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1. 发明专利

JP2009291104A Automatic cell culture apparatus 有权
标题翻译：自动细胞培养装置
公开(公告)号：JP2009291104A
公开(公告)日：2009-12-17
申请号：JP2008146480
申请日：2008-06-04
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： SAKURAI TAKASHI , NAKAJIMA KATSUMI , ITO SHINPEI
IPC分类号： C12M3/00
CPC分类号： C12M41/48 , C12M23/50 , C12M37/00 , C12M41/14
摘要： PROBLEM TO BE SOLVED: To provide an automatic cell culture apparatus having a layout structure that is easily operated by an operation robot, facilitates addition and extension of apparatuses, readily monitors operation conditions of the operation robot and includes excellent maintenance. SOLUTION: The automatic cell culture apparatus includes a constitution that an incubator 14, a refrigeration storage 19, a capper 53, an operation station 20, a temporary station 9, a chip stand 8 and a centrifugal separator 7 are arranged along an installation surface 1 in parallel with the backside 10a of a case body 10, a rail 13 is laid along the installation surface 1, a lifting and lowering post 3 that is perpendicular to the rail 13 and extended in the vertical direction, the lifting and lowering post 3 is equipped with the operation robot 11, the operation robot 11 is movable along the installation surface 1 in the horizontal direction and in the vertical direction, the case body 10 is disassemble into three units 10A, 10B and 10C and the rail 13 can be extended in its extension direction. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：解决问题的方案：提供一种具有操作机器人容易操作的布置结构的自动细胞培养装置，便于设备的添加和扩展，容易地监视操作机器人的操作条件并且包括良好的维护。解决方案：自动细胞培养装置包括如下构造：将培养箱14，冷藏库19，封盖器53，操作站20，临时站9，切屑架8和离心分离器7沿着安装面1与壳体10的背面10a平行，轨道13沿着安装面1铺设，垂直于导轨13并沿垂直方向延伸的升降柱3，升降柱3配备有操作机器人11，操作机器人11可沿着安装面1沿水平方向和垂直方向移动，壳体10分解成三个单元10A，10B和10C，轨道13可以延伸到其延伸方向。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2008237112A Automatic cell culture apparatus equipped with medicine-spraying gum 有权
标题翻译：自动细胞培养装置配有医药喷雾胶
公开(公告)号：JP2008237112A
公开(公告)日：2008-10-09
申请号：JP2007082435
申请日：2007-03-27
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： NAKAJIMA KATSUMI , SAKURAI TAKASHI , KINOSHITA HIROTAKA
IPC分类号： C12M3/00 , C12M1/12
CPC分类号： C12M37/00 , C12M41/48
摘要： PROBLEM TO BE SOLVED: To provide an automatic cell culture apparatus equipped with a medicine-spraying gum, which can be gripped with an operation robot and can spray on the operation robot itself.
SOLUTION: An articulated operation robot 19 is disposed in a device-setting portion 12 of the automatic cell culture apparatus 1, and a spray gum 25 for spraying a medicine is disposed below the closing door 13 of an operation portion 11 for performing various operations. The spray gum 25 is held in a state capable of being detached with a holder 26. The holder 26 is provided at a place where the medicine can be sprayed on the singer portions 22 of the operation robot 19, and the spray gum 25 is held in the horizontal direction.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种配备有药物喷雾胶的自动细胞培养装置，其可以用操作机器人夹持并且可以在操作机器人本身上喷雾。解决方案：一种铰接操作机器人19设置在自动细胞培养装置1的装置设置部分12中，并且用于喷射药物的喷雾胶25设置在操作部分11的关闭门13的下方，用于执行各种作业。喷雾胶25保持在能够与保持器26分离的状态。保持器26设置在可以将药物喷射到操作机器人19的歌手部分22上的地方，并且保持喷雾胶25 在水平方向。版权所有（C）2009，JPO＆INPIT

3. 发明专利

JP2005007490A Control method and device of super-multidegree-of-freedom system 有权
标题翻译：超自由度系统的控制方法和装置
公开(公告)号：JP2005007490A
公开(公告)日：2005-01-13
申请号：JP2003171621
申请日：2003-06-17
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： KOBAYASHI MASAMI , NAKAJIMA KATSUMI , MIFUNE FUMISATO , HASUNUMA HITOSHI
IPC分类号： B25J13/00 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a control method, and a control device, for performing operation suiting to an intention of an operator, by inputting instruction on a conscious little degree of freedom, in a super-multidegree-of-freedom system having several tens of degrees of freedom.
SOLUTION: This device is connected to an input device 22 capable of directly instructing several degrees of freedom. A degree of freedom uninstructed directly is automatically controlled according to an inference, by inferring a behavior pattern of the highest probability of being performed in a give state, by using a probability network 23 expressed as the joint probability distribution between operations of a degree of freedom by an operation estimating part 21.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种控制方法和控制装置，用于执行适合于操作者的意图的操作，通过以超自由度的自由度输入有意识的小自由度的指令具有几十个自由度的系统。
解决方案：该装置连接到能够直接指示几个自由度的输入装置22。通过使用表示为自由度运算之间的联合概率分布的概率网络23来推断在给予状态下执行的最高概率的行为模式，通过推断自动地控制直接未建立的自由度通过操作估计部分21。版权所有（C）2005，JPO＆NCIPI

4. 发明专利

JP2014113133A Device for peeling cells 有权
标题翻译：用于污染细胞的装置
公开(公告)号：JP2014113133A
公开(公告)日：2014-06-26
申请号：JP2012271566
申请日：2012-12-12
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： WATAKABE KEIZO , IIZAKA JUNJI , HASUNUMA HITOSHI , NAKAJIMA KATSUMI
IPC分类号： C12M1/00
CPC分类号： C12M33/08
摘要： PROBLEM TO BE SOLVED: To peel cultivation cells sufficiently and efficiently from a cultivation container.SOLUTION: A device (1) for peeling cells is provided with: a base (10); a container holder (11) for attaching a cultivation container (2); a guidance mechanism (21) for guiding reciprocal movement of the container holder (11); a collision member (33) with which the moving container holder (11) collides; a force-applying member (31) which applies a force to the cultivation container (2) in a direction towards the collision member (33); and a motive-power imparting mechanism (41) which imparts, to the container holder (11), motive power for causing the container holder (11) to move.
摘要翻译：要解决的问题：从培养容器中充分有效地剥离培养细胞。解决方案：用于剥离细胞的装置（1）设置有：基部（10）; 用于安装培养容器（2）的容器保持器（11）; 用于引导容器保持器（11）的往复运动的引导机构（21）; 与移动容器保持器（11）碰撞的碰撞构件（33）; 施力构件，其在朝向所述碰撞构件（33）的方向上向所述栽培容器（2）施加力; 以及向容器保持器（11）施加用于使容器保持架（11）移动的动力的动力传递机构（41）。

5. 发明专利

JP2014113062A Device for automatically peeling cells and system for peeling cells 有权
标题翻译：用于自动剥离细胞的装置和用于洗涤细胞的系统
公开(公告)号：JP2014113062A
公开(公告)日：2014-06-26
申请号：JP2012267172
申请日：2012-12-06
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： WATAKABE KEIZO , SAKURAI TAKASHI , ITO SHINPEI , NAKAJIMA KATSUMI
IPC分类号： C12M1/00 , C12M1/26 , C12M3/00
CPC分类号： C12M33/00 , C12M23/50 , C12M41/48 , C12M47/02
摘要： PROBLEM TO BE SOLVED: To provide a device for automatically peeling cells, in which the device can automatically exchange scrapers.SOLUTION: A device 5 for automatically peeling cells comprises: a mounting table 51 for fixing a culture container 10 thereon; a scraper 9 for scraping cells sticking to the bottom surface of the culture container 10; and a chuck 8 provided with a pair of claws 81 for pinching the upper part of the scraper 9. The chuck 8 is lifted by a lifting mechanism and moved between the mounting table 51 and a holder 53 by a moving mechanism. The holder 53 holds a plurality of scrapers 9 for replacement in such a state that the upper part of these scrapers 9 is exposed.
摘要翻译：要解决的问题：提供一种用于自动剥离电池的装置，其中装置可以自动交换刮板。解决方案：用于自动剥离电池的装置5包括：用于在其上固定培养容器10的安装台51; 用于刮擦附着在培养容器10的底面的细胞的刮板9; 以及具有用于夹持刮刀9的上部的一对爪81的卡盘8.卡盘8由提升机构提升，并通过移动机构在安装台51和保持件53之间移动。保持器53在这些刮板9的上部露出的状态下保持多个用于更换的刮板9。

6. 发明专利

JP2009291869A Robot, robot hand, and attachment 有权
标题翻译：机器人，机器手和附件
公开(公告)号：JP2009291869A
公开(公告)日：2009-12-17
申请号：JP2008146922
申请日：2008-06-04
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： SAKURAI TAKASHI , NAKAJIMA KATSUMI , ITO SHINPEI
IPC分类号： B25J15/08 , C12M1/00
CPC分类号： C12M23/50
摘要： PROBLEM TO BE SOLVED: To provide a robot hand mitigating delicateness in grasping power adjustment and positioning accuracy for grasping an object, and also to provide an attachment used for the hand.
SOLUTION: The robot hand has a pair of grasping fingers 7 which open/close by mutual approach and separation. An attachment 41 to be grasped by the grasping fingers 7 is attached to the object that the robot hand 6 is to hold. A plurality of facing engaging members 14 are protrudingly formed in opposite surfaces 7a of the pair of the grasping fingers 7, and a plurality of engaged parts 41a with which the engaging members 14 are engaged are formed on both left and right outer surfaces of the attachment 41.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种机器人手轻松掌握抓握物体的功率调节和定位精度，并且还提供用于手的附件。
解决方案：机器人手有一对抓握指7，通过相互接近和分离打开/关闭。由把持爪7抓住的附件41被安装在机器人手6要保持的物体上。多个相对的接合构件14突出地形成在一对把手7的相对表面7a中，并且接合构件14与其接合的多个接合部41a形成在附件的左右外表面上（C）2010年，JPO＆INPIT

7. 发明专利

JP2008237046A Stocking stand and cell culture apparatus capable of receiving the stocking stand 审中-公开
标题翻译：储存台和细胞培养装置可接收储物架
公开(公告)号：JP2008237046A
公开(公告)日：2008-10-09
申请号：JP2007079087
申请日：2007-03-26
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： NAKAJIMA KATSUMI , SAKURAI TAKASHI , DOI TOSHINAO
IPC分类号： C12M3/00 , C12M1/00
CPC分类号： C12M23/50
摘要： PROBLEM TO BE SOLVED: To provide a stocking stand on which a plurality of consumables can be loaded and which can be gripped with an operation robot, having two finger portions, and to provide a cell culture apparatus which can receive the stocking stand.
SOLUTION: This stocking stand 20 includes a loading table 22 for loading dishes 21 thereon, two sidewalls 23 vertically disposed at both the ends of the loading table 22, support plates 24 for arranging and holding the dishes 21, and latching portions 25 horizontally extended on the side surfaces 28 of the loading table 22. The finger portions 12 of the operation robot hold the latching portions 25 from both sides. The lower end portions of the side surfaces 28 and the lower end portions of the sidewalls 23 act as positioning engaging portions 26. The positioning engaging portions 26 are engaged with receiving portions disposed in a cell culture apparatus.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种可以装载多个消耗品并且可以用具有两个手指部分的操作机器人夹持的放养架，并且提供一种能够接收放养架的细胞培养装置。该放养台20包括用于装载餐具21的装载台22，垂直设置在装载台22的两端的两个侧壁23，用于布置和保持盘21的支撑板24和闩锁部分25 水平地延伸在装载台22的侧表面28上。操作机器人的手指部分12从两侧保持闩锁部分25。侧面28的下端部和侧壁23的下端部成为定位卡合部26.定位卡定部26与设置于细胞培养装置中的收纳部配合。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2011136035A Sterilization liquid atomizing generator and sterilization processing method 有权
标题翻译：灭菌液喷雾发生器和灭菌处理方法
公开(公告)号：JP2011136035A
公开(公告)日：2011-07-14
申请号：JP2009298008
申请日：2009-12-28
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： SASAE KEISUKE , HASUNUMA HITOSHI , IIZAKA JUNJI , NAKAJIMA KATSUMI
IPC分类号： A61L9/14 , A61L2/22 , B05B17/06
摘要： PROBLEM TO BE SOLVED: To provide a sterilization liquid atomizing generator and a sterilization processing method capable of more precisely perceiving actually used amount of the sterilization liquid used in a sterilization processing for making a space, such as an operating room, into a sterile environment.
SOLUTION: The sterilization liquid atomizing generator includes: a sterilization liquid tank holding the sterilization liquid; an atomizing device for atomizing the sterilization liquid fed from the sterilization liquid tank; a sterilization-mist discharge part for mixing the sterilizing liquid atomized by the atomizing device with gas fed into the device body, and for discharging the sterilization mist outside of the device body; and a weight measuring part for measuring the weights of the sterilization liquid tank, the atomizing device, and the sterilization-mist discharge part. Thus, the used amount of the sterilization liquid is controlled based on the weight data measured by the weight measuring part.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种灭菌液体雾化发生器和灭菌处理方法，其能够更精确地感知用于使灭菌处理中使用的灭菌液的实际使用量，以使诸如手术室的空间成为无菌环境。解决方案：灭菌液体雾化发生器包括：保存灭菌液的灭菌液罐; 用于雾化从灭菌液罐供给的灭菌液的雾化装置; 灭菌雾排出部，其将通过雾化装置雾化的灭菌液与供给到装置主体的气体混合，并且将灭菌雾排出到装置主体外部; 以及用于测量灭菌液罐，雾化装置和灭菌喷雾部分的重量的重量测量部件。因此，基于由重量测量部测量的重量数据来控制灭菌液的使用量。版权所有（C）2011，JPO＆INPIT

9. 发明专利

JP2008239168A Multiplex sterilized package and method for warehousing sterilized object using the same 审中-公开
标题翻译：多重灭菌包装及其使用灭菌对象的方法
公开(公告)号：JP2008239168A
公开(公告)日：2008-10-09
申请号：JP2007078776
申请日：2007-03-26
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： NAKAJIMA KATSUMI , SAKURAI TAKASHI , SAEKI TAKASHI
IPC分类号： B65D81/28 , C12M1/00 , C12M3/00
CPC分类号： C12M37/00 , C12M23/14 , C12M23/50
摘要： PROBLEM TO BE SOLVED: To provide a multiplex sterilized package for warehousing a sterilized consumable item or the like in a highly clean area while maintaining a high degree of cleanness, and to provide a method for warehousing a sterilized object. SOLUTION: The lid of a pass box 25 is opened, the outer most sterilized bag 5c of a triple sterilized bag 6 is torn and a double sterilized package 6' is placed into the pass box 25. Then, the lid of the pass box is opened from the clean room side, and the double sterilized package is conveyed in it. Subsequently, the door of a glove box 15 is opened, the outermost sterilized bag 5b of the double sterilized package is torn, and a single sterilized package 6'' in it is taken out and placed into the glove box. Then, the process waits until the degree of cleanness in the glove box reaches 100 or below. Thereafter, the single sterilized package is torn using gloves attached to the operation holes 18a and 18b of the glove box, and a truck 23 having thereon a consumable item in the package is conveyed to a communicating zone 16, in which the consumable item on the truck is taken into an automatic cell culture apparatus by an operation robot. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于在高度清洁的区域内仓储消毒的消耗品等的多重消毒的包装，同时保持高度的清洁度，并提供一种用于仓储灭菌物体的方法。解决方案：打开通行箱25的盖子，将三重灭菌袋6的最外层灭菌的袋子5c撕开，并将双重消毒的包装6'放入通行箱25中。然后，通过箱从洁净室侧打开，双重消毒的包装被输送到其中。随后，打开手套箱15的门，将双重灭菌包装的最外面的消毒袋5b撕开，取出其中的单一灭菌包装6“并放入手套箱中。然后，该过程等待，直到手套箱中的清洁程度达到100或更低。此后，使用附着在手套箱的操作孔18a和18b上的手套撕开单个灭菌的包装，并且在其中具有消耗品的卡车23被输送到连通区16，在该连通区16中，卡车通过操作机器人进入自动细胞培养装置。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2006115798A Automatic cell-culturing device by utilizing autoclave disinfection and method for using the same 有权
标题翻译：自动细胞培养装置利用自动消毒及其使用方法
公开(公告)号：JP2006115798A
公开(公告)日：2006-05-11
申请号：JP2004309295
申请日：2004-10-25
申请人： Kawasaki Heavy Ind Ltd , Mutsumi Takagi , 川崎重工業株式会社 , 睦高木
发明人： TAKAGI MUTSUMI , NAKAJIMA KATSUMI , DOI TOSHINAO , OGATA TAKAMASA
IPC分类号： C12M1/00 , C12M3/00 , C12N5/06
CPC分类号： A61L2/07 , C12M23/50 , C12M37/00 , C12M41/48 , Y10S435/809
摘要： PROBLEM TO BE SOLVED: To provide an automatic cell-culturing device without generating cross-contamination even on using the cell cultures of a plurality of subjects and also capable of disinfecting including a frozen storage part and normal temperature storage part. SOLUTION: This automatic cell-culturing device equipped with a culture-operating part necessary for culturing the cells of subjects, an incubator part for the cell culture, a frozen storage part for preserving reagents, a normal temperature storage part of culturing tools, an entrance and exit part of the reagents and culturing tools, and a steam-feeding part for an autoclave disinfection is provided by communicating each of the frozen storage part, normal temperature storage part and entrance/exit part with the operating part, installing each hermetically closing door between these and the operating part, also the hermetically closing door between a filtering part performing the removal of dusts and disinfection of air flow supplied to the operating part and the operating part. By opening/closing the hermetically closing doors selectively, the steam from the steam-supplying part is fed to any of the operating part and the incubator part, frozen storage part, normal temperature storage part and entrance/exit part connected with the operating part. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供自动细胞培养装置，即使使用多个受试者的细胞培养物也能产生交叉污染，并且还能够消毒，包括冷藏储存部分和常温储存部分。解决方案：该自动细胞培养装置配备有用于培养受试者细胞所需的培养操作部分，用于细胞培养的培养部分，用于保存试剂的冷冻储存部分，培养工具的常温储存部分，试剂和培养工具的入口和出口部分，以及用于高压灭菌消毒的蒸汽供给部分，通过将每个冷冻储存部分，常温储存部分和入口/出口部分与操作部分连通，将每个在这些与操作部分之间的密封关闭门，还有一个过滤部件执行除尘和消毒供给操作部件和操作部件的空气流的过滤部件之间的气密关闭门。通过选择性地打开/关闭气密关闭门，来自蒸汽供应部分的蒸汽被供给到与操作部分连接的操作部分，孵化器部分，冷藏存储部分，常温储存部分和入口/出口部分中的任何一个。版权所有（C）2006，JPO＆NCIPI

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