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1. 发明授权

US4688984A Wrist driving mechanism for industrial robot 失效
标题翻译：工业机器人手腕驱动机构
公开(公告)号：US4688984A
公开(公告)日：1987-08-25
申请号：US767583
申请日：1985-08-13
申请人： Seiichiro Nakashima , Kenichi Toyoda , Ryo Nihei , Hitoshi Mizuno
发明人： Seiichiro Nakashima , Kenichi Toyoda , Ryo Nihei , Hitoshi Mizuno
IPC分类号： B25J9/10 , B25J15/00 , B25J17/02
CPC分类号： B25J9/1025 , B25J17/0283 , Y10T74/1906
摘要： A wrist driving mechanism for an industrial robot has a first base wrist unit (13) supported on the free end of a robot arm (11) and capable of rotating about a first axis (.gamma.). The first base wrist unit (13) is mounted with a second base wrist unit (14) capable of rotating about a second axis (.beta.). The second base wrist unit (14) is mounted with a fore wrist unit (15) capable of rotating about a third axis (.alpha.). The robot arm (11) is provided along the longitudinal direction thereof with a first power transmitting unit (16) for transmitting a rotative power to the first base wrist unit (13). A second power transmitting unit (19) for transmitting a rotative power to the second base wrist unit (14) is formed along the robot arm (11) and the first base wrist unit (13). A motor (25) for driving the fore wrist unit (15) for rotation is mounted on the first base wrist unit (13). The driving shaft of the motor (25) is coupled with a first transmission shaft (26) extended along the second axis (.beta.). The first transmission shaft (26) is connected through a gear train (27) to the second transmission shaft (28) extended along the third axis (.alpha.) and the second transmission shaft (28) is connected to the fore wrist unit (15). The second transmission shaft (28) is associated with a reduction gear mechanism (31).
摘要翻译： PCT No.PCT / JP84 / 00595 Sec。 371日期1985年8月13日 102（e）日期1985年8月13日PCT提交1984年12月14日PCT公布。第WO85 / 02576号公报日期：1985年6月20日。一种用于工业机器人的手腕驱动机构具有支撑在机器人手臂（11）的自由端上并能够绕第一轴线（γ）旋转的第一基部腕部单元（13）。第一基部腕部（13）安装有能够围绕第二轴线（β）旋转的第二基部腕部单元（14）。第二基部腕部（14）安装有能够围绕第三轴线（α）旋转的前腕单元（15）。机器人手臂（11）沿着其长度方向设置有用于将旋转动力传递到第一基准腕部（13）的第一动力传递单元（16）。沿机器人手臂（11）和第一基准腕部（13）形成有用于将旋转动力传递到第二基准腕部（14）的第二动力传递部（19）。用于驱动前腕部（15）旋转的马达（25）安装在第一基座腕部（13）上。马达（25）的驱动轴与沿着第二轴线（β）延伸的第一传动轴（26）联接。第一传动轴（26）通过齿轮系（27）连接到沿着第三轴线（α）延伸的第二传动轴（28），第二传动轴（28）连接到前腕部（15）。第二传动轴（28）与减速齿轮机构（31）相关联。

2. 发明授权

US4728247A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4728247A
公开(公告)日：1988-03-01
申请号：US834274
申请日：1986-02-20
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno
IPC分类号： B25J9/04 , B25J19/00 , B66C23/72
CPC分类号： B25J19/0016 , B25J9/046 , Y10T16/53834
摘要： The industrial robot comprises a lower arm (13) provided on a robot body (12) pivotably about a first horizontal axis (C1). The lower arm (13) has provided thereon a forearm (14) pivotably about a second horizontal axis (C2). The forearm (14) is rotationally driven by a drive such as a motor (16). The robot body (12) has provided thereon a rotating disk (17) interlocked with the pivoting of the forearm (14) about the second axis (C2) and rotatable about the first axis (C1). Also the rotating disk (17) has secured thereon a first wheel (18) and coaxial therewith, the diameter of which is smaller than that of the disk. There is further provided a tension spring assembly (19) having one end thereof connected to the robot body (12) and which has rotatably mounted at the other end thereof a second wheel (21) having nearly the same diameter as that of the first wheel. Also provided is a chain (22) having one end thereof connected to the rotating disk (17) and the other end engaged on the first wheel (18). This chain (22) is engaged on the outer circumference of the second wheel (21) while pulling the tension spring assembly (19). The one end of the chain (22) is so disposed on the rotating disk (17) that when the upper end of the forearm (14) is directed normally downward, the chain portion (22b) between the rotating disk (17) and the second wheel (21) is substantially parallel to the chain portion (22c) between the first and second wheels (18) and (21).
摘要翻译： PCT No.PCT / JP85 / 00366 Sec。一九八六年二月二十日 102（e）日期1986年2月20日PCT提交1985年6月28日PCT公布。出版物WO86 / 日期1986年1月16日。工业机器人包括设置在机器人主体（12）上的可绕第一水平轴线（C1）枢转的下臂（13）。下臂（13）在其上设置有绕第二水平轴线（C2）可枢转的前臂（14）。前臂（14）由诸如马达（16）的驱动器旋转驱动。机器人主体（12）上设置有旋转盘（17），该旋转盘与前臂（14）围绕第二轴线（C2）枢转并且可围绕第一轴线（C1）旋转。此外，旋转盘（17）固定有第一轮（18）并与其同轴，其直径小于盘的直径。另外还设置有一个拉伸弹簧组件（19），其一端连接到机器人本体（12），并且其另一端可旋转地安装有与第一轮几乎相同直径的第二轮（21）。还设置有一个链条（22），其一端连接到旋转盘（17），另一端接合在第一轮（18）上。该链条（22）在拉动拉伸弹簧组件（19）的同时在第二轮（21）的外圆周上接合。链条（22）的一端设置在旋转盘（17）上，当前臂（14）的上端正常向下定位时，旋转盘（17）和第二轮（21）基本上平行于第一和第二轮（18）和（21）之间的链条部分（22c）。

3. 发明授权

US4732526A Explosion-proof industrial robot 失效
标题翻译：防爆工业机器人
公开(公告)号：US4732526A
公开(公告)日：1988-03-22
申请号：US848378
申请日：1986-02-27
申请人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada , Hitoshi Mizuno
发明人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada , Hitoshi Mizuno
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00 , B25J3/00
CPC分类号： B25J9/046 , B25J19/0029 , B25J19/0079 , B25J9/1035
摘要： An electric industrial robot comprises a movable robot assembly (10) forming therein an airtight chamber, and an electric drive unit for driving the robot assembly. The electric drive unit comprises a plurality of motors (36-41). The respective casings (36a-41a) of the motors are disposed within the airtight chamber (30) of the robot assembly. Electric cables (57-62) connected to the motors, respectively, are led through the airtight chamber into a fixed pipe (67) connected to the robot assembly. The interior of the motors and the interior of the airtight chamber are kept at a pressure higher than an atmospheric pressure outside the robot assembly.
摘要翻译： PCT No.PCT / JP85 / 00365 Sec。一九六六年四月二十九日 102（e）日期1986年4月29日PCT Filed 1985年6月28日PCT公布。公开号WO86 / 00256 日本1986年1月16日。电动工业机器人包括在其中形成气密室的可移动机器人组件（10）和用于驱动机器人组件的电驱动单元。电驱动单元包括多个电动机（36-41）。电动机的各个壳体（36a-41a）设置在机器人组件的气密室（30）内。分别连接到电动机的电缆（57-62）通过气密室被引导到连接到机器人组件的固定管（67）中。电动机的内部和气密室的内部保持在机器人组件外部的压力高于大气压力。

4. 发明授权

US4906121A Cable guiding apparatus for industrial robot 失效
标题翻译：工业机器人电缆导引装置
公开(公告)号：US4906121A
公开(公告)日：1990-03-06
申请号：US93021
申请日：1987-08-05
申请人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
发明人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
IPC分类号： B25J9/06 , B25J19/00 , H02G11/00
CPC分类号： B25J19/0029 , Y10T403/32213 , Y10T403/32557 , Y10T403/32975
摘要： A cable arranging device for an industrial robot has a cylindrical support casing (2), a swing casing (3) supported on the support casing (2) and swingable about the axis of a swing shaft, and cables (5) interconnecting the swing casing (3) and the support casing (2). One end of a substantially C-shaped cable guide (4) is pivotally supported in the swing casing on the axis of the swing shaft, the other end of the cable guide is pivotally supported in the support casing on the axis of the swing shaft. Spaces for allowing the cable guide (4) to swing therein through a prescribed angle are defined respectively in the swing casing (3) and the support casing (2).

5. 发明授权

US4813844A Apparatus for setting industrial robot at standard position 失效
标题翻译：将工业机器人设置在标准位置的设备
公开(公告)号：US4813844A
公开(公告)日：1989-03-21
申请号：US21059
申请日：1987-01-29
申请人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
发明人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
IPC分类号： B25J9/10 , B25J9/16 , B25J9/00 , B25J19/00
CPC分类号： B25J9/10 , B25J9/1692
摘要： An apparatus for setting an industrial robot at the standard position comprises a block (19) to be measured, which is attached to a top end portion (18) of a wrist of the industrial robot, and a supporting member (23) for the measurement, which is attached to a fixing base (11) of the industrial robot. The block has three planes (20, 21, 22), orthogonal to one another, to be measured, and the block is positioned to the top end portion of the wrist so that the three planes to be measured are set at predetermined positions relative to the top end portion of the wrist. The supporting member has three frames (24, 25, 26) orthogonal to one another, and the supporting member is positioned relative to the fixing base so that the three frames take predetermined positions relative to three-axis orthogonal coordinates predetermined on the basis of the fixing base. By a plurality of dial gauges (27 through 32; 37 through 42), the positions of the planes of the block are measured. The dial gauges display predetermined values only when the planes to be measured of the block are set at predetermined positions relative to the frames of the supporting member.
摘要翻译： PCT No.PCT / JP86 / 00273 Sec。 371日期1987年1月29日 102（e）日期1987年1月29日PCT申请日1986年5月30日PCT公布。出版物WO86 / 06998 日期：1986年12月4日。用于将工业机器人设置在标准位置的设备包括附接到工业机器人手腕的顶端部分（18）上的被测量块（19）和支撑用于测量的构件（23），其附接到工业机器人的固定基座（11）。块具有彼此正交的三个平面（20,21,22），被测量，并且块被定位到手腕的顶端部分，使得待测量的三个平面相对于手腕的顶端部分。所述支撑构件具有彼此正交的三个框架（24,25,26），并且所述支撑构件相对于所述固定基座定位，使得所述三个框架相对于基于所述固定基准预定的三轴正交坐标取预定位置固定底座通过多个拨号盘（27至32; 37至42），测量块的平面位置。仅当待测量的平面相对于支撑构件的框架被设定在预定位置时，表盘才显示预定值。

6. 发明授权

US4828094A Motion range limiting apparatus for industrial robots 失效
标题翻译：工业机器人运动范围限制装置
公开(公告)号：US4828094A
公开(公告)日：1989-05-09
申请号：US32455
申请日：1987-04-08
申请人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
发明人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
IPC分类号： B25J19/00 , B25J9/10 , B25J17/02 , B25J19/06
CPC分类号： B25J9/101 , B25J17/0241 , B25J19/0091 , B25J19/06 , Y10T74/2063
摘要： An apparatus for limiting range of motion of an industrial robot in accordance with the invention includes an indicating section (7) for indicating e.g. angles of rotation provided on a stationary side (1) of the swivel portion of an axis about which swiveling motion is possible. A range limiting member (6) having a dog and a stopper is movably disposed on the indicating section (7). When the industrial robot attempts to rotate beyond a stipulated range of rotation during operation, a limit member (81) provided on a movable side (2) of the axis portion contacts the dog (61) on the stationary side (1) to detect overtravel, whereby a warning is issued to the effect that the stipulated range of rotation has been exceeded. When the robot attempts to rotate further due to inertia, a shock absorber (82) strikes a stopper mechanism (62) to prevent excessive rotation.

7. 发明授权

US4931617A Electrically conductive coating for cover of industrial robot 失效
标题翻译：工业机器人覆盖用导电涂层
公开(公告)号：US4931617A
公开(公告)日：1990-06-05
申请号：US313970
申请日：1989-02-02
申请人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Masanao Miyawaki
发明人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Masanao Miyawaki
IPC分类号： B23K9/28 , B25J19/00 , H02K11/02
CPC分类号： B25J19/0075 , B23K9/287 , H02K11/022
摘要： An industrial robot for use in TIG arc welding or the like includes plastic covers for motors or the like. The plastic covers having an electrically conductive coating, and thus have an electrically conductive property, and are connected to a robot body, to thereby obtain a shielding effect similar to that of iron plate covers or the like.

8. 发明授权

US4969795A Industrial robot equipped with a cable extending means 失效
标题翻译：工业机器人配备有电缆延伸装置
公开(公告)号：US4969795A
公开(公告)日：1990-11-13
申请号：US246822
申请日：1988-09-09
申请人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki , Masano Miyawaki
发明人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki , Masano Miyawaki
IPC分类号： B25J9/04 , B25J9/06 , B25J19/00 , H01R35/04 , H02G11/00
CPC分类号： B25J9/047 , B25J19/0025 , Y10S414/131 , Y10T74/20311
摘要： An industrial robot (10) comprising a cylindrical fixed robot body (14), a swivel body (26) mounted on the fixed robot body (14), a robot arm mechanism (60, 64) pivotally joined to the swivel body (26), and a robot wrist (66) connected to the robot arm mechanism is provided with a cable guide member (30). The cable guide member (30) is extended along the outside of the fixed robot body (14) and has a lower end pivotally joined to the fixed robot body (14) by a lower bearing member (42) and an upper end pivotally joined to the swivel body (26) by an upper bearing member (40). The cables (50) of the industrial robot (10) extending from the lower end of the fixed robot body (14) are held by cable holding section (32) formed in the middle portion of the cable guide member (30) and are extended from the upper end of the cable holding member (30) through the swivel body (26) toward the robot arm mechanism.

9. 发明授权

US07727145B2 Capsule-type medical device and medical system 失效
标题翻译：胶囊型医疗器械和医疗系统
公开(公告)号：US07727145B2
公开(公告)日：2010-06-01
申请号：US11778531
申请日：2007-07-16
申请人： Takeshi Yokoi , Hironobu Takizawa , Hidetake Segawa , Hitoshi Mizuno , Hideyuki Adachi , Hiroki Moriyama , Hisao Yabe
发明人： Takeshi Yokoi , Hironobu Takizawa , Hidetake Segawa , Hitoshi Mizuno , Hideyuki Adachi , Hiroki Moriyama , Hisao Yabe
IPC分类号： A61B1/04 , A61B1/06
CPC分类号： A61B1/041 , A61B1/00016 , A61B1/00032 , A61B1/00158 , A61B1/00181 , A61B5/0031 , G06F19/00 , H04N5/2252
摘要： A method of transmitting images in a subject to an outside of the subject using a wireless signal is provided. The method including: (a) transmitting to the outside of the subject a first signal corresponding to a first image obtained using a first imaging device, by timing on a first illumination device for illuminating the subject to capture the first image of the subject; (b) transmitting to the outside of the subject a second signal corresponding to a second image obtained using a second imaging device, by turning on a second illumination device for illuminating the subject to capture the second image of the subject; and (c) repeating (a) and (b), where at least initiation of the transmitting the first signal and initiation of the transmitting the second signals is alternately performed and the first and second illumination devices are alternately turned on coincidentally with transmission periods of the first and second signals, respectively.
摘要翻译：提供了使用无线信号将被摄体中的图像发送到对象的外部的方法。该方法包括：（a）通过第一照明装置上的定时向对象的外部发送与使用第一成像装置获得的第一图像相对应的第一信号，以对被摄体进行照明以捕获被摄体的第一图像; （b）通过打开用于照射对象的第二照明装置以捕获被摄体的第二图像，向对象发送对应于使用第二成像装置获得的第二图像的第二信号; 和（c）重复（a）和（b），其中交替执行发送第一信号和启动发送第二信号的至少开始，并且第一和第二照明装置与传输周期的传输周期第一和第二信号。

10. 发明授权

US07578788B2 Capsule-type medical device 有权
标题翻译：胶囊型医疗器械
公开(公告)号：US07578788B2
公开(公告)日：2009-08-25
申请号：US10395745
申请日：2003-03-24
申请人： Takeshi Yokoi , Hironobu Takizawa , Akio Uchiyama , Hitoshi Mizuno
发明人： Takeshi Yokoi , Hironobu Takizawa , Akio Uchiyama , Hitoshi Mizuno
IPC分类号： A61B1/06 , A61B1/04 , A61B1/00
CPC分类号： A61B5/073 , A61B1/00016 , A61B1/00029 , A61B1/00032 , A61B1/00087 , A61B1/00158 , A61B1/00177 , A61B1/00179 , A61B1/00181 , A61B1/041 , A61B1/0676 , A61B1/0684 , A61B1/2736 , A61B1/31 , A61B5/4839 , A61B5/7232 , A61B8/12 , A61B8/4472 , A61B8/56 , A61B34/73 , A61B2560/0219
摘要： A capsule-type medical device comprises a capsule main unit having functions for being inserted into the body cavity and performing medical acts such as taking images or the like. The capsule main unit comprises therein a magnet which is acted upon by external magnetism, and a spiral portion on the outer perimeter, so that rotating force acting upon the magnet is readily converted into a propelling force for propelling the capsule-type medical device. A flexible insertion portion which is long and small in diameter is provided to the capsule main unit to allow smooth progression through the body cavity, and the center of gravity of the device is placed upon the longitudinal center axis of the capsule main unit, thus facilitating smooth progression through the body cavity.
摘要翻译：胶囊型医疗装置包括胶囊主体，其具有插入体腔的功能，并且进行医疗动作，例如拍摄图像等。胶囊主体在其中包括由外部磁力作用的磁体和在外周上的螺旋部分，使得作用在磁体上的旋转力容易地转换成用于推动胶囊型医疗装置的推进力。向胶囊主体设置直径为长且小的挠性插入部，使得能够顺利地通过体腔前进，将装置的重心放置在胶囊主体的纵向中心轴上，从而便于顺利进行通过体腔。

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