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1. 发明专利

JP2007234066A Monitoring device 审中-公开
标题翻译：监控设备
公开(公告)号：JP2007234066A
公开(公告)日：2007-09-13
申请号：JP2007160484
申请日：2007-06-18
申请人： Toshiba Corp , 株式会社東芝
发明人： SUZUKI KAORU , YOSHIMI TAKU , YAMAMOTO DAISUKE , MATSUHIRA NOBUHITO , KIKUIRI NOBUTAKA
IPC分类号： G08B31/00 , G08B25/04
摘要： PROBLEM TO BE SOLVED: To provide a monitoring device with high versatility such that the monitoring device itself automatically determines an appropriate monitoring method for monitoring a monitoring object based on specification of the monitoring object. SOLUTION: In the monitoring device, the monitoring object is observed by an observation machine part 1 and a prescribed action is executed according to a monitored situation. Here, general characteristics, knowledge and information of an observation method and a coping method regarding the monitoring object are prepared in a storage part 5 of the monitoring device as general monitoring knowledge. Individual knowledge and information regarding the monitoring object are registered in a storage part 4 by a user as individual monitoring knowledge by using the general monitoring knowledge. In a monitoring plan execution part 3, the observation method and the coping method of the monitoring object are planned according to the situation using the general monitoring knowledge and the individual monitoring knowledge and the plan is executed. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供具有高通用性的监视装置，使得监视装置本身根据监视对象的指定自动地确定用于监视监视对象的适当监视方法。
解决方案：在监视装置中，监视对象由观察机部1观察，根据监视情况进行规定动作。这里，作为一般的监视知识，在监视装置的存储部5中准备关于监视对象的观察方法和应对方法的一般特征，知识和信息。关于监视对象的个人知识和信息由用户通过使用一般监视知识作为个体监视知识登记在存储部分4中。在监视计划执行部3中，使用一般监视知识和个体监视知识，根据情况来计划监视对象的观察方法和应对方法，并执行计划。版权所有（C）2007，JPO＆INPIT

2. 发明专利

JP2006150105A Medical manipulator 有权
标题翻译：医疗机器人
公开(公告)号：JP2006150105A
公开(公告)日：2006-06-15
申请号：JP2006059799
申请日：2006-03-06
申请人： Toshiba Corp , 株式会社東芝
发明人： MATSUHIRA NOBUHITO , SADAMOTO ATSUSHI
IPC分类号： A61B19/00 , A61B17/28 , B25J1/00
摘要： PROBLEM TO BE SOLVED: To provide a medical manipulator which is improved in operability by adding multiple degrees of freedom to a clamp to make it highly functionalized. SOLUTION: This medical manipulator has a movable part with two or more degrees of freedom on the tip end 10 of a clamp, its operating part is on the rear end part 50 of the clamp, and the operating part is equipped with a first operating part 60 to carry out positioning and a second operating part 70 to carry out posturing of the clamp tip end. Because the positioning operation and the tip end posturing operation are separately carried out, influence of interference by both of operation is small to make fine operation easier, and a highly safe and reliable medical manipulator can be provided. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种通过向夹具添加多个自由度使其高度功能化而提高了可操作性的医疗操纵器。解决方案：该医用机械手具有在夹具的尖端10上具有两个或更多自由度的可移动部件，其操作部分在夹具的后端部分50上，并且操作部件配备有第一操作部60进行定位，第二操作部70执行夹具末端的姿势。由于定位操作和末端姿势操作分开执行，所以操作的干扰的影响小，使得操作更简单，并且可以提供高度安全可靠的医疗操纵器。版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2003247485A VARIABLE-STRUCTURE ACTUATOR 审中-公开
公开(公告)号：JP2003247485A
公开(公告)日：2003-09-05
申请号：JP2002043773
申请日：2002-02-20
申请人： TOSHIBA CORP
发明人： TAKAHASHI HIROSHI , MATSUHIRA NOBUHITO , SATO HIROKAZU , SADAMOTO ATSUSHI
IPC分类号： F03G7/00 , F03G7/06
摘要： PROBLEM TO BE SOLVED: To provide a variable-structure actuator, particularly having a displacement-extension function supplementing a shortage in the amount of displacement (amount of distortion) of a solid actuator by a structural contrivance, referring to what is called an intelligent structural system, in which a solid actuator of a distribution system is built in a structure to attain optimization in a shape, or reduction in oscillation and noises. SOLUTION: The variable-structure actuator 20 has a structure having an internal structure in which polygonal cells 4 of at least quadrangles are connected in a dispersed arrangement. In the above cells 4, intersections or their vicinal positions of mutually adjacent cells 4 are connected with a solid actuator 6 processed into a sheet, film, membrane, or wire rod, and the cells 4 are elastically deformed by an operational displacement of the actuator 6. COPYRIGHT: (C)2003,JPO

4. 发明专利

JP2001277157A MEDICAL MANIPULATOR 失效
公开(公告)号：JP2001277157A
公开(公告)日：2001-10-09
申请号：JP2000159188
申请日：2000-03-31
申请人： TOSHIBA CORP
发明人： MIYAGAWA TOYOMI , MATSUHIRA NOBUHITO
IPC分类号： G02B21/32 , A61B1/00 , A61B17/00 , A61B17/22 , A61B17/28 , A61B19/00 , B25J3/00 , B25J7/00 , B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide an inexpensive medical manipulator having higher reliability and maintainability by simplifying a mechanism. SOLUTION: The medical manipulator comprises an operation command part 2 having an attitude operation part 21 and a treatment operation part 22, a work part 3 having a connection part 4 connected to the operation command part at its one end, a treatment part 31 connected to the other end of the connection part 4, and support parts 32, 33 for supporting the treatment part so that the attitude of the treatment part is changeable by two or more degrees of freedom, a control part 41 for changing the attitude of the treatment part 31 by sending an operation command from the attitude operation part 21 to the support parts 32, 33 and operating the treatment part 31 by sending an operation command from the treatment operation part 22 to the treatment part 31, and an attaching/detaching part 83 for allowing the treatment part 31 to be removed from the support parts 32, 33.

5. 发明专利

JPH03264277A MASTER HAND 失效
公开(公告)号：JPH03264277A
公开(公告)日：1991-11-25
申请号：JP5632390
申请日：1990-03-09
申请人： TOSHIBA CORP
发明人： MATSUHIRA NOBUHITO , BANBA HIROYUKI
IPC分类号： B25J3/00 , B25J1/00
摘要： PURPOSE:To facilitate twisting operation by providing a pair of link mechanisms formed such that a rotary shaft forms a fixing point and a finger tip forms a link member and a finger operating member arranged to the end of the link mechanism. CONSTITUTION:Since finger holders 12R and 12L are connected to finger tip members 8R and 8L, operation to approach and separate in directions XR and XL of the two holders 12R and 12L is caused to coincide with approaching and separating operation of the finger tip members 8R and 8L and finger base parts 1R and 1L. Operation in vertical directions ZR and ZL of the finger holders 12R and 12L produces vertical operation of input link members 10R and 10L, and the vertical operation is converted into rotation operation in rotation directions thetaR and thetaL of output link members 8R and 8L around spline shafts 3R and 3L, resulting in rotation operation of the spline shafts 3R and 3L. Thus, by approaching the finger holders 12R and 12L to each other and separating the finger holders from each other or vertical operation thereof, the finger members 8R and 8L and a slave hand are caused to perform grasping or twisting operation.

6. 发明专利

JPH01129711A INTERCONNECTION STRUCTURE 失效
公开(公告)号：JPH01129711A
公开(公告)日：1989-05-23
申请号：JP28319587
申请日：1987-11-11
申请人： TOSHIBA CORP
发明人： MATSUHIRA NOBUHITO
IPC分类号： H02G15/00 , H02G15/08
摘要： PURPOSE:To facilitate connection/disconnection of lead wire and to prevent misconception, by arranging first and second connectors such that they can be coupled while facing each other under a state where a drive unit is installed on a robot. CONSTITUTION:A second connector 21 is secured in a notch 19 of a flange 11 with inserting side directing downward. The connector 21 is provided with hole terminals 25a-25f projecting from a mold section 23 and lead wires 27a-27f of a drive unit 1 are connected thereto. A first connector 29 is secured to a base 13 with inserting side thereof directing upward. The connector 29 has pin terminals 31a-31f projecting from a mold section 32, and head wires 35a-35f from a robot wired to a groove 33 are connected thereto. Since both connectors 21, 29 are arranged to be coupled while facing each other under a state where the drive unit 1 is installed on the robot, components of the drive unit 1 and respective functions of the robot can be connected by inserting the connector 21 into the connector 29.

7. 发明专利

JPS62100808A CONTROLLER FOR ROBOT ARM 失效
公开(公告)号：JPS62100808A
公开(公告)日：1987-05-11
申请号：JP24041685
申请日：1985-10-29
申请人： TOSHIBA CORP
发明人： MATSUHIRA NOBUHITO , SUZUMORI KOICHI
IPC分类号： B25J3/00 , B25J9/16 , B25J13/00 , G05B19/18
摘要： PURPOSE:To simplify the constitution of a controller for robot arm by using an analog circuit to a main servo system requiring a continuous or fast control cycle and using a digital computer to an arithmetic part for compensation of arm dead weight that requires a complicated arithmetic operation and a control cycle not so fast as the main servo system. CONSTITUTION:A master arm MA and a slave arm TA consist of a force servo system 1 and a position servo system 2 respectively. The system 1 functions to secure the coincidence between the torques of both arms MA and TA with the difference of torque sensors T1-Tn of both arms MA and TA. While the system 2 functions to make the arm TA follow the arm MA with the deviation of revolving angle sensors P1-Pn of both arms MA and TA. A dead weight compensating arithmetic part 3 consists of an A/D converter, a CPU and a D/A converter and calculates an empty weight torque from the signal of a sensor Pn of the arm MA to add it to the drive signal of a motor Mn of the arm MA. Thus the variation of the torque due to the dead empty weight can be compensated.

8. 发明专利

JPS61109961A Power transfer device 失效
标题翻译：电力传输设备
公开(公告)号：JPS61109961A
公开(公告)日：1986-05-28
申请号：JP23037884
申请日：1984-11-02
申请人： Toshiba Corp
发明人： MATSUHIRA NOBUHITO
IPC分类号： F16F15/16 , F16H1/32 , F16H13/08 , F16H25/06
CPC分类号： F16H25/06 , F16H2025/063
摘要： PURPOSE:To permit to prevent the deterioration of a transfer efficiency by a method wherein a disc, effecting an eccentric motion with respect to a case, is provided with a groove on the outer periphery thereof to suppress the mixing resistance of lubricating oil due to the eccentric motion of the disc. CONSTITUTION:The input disc 19 effects the eccentric motion by receiving the rotation of an input shaft 15 and the speed of the rotation is reduced into the counter direction of the rotating direction of the input shaft 15 by first speed reduction mechanism 43. This motion is transferred to the intermediate disc 27 as it is through a crank mechanism provided with balls 35. In this case, clearances between respective grooves 21, 29 on the outer peripheries of the disc 19 and the intermediate disc 27 and a case 1 are formed relatively wide and the mixing resistance of the lubricating oil due to the revolving motions of respective discs 19, 27 can be suppressed, therefore, the transfer efficiency will never be deteriorated.
摘要翻译：目的：为了防止转印效率的劣化，通过这样一种方法，其中，相对于壳体进行偏心运动的盘在其外周上设置有凹槽，以抑制润滑油的混合阻力圆盘的偏心运动。构成：输入盘19通过接收输入轴15的旋转而实现偏心运动，并且通过第一减速机构43将旋转速度减小到输入轴15的旋转方向的相反方向。该运动是通过设置有滚珠35的曲柄机构将其传送到中间盘27.在这种情况下，盘19的外周和中间盘27和壳体1上的各个槽21,29之间的间隙形成得比较宽并且可以抑制由于各个盘19,27的旋转运动引起的润滑油的混合阻力，因此转印效率将永远不会恶化。

9. 发明专利

JPS61109960A Power transfer device 失效
标题翻译：电力传输设备
公开(公告)号：JPS61109960A
公开(公告)日：1986-05-28
申请号：JP23037784
申请日：1984-11-02
申请人： Toshiba Corp
发明人： MATSUHIRA NOBUHITO , KOSUGI ISAO
IPC分类号： F16H25/06
CPC分类号： F16H25/06 , F16H2025/063
摘要： PURPOSE:To permit to improve a transfer coefficient by a method wherein grooves are provided at the bottoms of respective periodic function grooves while the grooves are utilized as oil grooves to lubricate uniformly. CONSTITUTION:The rotation of an intermediate disc 23 is reduced by second reduction mechanism 39 and is transferred to an output disc 21 while an ultimate reduction of speed is effected and the rotation is transferred to an output shaft 11. In this case, lubrication oil in a mechanism chamber 5 is being entered into respective small grooves 7b, 19b, 19d, 23c, 23d, 21b and lubrication between respective balls 25, 29, 35 and grooves 7a, 21a of hypotrocoidal gear teeth, annular grooves 19c, 23b and the grooves 19a, 23a of epitrocoidal gear teeth are effected uniformly whereby the transfer coefficient may be improved.
摘要翻译：目的：允许通过在各个周期功能槽的底部设置凹槽的方法来改善传递系数，同时使用凹槽作为油槽来均匀润滑。构成：通过第二减速机构39减小中间盘23的旋转，并将其转移到输出盘21，同时实现速度的极限降低，并将旋转传递到输出轴11.在这种情况下，润滑油机构室5正在进入相应的小槽7b，19b，19d，23c，23d和21b，各滚珠25,29,35之间的润滑以及赤道齿轮齿槽环7a，21a，环形槽19c，23b和槽 19a，23a的上齿轮齿均匀地进行，从而可以提高转印系数。

10. 发明专利

JP2009025989A Mobile robot and its controller 有权
标题翻译：移动机器人及其控制器
公开(公告)号：JP2009025989A
公开(公告)日：2009-02-05
申请号：JP2007187241
申请日：2007-07-18
申请人： Toshiba Corp , 株式会社東芝
发明人： OOAKI JIYUNJI , OZAKI FUMIO , MATSUHIRA NOBUHITO
IPC分类号： G05D1/02
CPC分类号： G05D1/0227
摘要： PROBLEM TO BE SOLVED: To control contact force between a mobile robot and a peripheral obstacle such as a human being, and to make the mobile robot move toward a target while safely coming into contact with the peripheral obstacle. SOLUTION: This mobile robot is provided with: a drive unit; a contact force detection means for detecting the contact force when it comes into contact with a peripheral human-being; a controller for controlling the drive unit to make the mobile robot move toward the target under such conditions that the contact force is within a prescribed range determined according to the physique of the peripheral human being. The controller is provided with: a speed control means for holding a fixed distance for controlling the speed of the mobile robot so that a distance between the target position and the position of the mobile robot can be within the prescribed range; a speed vector generation means for generating a speed vector with an impedance model operation with the contact force as an input; and a moving speed composition means for combining the output of the speed control means for holding the fixed distance and the output of the speed vector generation means. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了控制移动机器人与诸如人的周边障碍物之间的接触力，并且使得移动机器人朝向目标物移动，同时安全地与周边障碍物接触。
解决方案：该移动机器人设有：驱动单元; 接触力检测装置，用于当其与外围人体接触时检测接触力; 控制器，用于控制驱动单元以使得移动机器人在接触力在根据周围人体的身体确定的规定范围内的条件下朝向目标移动。该控制器设置有：用于保持固定距离以控制移动机器人的速度的速度控制装置，使得目标位置与移动机器人的位置之间的距离可以在规定范围内; 速度矢量产生装置，用于产生具有接触力作为输入的阻抗模型操作的速度矢量; 以及移动速度合成装置，用于组合用于保持固定距离的速度控制装置的输出和速度矢量产生装置的输出。版权所有（C）2009，JPO＆INPIT

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