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1. 发明专利

JP2007170210A Actuator and actuator bending drive mechanism 审中-公开
标题翻译：执行器和执行器弯曲驱动机构
公开(公告)号：JP2007170210A
公开(公告)日：2007-07-05
申请号：JP2005365835
申请日：2005-12-20
申请人： Toshiba Corp , 株式会社東芝
发明人： KUBOTA YUJI , MIYAGAWA TOYOMI , TOTANI KIMINORI
IPC分类号： F03G7/06 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To make compatible a large output force and a large rate of shrinkage in an actuator using a wire shrunk by external irritation such as a shape memory alloy and a polymer actuator.
SOLUTION: This actuator is shrunk in a predetermined shrinking direction (Y-direction) according to the shrinkage of the wire material 1 shrunk by external irritation. The wire material 1 is disposed diagonally relative to the shrinking direction. Also, the wire material has a width restraining member 3 suppressing the relative movement of both ends of the wire material 1 disposed diagonally relative to the shrinking direction in the direction (X-direction) vertical to the shrinking direction.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：使用通过外部刺激（例如形状记忆合金和聚合物致动器）收缩的线来促进致动器中的大的输出力和大的收缩率的兼容性。解决方案：根据由外部刺激而收缩的线材1的收缩，该致动器以预定的收缩方向（Y方向）收缩。线材1相对于收缩方向倾斜配置。此外，线材具有宽度限制构件3，其抑制沿与收缩方向垂直的方向（X方向）相对于收缩方向倾斜设置的线材1的两端的相对运动。版权所有（C）2007，JPO＆INPIT

2. 发明专利

JP2006258160A Radial slide bearing mechanism and rotary shaft 有权
标题翻译：径向滑动轴承机构和旋转轴
公开(公告)号：JP2006258160A
公开(公告)日：2006-09-28
申请号：JP2005074695
申请日：2005-03-16
申请人： Toshiba Corp , 株式会社東芝
发明人： ITO YASUTAKA , MIYAGAWA TOYOMI , YOSHII YASUO
IPC分类号： F16C17/02 , F16C33/06 , F16C33/24
摘要： PROBLEM TO BE SOLVED: To prevent galling and seizure caused by abrasive powder accumulated in sliding portions in a radial slide bearing mechanism in which no lubricant is supplied.
SOLUTION: The radial slide bearing mechanism has a metal rotary shaft 1 and a bearing 2 which radially supports the rotary shaft for sliding motion in a state that no lubricant is supplied to the rotary shaft 1 and which is made of material harder than the rotary shaft (for instance ceramics). A recess 5 extending in the circumferential direction of the rotary shaft 1 is formed at a position facing an end 4 of the bearing 2 in the rotary shaft 1.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了防止在没有润滑剂的径向滑动轴承机构中的滑动部分中积累的研磨粉引起的磨损和卡塞。解决方案：径向滑动轴承机构具有金属旋转轴1和轴承2，其在不向旋转轴1供给润滑剂的状态下径向支撑旋转轴进行滑动运动，并且由比硬度高的材料制成旋转轴（例如陶瓷）。在旋转轴1中与轴承2的端部4相对的位置形成有沿旋转轴1的圆周方向延伸的凹部5.版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2009201648A Joint bending/stretching movement assist device and method 审中-公开
标题翻译：联合弯曲/拉伸运动辅助装置和方法
公开(公告)号：JP2009201648A
公开(公告)日：2009-09-10
申请号：JP2008045918
申请日：2008-02-27
申请人： Toshiba Corp , 株式会社東芝
发明人： TOTANI KIMINORI , MIYAGAWA TOYOMI , KUBOTA YUJI
IPC分类号： A61F2/58 , A61F2/68
摘要： PROBLEM TO BE SOLVED: To reduce a burden applied to a wearer when wearing a joint bending/stretching movement assist device and trying to start the bending/stretching movement from a non-drive state of an actuator.
SOLUTION: This joint bending/stretching movement assist device is provided with a wearing device 1 to be worn in the periphery of a proximal interphalangeal joint 11 of a finger 20, an angle sensor 22 detecting a bending angle of the proximal interphalangeal joint 11, and the actuator 2 installed on the wearing device 1 via an adhesion site 3 and applying a bending/stretching force to the proximal interphalangeal joint 11 according to an output of the angle sensor. A play is formed between the actuator 2 and a wearing part 3 so as to bend the proximal interphalangeal joint 11 to a predetermined angle detectable by the angle sensor 22 in a state where the actuator 2 executes no bending/stretching movement.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了减轻穿着关节弯曲/伸展运动辅助装置并尝试从致动器的非驱动状态开始弯曲/伸展运动时对穿着者施加的负担。解决方案：该关节弯曲/伸展运动辅助装置设置有佩戴装置1，以佩戴在手指20的近侧指间关节11的周围;角度传感器22，其检测近端指间关节的弯曲角度 11，以及通过粘接部位3安装在磨损装置1上的致动器2，并且根据角度传感器的输出向近侧指间关节11施加弯曲/拉伸力。在致动器2不易弯曲/伸展运动的状态下，在致动器2和磨损部3之间形成游隙，以将近端指针11接合到由角度传感器22检测到的预定角度。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2009175782A Coin carrying device and operation method thereof 有权
标题翻译：硬币携带设备及其操作方法
公开(公告)号：JP2009175782A
公开(公告)日：2009-08-06
申请号：JP2008010575
申请日：2008-01-21
申请人： Toshiba Corp , 株式会社東芝
发明人： HARADA SHOGO , MIYAGAWA TOYOMI , SHIMA YASUO , HATTORI SHUNSUKE
IPC分类号： G07D1/00 , G07D9/00
摘要： PROBLEM TO BE SOLVED: To provide a coin carrying device, capable of reducing clogging of coins in the vicinity of a discharge port, and an operation method thereof. SOLUTION: The coin carrying device 91 configured to discharge coins 81 stored in a storage 21 through a discharge port 25 comprises a carrying belt 22 which is extended from the storage 21 to carry the coins 81; a payment belt 26 which is disposed so as to be capable of delivering the coins 81 with the carrying belt 22, extended to the discharge port 25, and driven independently from the carrying belt 22 to carry the coins 81; a coin number detection sensor 13 which counts the coins 81 discharged from the discharge port 25; a coin quantity detection sensor 11 which detects whether the accumulation quantity of the coins 81 on the payment belt 26 reaches a predetermined accumulation height or not; and a controller 19 which controls the carrying belt 22 and the payment belt 26 based on signals received from the coin number detection sensor 13 and the coin quantity detection sensor 11. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够减少排出口附近的硬币堵塞的硬币传送装置及其操作方法。解决方案：构造成通过排出口25排出存储在存储器21中的硬币81的硬币运送装置91包括从存储装置21延伸以运送硬币81的运送带22; 布置成能够将具有延伸到排出口25的运送带22的硬币81输送并且独立于运送带22驱动以运送硬币81的支付带26; 对从排出口25排出的硬币进行计数的硬币数检测传感器13; 硬币量检测传感器11，其检测支付带26上的硬币81的累积量是否达到预定的累加高度; 以及控制器19，其基于从硬币数量检测传感器13和硬币量检测传感器11接收的信号来控制承载带22和支付带26.（C）2009年，JPO＆INPIT

5. 发明专利

JP2003061969A Manipulator 有权
标题翻译：操纵器
公开(公告)号：JP2003061969A
公开(公告)日：2003-03-04
申请号：JP2001251203
申请日：2001-08-22
申请人： Toshiba Corp , 株式会社東芝
发明人： MIYAGAWA TOYOMI , JINNO MAKOTO
IPC分类号： A61B19/00 , A61B17/28
摘要： PROBLEM TO BE SOLVED: To provide an inexpensive medical manipulator having superior assembling efficiency and maintenability using a wire for transmitting power to change the attitude of a treating part, by simplifying the structure of a working part conducting the opening and closing operation. SOLUTION: This manipulator comprises a work part 3 having support parts 12, 13 capable of supporting the treating part to change its attitude to two or more degree of freedom, an operation control part 40 for transmitting an operation instruction from an attitude operating part 21 to the support parts 12, 13 to change the attitude of the treating part 11, and transmitting an operation instruction from a treatment operating part 22 to the treating part 11 to be operated, and a transmission part D1 for transmitting the power from the operation control part 40 with a wire T2 to the work part 3. The transmission part D1 is composed of two pulleys 51, 53 whose center are set within the same plane and a wire guide member 52 set on the same axis B as the base point of changing the attitude of the work part 3 and set within the same plane as the center of the pulleys 51, 53 are.
摘要翻译：要解决的问题：通过简化进行打开和关闭操作的工作部件的结构，提供一种廉价的医疗操纵器，其具有优良的组装效率和使用用于传递动力的线以改变处理部分的姿态的可维护性。解决方案：该操纵器包括：工作部件3，其具有能够支撑处理部件以将其姿态改变为两个或更多自由度的支撑部件12,13;操作控制部件40，用于将操作指令从姿态操作部件21传送到支撑部件12,13，以改变处理部件11的姿势，并将操作指令从处理操作部件22传送到要操作的处理部件11;以及传动部件D1，用于从操作控制部分 40，其中导线T2连接到工作部分3.传动部分D1由其中心设置在同一平面内的两个滑轮51,53和设置在与改变工件3的姿态并设置在与滑轮51,53的中心相同的平面内。

6. 发明专利

JP2003053684A Medical manipulator system 有权
标题翻译：医疗操纵系统
公开(公告)号：JP2003053684A
公开(公告)日：2003-02-26
申请号：JP2001243414
申请日：2001-08-10
申请人： Toshiba Corp , 株式会社東芝
发明人： JINNO MAKOTO , MIYAGAWA TOYOMI , SUNAOSHI TAKAMITSU , MATSUHIRA NOBUHITO
IPC分类号： B25J1/00 , A61B17/28 , A61B19/00 , B25J7/00 , B25J9/06 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a medical manipulator system having a wide operating range, and having a support device that is simple in mechanism lightweight, and excellent in operability.
SOLUTION: The medical manipulator system includes a manipulator 1 and the support device 2 for supporting the manipulator in such a way that the manipulator is movable relative to a fixed part 10. The manipulator 1 has an operation directing part 20, a connection 21 connected to the operation directing part at one end, and a working part 22 connected to the other end of the connection. The support device 2 has a six-joint part having six degrees of freedom which is composed of a first joint shaft 101, a second joint shaft 102, a third joint shaft 103, a fourth joint shaft 104, a fifth joint shaft 105, and a sixth joint shaft 106, which extend from the fixed part 10 to the manipulator 1.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：提供一种具有宽操作范围的医疗机械手系统，并具有重量轻的机构简单，操作性优异的支撑装置。解决方案：医疗机械手系统包括操纵器1和用于支撑操纵器的支撑装置2，使得操纵器可相对于固定部分10移动。操纵器1具有操作引导部分20，连接到一端的操作引导部和与连接的另一端连接的工作部22。支撑装置2具有六个自由度的六关节部分，其由第一关节轴101，第二关节轴102，第三关节轴103，第四关节轴104，第五关节轴105和第六关节轴106，其从固定部分10延伸到操纵器1。

7. 发明专利

JP2007170326A Mesh-like actuator and actuator system 审中-公开
标题翻译： MESH型执行器和执行器系统
公开(公告)号：JP2007170326A
公开(公告)日：2007-07-05
申请号：JP2005371505
申请日：2005-12-26
申请人： Toshiba Corp , 株式会社東芝
发明人： KUBOTA YUJI , MIYAGAWA TOYOMI , TOTANI KIMINORI
IPC分类号： F03G7/06 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To enhance reliability by suppressing the occurrence of problems caused by the peeling of film from a wire material in a mesh-like actuator such as shape memory alloys and polymer actuators in which the wire material of which shape is changed by external irritation is used.
SOLUTION: This mesh actuator comprises the stimulus-response wire material 1 transmitting the external irritation (such as current) and changed in shape by the external irritation and an insulating wire material 2 knitted with the stimulus-response wire material 1 and not transmitting the external irritation. The surfaces of the stimulus-response wire material 1 are not brought into direct contact with each other but brought into contact with each other with the insulating wire material interposed therebetween.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了提高可靠性，通过抑制由诸如形状记忆合金和聚合物致动器的网状致动器中的线材从线材剥离引起的问题的发生，其中形状为使用外部刺激改变。解决方案：该网状致动器包括刺激响应线材1，其透过外部刺激（例如电流）和外部刺激形式变化，以及用刺激响应线材1编织的绝缘线材2，而不是传递外部刺激。刺激响应线材1的表面不会彼此直接接触，而是彼此接触，绝缘线材插入其间。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2004301275A Motive power transmission mechanism and manipulator 有权
公开(公告)号：JP2004301275A
公开(公告)日：2004-10-28
申请号：JP2003096446
申请日：2003-03-31
申请人： Toshiba Corp , 株式会社東芝
发明人： JINNO MAKOTO , MIYAGAWA TOYOMI , TSUKADA SHIRO , KUDO AKIRA
IPC分类号： B25J3/00 , A61B19/00 , B25J9/10 , B25J17/00 , F16H7/04 , F16H7/18 , F16H19/02
CPC分类号： F16H7/04 , A61B17/0469 , A61B34/30 , A61B34/70 , A61B34/71 , A61B2017/00371 , A61B2017/00398 , A61B2017/2902 , A61B2017/292 , A61B2017/2927 , A61B2017/2929 , A61B2017/2932 , A61B2017/294 , A61B2034/305 , A61B2034/715 , B25J9/104
摘要： PROBLEM TO BE SOLVED: To provide a motive power transmission mechanism by a wire and pulleys for realizing miniaturization, high reliability, high rigidity, and high operability in a narrow part repairing manipulator such as an operation support manipulator and an energy apparatus. SOLUTION: A motive power transmission mechanism part is formed of the wire (a flexible motive power transmission member) and a pair of pulleys, and is fixed to the pulleys having a slit groove and a columnar or tapered hole by passing the wire through a columnar or tapered fixing pin bored with a hole capable of passing the wire, and a hollow shaft is inserted into a wire part between a driving side pulley and a driven side pulley, and is connected by a solid shaft. A rotary shaft of the driving side pulley and the driven side pulley is put in a twisted state so that eccentric mass around a connecting part is arranged substantially vertically downward to the connecting part in a reference attitude of the manipulator having a work part, an operation part, and the connecting part. COPYRIGHT: (C)2005,JPO&NCIPI

9. 发明专利

JP2003052716A Medical manipulator system 有权
标题翻译：医疗操纵系统
公开(公告)号：JP2003052716A
公开(公告)日：2003-02-25
申请号：JP2001243430
申请日：2001-08-10
申请人： Toshiba Corp , 株式会社東芝
发明人： JINNO MAKOTO , MIYAGAWA TOYOMI
IPC分类号： B25J19/00 , A61B17/28 , A61B19/00 , A61B19/02 , A61C19/00
CPC分类号： A61B34/72 , A61B90/50
摘要： PROBLEM TO BE SOLVED: To provide a medical manipulator system equipped with a support mechanism wide in operational range, simple in mechanism, light in weight and excellent in operability.
SOLUTION: The medical manipulator system is provided with a medical manipulator (1) and a support mechanism (2) for supporting the medical manipulator. The medical manipulator is provided with an operation command part (20), a connection part (21) connecting one end side to the operation command part and a work part (20) connected to another end side of the connection part. The support mechanism (2) has a flexible member (3) for hanging and supporting the medical manipulator at a prescribed position so that tensile can be kept almost constant even in the state of changing the three-dimensional position of the medical manipulator.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：提供一种具有操作范围宽的机构，重量轻，操作性优良的支撑机构的医疗机械手系统。解决方案：医疗机械手系统设置有用于支撑医疗操纵器的医疗操纵器（1）和支撑机构（2）。医疗机械手设有操作指令部（20），将一端侧连接到操作指令部的连接部（21）和与连接部的另一端侧连接的工件（20）。支撑机构（2）具有用于在规定位置上悬挂和支撑医疗机械手的柔性构件（3），使得即使在改变医疗机械手的三维位置的状态下，拉伸也能保持几乎恒定。

10. 发明专利

JP2009197973A Actuator and its manufacturing method 审中-公开
标题翻译：执行机构及其制造方法
公开(公告)号：JP2009197973A
公开(公告)日：2009-09-03
申请号：JP2008042915
申请日：2008-02-25
申请人： Toshiba Corp , 株式会社東芝
发明人： TERAJIMA TOSHINORI , SEKIGUCHI SADAO , MIYAGAWA TOYOMI
IPC分类号： F15B15/10
摘要： PROBLEM TO BE SOLVED: To provide an actuator which is simple in construction and high in reliability to operate and has a construction suitable for mass production with low cost, and its manufacturing method.
SOLUTION: The actuator 1 capable of being curved within one plane is provided with a tubular elastic element 2 including an air chamber 8 which is provided on outer periphery with a groove 21 and houses working fluid inside it, an expansion restraining member 3 which is attached to the groove 21 and restrains the cross sectional shape of the tubular elastic element 2 from changing and promotes elongation in the axial direction, an elongation restraining member 4 which restrains the tubular elastic element 2 provided on a part of outside surface of the tubular elastic element 2 from elongating in the axial direction, a tubular body outer peripheral part 9 which covers the tubular elastic element 2, caps 5, 6 which are provided on both ends of the tubular elastic element 2 and an injection tube 7 which is provided on one of the caps and discharges and charges the working fluid.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种结构简单，可靠性高的致动器，其具有低成本大规模生产的结构及其制造方法。解决方案：能够在一个平面内弯曲的致动器1设置有管状弹性元件2，管状弹性元件2包括空气室8，该空气室8在外周设置有凹槽21并在其内容纳工作流体，膨胀限制构件3 其连接在槽21上并且抑制管状弹性元件2的横截面形状改变并促进轴向伸长;延伸抑制构件4限制设置在管状弹性元件2的外表面的一部分上的管状弹性元件2 管状弹性元件2沿轴向延伸，覆盖管状弹性元件2的管状体外周部9，设置在管状弹性元件2的两端的盖5,6，以及设置在管状弹性元件2的两端的注入管7 在其中一个盖子上放电并对工作流体充电。版权所有（C）2009，JPO＆INPIT

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