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1. 发明专利

JP2008200764A Manipulator for working 审中-公开
标题翻译：操作人员
公开(公告)号：JP2008200764A
公开(公告)日：2008-09-04
申请号：JP2007036221
申请日：2007-02-16
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAJIMA FUJIO
IPC分类号： B25J9/22 , B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a manipulator for working, which enables atypical work or quantitative work to be done while achieving simple mounting, and favorable environmental resistance, reliability, and affinity to humans.
SOLUTION: The manipulator for working is provided with: a movable item such as a robot comprising a movable part and a control part; and a manipulator part comprising a contact sensor attached to the movable item to detect a contact state with a subject of working, and a force sensor to detect contact force when in contact. The control part is provided with: a means to acquire a working state based on the contact state detected by the contact sensor or the contact force detected by the force sensor; and a means to interpret pattern information having artificial regularity detected by the contact sensor or the force sensor as a command.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于工作的操纵器，其能够在实现简单的安装的同时进行非典型工作或定量工作，并且具有良好的耐环境性，可靠性和对人的亲和力。解决方案：用于加工的操纵器设置有：可移动物品，例如包括可移动部分和控制部分的机器人; 以及机械手部件，其包括附接到所述可动件的接触传感器以检测与被加工物的接触状态;以及力传感器，用于检测接触时的接触力。所述控制部设置有：基于由所述接触传感器检测到的接触状态或由所述力传感器检测出的接触力来获取工作状态的装置; 以及用于解释由接触传感器或力传感器检测到的具有人为规律性的图案信息作为命令的手段。版权所有（C）2008，JPO＆INPIT

2. 发明专利

JP2006015045A Surgical operation assisting system 有权
标题翻译：外科手术辅助系统
公开(公告)号：JP2006015045A
公开(公告)日：2006-01-19
申请号：JP2004197758
申请日：2004-07-05
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： KISHI HIROSUKE , TAJIMA FUJIO , SUGA KAZUTOSHI
IPC分类号： A61B19/00 , A61B5/055
摘要： PROBLEM TO BE SOLVED: To simplify the system and to improve the usability of the surgical operation assisting system, enabling the integration of coordination systems of an image diagnosing equipment and a manipulator with a simple processing of control. SOLUTION: The surgical operation assisting system 1 provides the image diagnosing device 101 to take an image of the targeted area in the body cavity including the part to be imaged, an image displaying device 113 to display the image taken by the image diagnosing equipment on the screen, the manipulator 102 to process the imaged part in the body cavity, a control member 131 to control the image to be displayed on the image displaying device 113, and at least three markers located in the area imaged by the image diagnosing device 101 and in three-dimensions on the side where the manipulator 102 is fixed. The control member 131 calculates the positions of the markers with the coordination system of the manipulator, obtains the positions of the markers imaged by the image diagnosing device as the coordination system of the image diagnosing device, and converts the two coordination systems based on the positions of the markers. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了简化系统并提高外科手术辅助系统的可用性，使得能够通过简单的控制处理来整合图像诊断设备和操纵器的协调系统。解决方案：外科手术辅助系统1提供图像诊断装置101拍摄包括要成像的部分的体腔中的目标区域的图像，图像显示装置113，以显示通过图像诊断拍摄的图像屏幕上的设备，用于处理体腔中的成像部分的操纵器102，用于控制要在图像显示装置113上显示的图像的控制构件131和位于通过图像诊断成像的区域中的至少三个标记装置101并且在三维上操纵器102被固定的一侧。控制部件131使用机械手的协调系统计算标记的位置，获得由图像诊断装置成像的标记的位置作为图像诊断装置的协调系统，并且基于位置转换两个协调系统的标记。版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2006247805A Hand mechanism 审中-公开
标题翻译：手工机械
公开(公告)号：JP2006247805A
公开(公告)日：2006-09-21
申请号：JP2005070264
申请日：2005-03-14
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： HOSODA YUJI , TAMAMOTO JUNICHI , TAJIMA FUJIO
IPC分类号： B25J15/08 , A61F2/54
CPC分类号： B25J15/0009
摘要： PROBLEM TO BE SOLVED: To achieve an affinity-oriented multi-finger hand mechanism, light and compact.
SOLUTION: A man type hand mechanism 1 having five fingers at the palm of the hand is incorporated with a power transmission means for connecting the first joints of four fingers 4, 5, 6, 7 arranged substantially parallel except the thumb 3 and driving the same, and stretching a wire 4g between a first pulley 4e and a second pulley 4f to rotate the second joints of the four fingers 4, 5, 6, 7 in the same direction to follow the rotation of the first joints.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：实现亲和性多手指手动机构，轻巧紧凑。解决方案：在手掌上具有五个手指的人型手动机构1包括用于连接除拇指3之外基本上平行设置的四个指状物4,5,6,7的第一关节的动力传递装置和驱动它们，并且在第一滑轮4e和第二滑轮4f之间拉伸线4g，以使四个手指4,5,6,7的第二关节沿相同方向旋转，以跟随第一关节的旋转。版权所有（C）2006，JPO＆NCIPI

4. 发明专利

JP2004329726A Surgical operation apparatus 审中-公开
公开(公告)号：JP2004329726A
公开(公告)日：2004-11-25
申请号：JP2003132604
申请日：2003-05-12
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAJIMA FUJIO
IPC分类号： A61B5/055 , A61B19/00 , G01R33/28 , G01R33/34 , G01R33/341
CPC分类号： G01R33/34046 , A61B34/70 , A61B34/71 , A61B90/11 , A61B2017/00911 , A61B2090/374 , G01R33/285
摘要： PROBLEM TO BE SOLVED: To provide a surgical operation apparatus capable of improving a medical treatment inside and in the periphery of an image diagnostic aparatus and reducing occupied volume compatibly. SOLUTION: The apparatus is used for the surgical operation of a circulatory system, a respiratory system, and a celom such as an abdominal cavity. The tip end part of a manipulator inserted to an object area in organism tissue is operated, while monitoring the imaging diagnostic instrument. The apparatus includes: an image information detecting part 101 for detecting image information of a body including the object area; a manipulator mechanism part 103 for operating the tip end part in the object area; an operation input part 116 for inputting operation information; and a control part 110 for changing an information detecting condition by referring to image information detected by the image information detecting part 101, and also controlling the manipulator mechanism part 102 in response to the operation information inputted to the operation input part 116. A part of the manipulator mechanism 102 and a part of the image information detecting part 101 are standardized. COPYRIGHT: (C)2005,JPO&NCIPI

5. 发明专利

JP2004122286A Manipulator 有权
公开(公告)号：JP2004122286A
公开(公告)日：2004-04-22
申请号：JP2002289359
申请日：2002-10-02
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： NISHIZAWA KOJI , TAJIMA FUJIO , KISHI HIROSUKE
IPC分类号： B25J17/00 , A61B17/04 , A61B17/28 , A61B19/00 , B25J7/00 , B25J17/02
CPC分类号： A61B17/062 , A61B34/70 , A61B34/71 , A61B2017/2927 , A61B2017/2939 , A61B2090/064
摘要： PROBLEM TO BE SOLVED: To miniaturize a medical purpose manipulator and to enhance controllability. SOLUTION: The manipulator has an operation unit part 60 and a driving part 62 for driving a grip part 14 provided on this operation unit part. An operation unit side bonding part 61 is provided between the operation unit part and the driving part and the operation unit is made separable or connectable between the driving part and the operation unit side bonding part. The operation unit part has a joint for rotating the grip part. The joint has two rolling members disposed in opposed to each other; a driving means for not rotating but revolving one rolling member against the other member; and a means for retaining a distance between rotation centers of two rolling members to the constant value. COPYRIGHT: (C)2004,JPO

6. 发明专利

JP2006247804A Robot arm 有权
标题翻译：机器人ARM
公开(公告)号：JP2006247804A
公开(公告)日：2006-09-21
申请号：JP2005070263
申请日：2005-03-14
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAMAMOTO JUNICHI , TAJIMA FUJIO , HOSODA YUJI
IPC分类号： B25J17/02 , B25J17/00
摘要： PROBLEM TO BE SOLVED: To miniaturize an actuator by reducing the weight of a tip side part of a robot arm.
SOLUTION: This robot arm 1 includes a structure in which the bending operation is conducted by link members connected to each other by a rotatable joint part. A driving motor and a driven joint part are disposed with the joint part interposed between them. The driving motor and the driven joint part are connected to each other by a wire. The robot arm is provided with two wire guide pulleys 59a, 59b for guiding the wire to the bending shafts 56, 57 of the joint part. The wire is distributed to the bending inside and outside to be wound. Accordingly, the weight at the forward end side of the robot arm can be reduced to miniaturize the actuator. Further, the driving load and play angle of the joint mechanism can be optimized. Further, a cover is put on the mechanism part to prevent the human body from entering the joint mechanism.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过减小机器人手臂的末端侧部分的重量来使致动器小型化。解决方案：该机器人手臂1包括其中通过可旋转接合部分彼此连接的连杆构件进行弯曲操作的结构。驱动电动机和从动关节部分设置有接合部分插入它们之间。驱动电机和从动接头部分通过电线相互连接。机器人臂设置有用于将线引导到接合部的弯曲轴56,57的两个线引导滑轮59a，59b。电线分布到内外弯曲以被卷绕。因此，可以减小机器人臂的前端侧的重量，使致动器小型化。此外，可以优化关节机构的驱动负载和游隙角。此外，将盖放置在机构部分上以防止人体进入关节机构。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2006136988A Mobile robot 审中-公开
标题翻译：移动机器人
公开(公告)号：JP2006136988A
公开(公告)日：2006-06-01
申请号：JP2004330121
申请日：2004-11-15
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： YAMAMOTO HIROSHI , TAJIMA FUJIO , KOSEKI ATSUSHI , IKE KATSUHISA , HORIUCHI TOSHIHIKO
IPC分类号： B25J19/06 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a mobile robot capable of enhancing the reliability against failures of a main control device and power loss of a main battery.
SOLUTION: The mobile robot 1 comprises a traveling drive unit having a pair of traveling wheels and a drive motor thereof, a body part, a traveling control unit 27 to control the traveling drive unit, a power supply unit to supply the power required for the traveling control unit 27, an inclinometer 11 to measure the angle of inclination of the body part, a main control device 20 which controls the traveling control unit 27 based on the measured angle of inclination and is power-supplied from a main battery 24, and an exclusive control device 21 for abnormality which controls the traveling control unit 27 based on the measured angle of inclination and is power-supplied from an auxiliary battery 26. When abnormality factors such as failures of the main control device 20 or power loss of the main battery 24 occur, the control of the traveling control unit 27 by the main control device 20 is changed to the control of the traveling control unit by the exclusive control device 21 for abnormality based on the angle of inclination measured by the inclinometer 11.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：解决的问题：提供能够提高主控制装置的故障的可靠性和主电池的功率损失的移动机器人。解决方案：移动式机器人1包括具有一对行进轮及其驱动电动机的行驶驱动单元，主体部，控制行驶驱动单元的行驶控制单元27，供电单元行驶控制单元27所需要的倾斜计11，测量身体部位的倾斜角度的主控制装置20，基于测量的倾斜角度控制行驶控制单元27并从主电池供电的主控制装置20 24，以及用于异常的专用控制装置21，其基于测量的倾斜角度控制行驶控制单元27，并且从辅助电池26供电。当诸如主控制装置20的故障或功率损失之类的异常因素发生主电池24的情况，由主控制装置20对行驶控制部27的控制通过专用控制装置21变更为行驶控制部的控制基于由倾斜仪11测量的倾斜角度的精度。（C）版权所有（C）2006，JPO＆NCIPI

8. 发明专利

JP2008200763A Control device for manipulator for working 审中-公开
标题翻译：用于操作员操作的控制装置
公开(公告)号：JP2008200763A
公开(公告)日：2008-09-04
申请号：JP2007036181
申请日：2007-02-16
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAJIMA FUJIO
IPC分类号： B25J13/00 , B25J9/10
摘要： PROBLEM TO BE SOLVED: To continuously actuate a manipulator without calculational failure even in a case where such a target locus is given as to approach or pass a singular point.
SOLUTION: The control device for the manipulator for working is provided with: a target value producing means 101; a sensitivity parameter computation means 103, an applicable sensitivity computation means 105; a plurality of control means 109-113; a control system switching means 107; and an external force detection means. The sensitivity parameter computation means 103 computes a sensitivity parameter using a joint displacement response from a manipulator mechanism. The applicable sensitivity computation means 105 computes an applicable sensitivity using the sensitivity parameter. The control system switching means 107 switches among the control means 109-113 based on the applicable sensitivity. Each control means 109-113 carries out a control process using the target value, the joint displacement response, the external force detected by the external force detection means, and the sensitivity parameter.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：即使在给出这样的目标轨迹以接近或通过奇异点的情况下，也可以连续地致动没有计算失败的操纵器。解决方案：用于工作机械手的控制装置设有：目标值产生装置101; 敏感度参数计算装置103，可应用的灵敏度计算装置105; 多个控制装置109-113; 控制系统切换装置107; 和外力检测装置。灵敏度参数计算装置103使用来自机械手机构的联合位移响应来计算灵敏度参数。适用的灵敏度计算装置105使用灵敏度参数来计算适用的灵敏度。控制系统切换装置107基于适用的灵敏度来切换控制装置109-113。每个控制装置109-113执行使用目标值，关节位移响应，由外力检测装置检测的外力和灵敏度参数的控制处理。版权所有（C）2008，JPO＆INPIT

9. 发明专利

JP2004337994A Manipulator and rotary joint mechanism 审中-公开
公开(公告)号：JP2004337994A
公开(公告)日：2004-12-02
申请号：JP2003134061
申请日：2003-05-13
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： KISHI HIROSUKE , TAJIMA FUJIO , SUGA KAZUTOSHI
IPC分类号： B25J17/02 , A61B19/00
摘要： PROBLEM TO BE SOLVED: To provide a small manipulator of high operability equipped with a rotary joint mechanism. SOLUTION: This manipulator 1 is provided with an arm 50 having a plurality of joint mechanisms 10, 20, and a plurality of wires 410-440 guided in the arm 50. The rotary joint mechanism 10 is used as the tip side joint mechanism out of the plurality of joint mechanisms. A support side link 320 and its tip side link 120 constituting the rotary joint mechanism 10 are provided with a plurality of wire guides 131-134, 331-334 for supporting the wires 410-440. The respective wire guides 131-134, 331-334 of the rotary joint mechanism 10 are arranged on a circumference with respect to the joint shaft center. The rotary joint mechanism 10 is constituted such that the tip side link 120 is rotatable relative to the support side link 320 and movable in the joint shaft direction. COPYRIGHT: (C)2005,JPO&NCIPI

10. 发明专利

JP2004129782A Surgical manipulator and its operation input apparatus 有权
公开(公告)号：JP2004129782A
公开(公告)日：2004-04-30
申请号：JP2002296307
申请日：2002-10-09
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAJIMA FUJIO , NISHIZAWA KOJI , KISHI HIROSUKE , KAWAI TOSHIKAZU , MOMOI YASUYUKI , SUGA KAZUTOSHI
IPC分类号： B25J3/00 , A61B19/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To enable an operation suited to a surgical instrument used for an operation and an operator performing the operation in a surgical manipulator. SOLUTION: The surgical manipulator 10 is provided with an operation manipulator 13 comprising the detachable surgical instrument 13a and a body part 13b, an operation input device 11 and a control device 12. The operation input device 11 is provided with a base part 102 and an operation part 101 detachably attached thereto. The base part 102 is provided with a base part input mechanism 102a having a freedom degree and a base part sensor detecting its motion. The operation part 101 is provided with an operation part input mechanism 101a having a freedom degree, an operation part sensor detecting its motion, an operation grip part 119 and an information storage part 111. The base part 102 and the operation part 101 are connected via mechanical connection parts 114 and 115, electric connection parts 116 and 117, and information connection parts 112 and 113. The control device 12 controls an operation manipulator 13 based on information from the respective sensors and the information storage part 111. COPYRIGHT: (C)2004,JPO

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