驱动部分的驱动; 其中每个洗涤单元12L和12R在与由支撑轴104L和104R支撑的表面相对的表面上包括多个触点109。

2. 发明申请

US20120078180A1 SYRINGE DRIVE DEVICE 有权
标题翻译： SYRINGE驱动装置
公开(公告)号：US20120078180A1
公开(公告)日：2012-03-29
申请号：US13375309
申请日：2010-07-22
申请人： Soichiro Fujioka , Tohru Nakamura , Osamu Mizuno , Akinobu Okuda , Akihiro Ohta
发明人： Soichiro Fujioka , Tohru Nakamura , Osamu Mizuno , Akinobu Okuda , Akihiro Ohta
IPC分类号： A61M5/20
CPC分类号： A61J1/2096 , A61J1/20 , A61J1/201 , A61M5/20 , A61M2005/2414
摘要： A syringe drive device 1 includes a cylinder holding section 3 configured to detachably hold a cylinder 201, a piston manipulating section 4 detachably coupled with a piston, and a piston drive section 5 including racks 31A and 31B coupled with the piston manipulating section 4 and configured to move the piston manipulating section 4 so that a piston 202 is moved in a push-in direction or a pull-out direction. A cylinder 200A having a given capacity (for example, 50 cc) is directly loaded in the syringe drive device 1 with no adapter therebetween. A syringe 200C having a different capacity (for example, 20 cc) is loaded in the syringe drive device 1 by means of a cylinder adapter 81 and a piston adapter 82.
摘要翻译：注射器驱动装置1包括可拆卸地保持缸体201的气缸保持部3，与活塞可拆卸地连接的活塞操作部分4和活塞驱动部分5，其包括与活塞操纵部分4联接的齿条31A和31B，以移动活塞操纵部分4，使得活塞202沿推入方向或拉出方向移动。具有给定容量（例如，50cc）的气瓶200A被直接装载在注射器驱动装置1中，其间没有适配器。具有不同容量（例如20cc）的注射器200C通过气缸适配器81和活塞适配器82装载在注射器驱动装置1中。

3. 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。

4. 发明申请

US20100318224A1 MANIPULATOR AND METHOD OF CONTROLLING THE SAME 有权
标题翻译：操纵器及其控制方法
公开(公告)号：US20100318224A1
公开(公告)日：2010-12-16
申请号：US12866959
申请日：2009-03-05
申请人： Akinobu Okuda , Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
发明人： Akinobu Okuda , Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
IPC分类号： B25J13/08 , B25J17/02 , B25J18/00 , B25J9/00 , G05B15/00 , G06F19/00 , B25J19/06
CPC分类号： B25J9/1676 , G05B2219/39082 , Y10T74/20329
摘要： A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.
摘要翻译：操纵器具有臂，臂，保持部，枢转地互连臂和臂的第一接合部，将臂和保持部枢转地相互连接的第二接头部，能够驱动第一接头的第一接头驱动部接合部，能够驱动第二接合部的第二关节驱动部，用于指定具有与障碍物碰撞的可能性或与障碍物碰撞的一个臂的部件指定部，以及用于控制第一关节驱动部和第二关节驱动部，用于使远离障碍物的方向枢转地移动由构件指定部指定的臂中的一个臂，并且使臂中的另一个朝向障碍物的方向。

5. 发明申请

US20090312868A1 MANIPULATOR AND MANIPULATOR POSTURE CONTROL METHOD 有权
标题翻译：操纵器和操纵器姿态控制方法
公开(公告)号：US20090312868A1
公开(公告)日：2009-12-17
申请号：US12480973
申请日：2009-06-09
申请人： Tsuyoshi TOJO , Osamu Mizuno , Akinobu Okuda , Yoshihiko Matsukawa , Rie Takahashi , Soichiro Fujioka , Tohru Nakamura
发明人： Tsuyoshi TOJO , Osamu Mizuno , Akinobu Okuda , Yoshihiko Matsukawa , Rie Takahashi , Soichiro Fujioka , Tohru Nakamura
IPC分类号： G06F19/00
CPC分类号： B25J9/1676
摘要： It is aimed to provide a manipulator capable of reducing a colliding force exerted to an obstacle even in the case where the manipulator collides without being able to avoid a collision with the obstacle.A manipulator 1 includes an arm unit 3 rotatably provided on a main unit 2. A posture detector 10 executes a control to incline the arm unit 3 obliquely backward with respect to a moving direction P when the main unit 2 of the manipulator 1 is moved. Thus, the arm unit 3 collides with an obstacle 11 in an inclined state, wherefore a colliding force exerted to the obstacle 11 can be distributed.
摘要翻译：目的在于提供一种即使在机械手碰撞而不能避免与障碍物碰撞的情况下也能够减小施加于障碍物的碰撞力的机械手。机械手1包括可旋转地设置在主单元2上的臂单元3.姿态检测器10执行使得当机械手1的主单元2移动时相对于移动方向P向后倾斜的臂单元3的控制。因此，臂单元3以倾斜状态与障碍物11碰撞，由此可以分配施加到障碍物11的碰撞力。

6. 发明授权

US08401699B2 Manipulator and manipulator posture control method 有权
标题翻译：机械手和机械手姿态控制方法
公开(公告)号：US08401699B2
公开(公告)日：2013-03-19
申请号：US12480973
申请日：2009-06-09
申请人： Tsuyoshi Tojo , Osamu Mizuno , Akinobu Okuda , Yoshihiko Matsukawa , Rie Takahashi , Soichiro Fujioka , Tohru Nakamura
发明人： Tsuyoshi Tojo , Osamu Mizuno , Akinobu Okuda , Yoshihiko Matsukawa , Rie Takahashi , Soichiro Fujioka , Tohru Nakamura
IPC分类号： G06F19/00
CPC分类号： B25J9/1676
摘要： A manipulator includes a main unit movable to a specified target position, an arm unit rotatably provided on the main unit, and a posture controller. The posture controller controls the posture of the arm unit so that a front surface of the arm unit facing forward in a moving direction of the main unit is not orthogonal to the moving direction of the main unit when the movement of the main unit is performed. The arm unit may be inclined obliquely backward with respect to a moving direction of the main unit when the main unit is moved to a specified target position.
摘要翻译：机械手包括可移动到指定目标位置的主单元，可旋转地设置在主单元上的臂单元和姿势控制器。姿势控制器控制臂单元的姿势，使得当执行主单元的移动时，在主单元的移动方向上面向前的臂单元的前表面与主单元的移动方向不正交。当主单元移动到指定的目标位置时，臂单元可相对于主单元的移动方向倾斜向后倾斜。

7. 发明授权

US08286528B2 Robot arm 有权
标题翻译：机器人手臂
公开(公告)号：US08286528B2
公开(公告)日：2012-10-16
申请号：US12863644
申请日：2009-01-21
申请人： Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Akinobu Okuda , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
发明人： Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Akinobu Okuda , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J19/06 , B25J9/102 , B25J19/0091 , F16H35/10 , Y10T74/19614 , Y10T74/20305 , Y10T74/20329
摘要： A robot arm has a drive gear that has a shaft, a gear frame being capable of turning about the shaft of the drive gear, a first follower gear being capable of turning, in synchronization with the drive gear, about a shaft fixed to the gear frame, in a direction opposite to the turning direction of the drive gear, a transmission control mechanism that is capable of locking the first follower gear to the drive gear, an arm that moves in synchronization with the first follower gear, and a collision detection unit that is capable of detecting a collision between the arm and an obstacle. The transmission control mechanism unlocks the follower gear from the drive gear in response to detection, by the collision detection unit, of a collision between the arm and the obstacle. The robot arm enables quick cushioning of the impact force of the collision.
摘要翻译：机器人臂具有驱动齿轮，其具有轴，齿轮架能够围绕驱动齿轮的轴转动，第一从动齿轮能够与驱动齿轮同步地绕固定到齿轮的轴转动框架，在与驱动齿轮的转动方向相反的方向上，能够将第一从动齿轮锁定到驱动齿轮的传动控制机构，与第一从动齿轮同步移动的臂，以及碰撞检测单元能够检测手臂与障碍物之间的碰撞。变速器控制机构响应于碰撞检测单元检测到臂和障碍物之间的碰撞而将从动齿轮从驱动齿轮解锁。机器人手臂能够快速缓冲碰撞的冲击力。

8. 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。

9. 发明授权

US08696634B2 Syringe drive device 有权
标题翻译：注射器驱动装置
公开(公告)号：US08696634B2
公开(公告)日：2014-04-15
申请号：US13575124
申请日：2011-01-26
申请人： Soichiro Fujioka , Tohru Nakamura , Osamu Mizuno , Akinobu Okuda , Akihiro Ohta , Mizuho Sakakibara , Toshihide Ueda
发明人： Soichiro Fujioka , Tohru Nakamura , Osamu Mizuno , Akinobu Okuda , Akihiro Ohta , Mizuho Sakakibara , Toshihide Ueda
IPC分类号： A61M37/00
CPC分类号： A61M5/14546 , A61M5/1458
摘要： A syringe drive device 15 according to the present invention includes: an outer tube fixing portion 31 that detachably fixes an outer tube 22 of a syringe 16; a plunger holder 21 that holds a plunger 17 of the syringe 16; and a drive portion that moves the plunger holder 21 along an axis of the syringe. The outer tube fixing portion 31 includes: a flange catcher 33 facing a rear end of a flange 22a of the outer tube 22, the rear end being located far from the plunger 17 to be pushed; slide portions 34 and 35 that are located in front of a front end of the flange 22a to hold the flange 22a between the flange catcher 33 and the slide portions, the front end being located close to the plunger 17 to be pushed; slide guides 36 and 37 that support the slide portions 34 and 35 so as to be slidable along the axis of the syringe; and a slide portion operation mechanism that is switchable between a first state where the slide portions 34 and 35 slide along the axis of the syringe, and a second state where the slide portions 34 and 35 are held at positions to hold the flange 22a between the flange catcher 33 and the slide portions.
摘要翻译：根据本发明的注射器驱动装置15包括：可拆卸地固定注射器16的外管22的外管固定部31; 保持注射器16的柱塞17的柱塞保持件21; 以及沿着注射器的轴线移动柱塞保持器21的驱动部。外管固定部分31包括：面对外管22的凸缘22a的后端的凸缘捕获器33，后端远离柱塞17被推动; 位于凸缘22a的前端前方的滑动部分34和35，以将凸缘22a保持在凸缘捕获器33和滑动部分之间，前端靠近柱塞17定位以被推动; 滑动引导件36和37，其支撑滑动部分34和35以沿着注射器的轴线滑动; 以及滑动部分操作机构，其可以在滑动部分34和35沿着注射器的轴线滑动的第一状态和第二状态之间切换，其中滑动部分34和35被保持在将凸缘22a保持在凸缘捕获器33和滑动部分。

10. 发明授权

US08504203B2 Manipulator and method of controlling the same 有权
标题翻译：操纵器及其控制方法
公开(公告)号：US08504203B2
公开(公告)日：2013-08-06
申请号：US12866959
申请日：2009-03-05
申请人： Akinobu Okuda , Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
发明人： Akinobu Okuda , Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
IPC分类号： G05B19/04
CPC分类号： B25J9/1676 , G05B2219/39082 , Y10T74/20329
摘要： A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.
摘要翻译：操纵器具有臂，臂，保持部，枢转地互连臂和臂的第一接合部，将臂和保持部枢转地相互连接的第二接头部，能够驱动第一接头的第一接头驱动部接合部，能够驱动第二接合部的第二关节驱动部，用于指定具有与障碍物碰撞的可能性或与障碍物碰撞的一个臂的部件指定部，以及用于控制第一关节驱动部和第二关节驱动部，用于使远离障碍物的方向枢转地移动由构件指定部指定的臂中的一个臂，并且使臂中的另一个朝向障碍物的方向。

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