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21. 发明授权

US08937553B2 Syringe drive device and syringe drive method 有权
标题翻译：注射器驱动装置和注射器驱动方法
公开(公告)号：US08937553B2
公开(公告)日：2015-01-20
申请号：US13575391
申请日：2011-01-28
申请人： Soichiro Fujioka , Tohru Nakamura , Osamu Mizuno , Akinobu Okuda , Akihiro Ohta
发明人： Soichiro Fujioka , Tohru Nakamura , Osamu Mizuno , Akinobu Okuda , Akihiro Ohta
IPC分类号： G08B21/00 , A61M5/145 , A61M5/168
CPC分类号： A61M5/1456 , A61M5/1458 , A61M5/16854 , A61M2202/049 , A61M2205/18 , A61M2205/332 , A61M2205/3331
摘要： A syringe drive device 11 includes a fixing section 15 fixing an outer tube 14, a movable holder 16 holding a plunger 13, and a drive section 42 driving the holder 16 along an axis of the plunger to push and pull the plunger with respect to the outer tube 14. An internal pressure detector 18 has a positive pressure detection switch 63 detecting an internal pressure of a syringe 12. A determination section 41 determines the issuance of an alert when the holder 16 is stopped and the positive pressure detection switch 63 is ON. A display section 19 is lit to indicate the alert when the determination section 41 determines to issue the alert.
摘要翻译：注射器驱动装置11包括固定外管14的固定部15，保持柱塞13的可动保持件16以及沿着柱塞的轴线驱动保持件16的驱动部42，以相对于柱塞推动和拉动柱塞外部管14.内部压力检测器18具有检测注射器12的内部压力的正压检测开关63.判定部41判定在保持器16停止时正在发出警报，正压检测开关63接通。当确定部41确定发出警报时，显示部分19点亮以指示警报。

22. 发明授权

US08926554B2 Medicinal solution injection device and medicinal solution injection method 有权
标题翻译：药液注射装置及药液注射法
公开(公告)号：US08926554B2
公开(公告)日：2015-01-06
申请号：US13394906
申请日：2010-09-17
申请人： Akinobu Okuda , Tohru Nakamura , Soichiro Fujioka , Osamu Mizuno , Akihiro Ohta
发明人： Akinobu Okuda , Tohru Nakamura , Soichiro Fujioka , Osamu Mizuno , Akihiro Ohta
IPC分类号： A61M31/00 , A61J1/20 , A61J1/22
CPC分类号： A61J1/2096 , A61J1/22 , A61J2200/76
摘要： A medicinal solution injection apparatus 10 includes a composite needle 12 including a needle base portion 12c, an injection needle 12d, and an adjustment needle 12e, a pressure generating portion 13 configured to discharge a compressed air, a measuring portion 14 configured to measure a filling amount and a filling speed of a medicinal solution by measuring a position of a gasket 17a of a syringe 17, and a control portion 15 configured to control the pressure generating portion 13 and the measuring portion 14. The compressed air is introduced into a vial container 16 through an edge 12h of the adjustment needle 12e located above a liquid surface 16a of the medicinal solution in the vial container 16 (outside the liquid surface) to press the liquid surface 16a of the medicinal solution downward, so that a medicinal solution 16b is injected into the syringe 17 through an edge 12i of the injection needle 12d in the medicinal solution 16b. The medicinal solution injection apparatus 10 can accurately and efficiently inject the medicinal solution 16b of the vial container 16 into the syringe 17 while suppressing the medicinal solution 16b from foaming.
摘要翻译：药液注射装置10包括：复合针12，其包括针基部12c，注射针12d和调节针12e，构造成排出压缩空气的压力产生部13;被配置为测量填充物的测量部14 通过测量注射器17的垫圈17a的位置以及被配置为控制压力产生部13和测量部14的控制部15，药液的量和灌装速度。压缩空气被引入小瓶容器 16通过位于小瓶容器16的药液的液面16a上方的调整针12e的边缘12h（液面外））向下方挤压药液的液面16a，药液16b 通过药液16b中的注射针12d的边缘12i注射到注射器17中。药液注入装置10能够精确高效地将药瓶容器16的药液16b注入注射器17中，同时抑制药液16b发泡。

23. 发明授权

US08745776B2 Automatic head care apparatus and automatic head care method 有权
标题翻译：自动头部护理装置和自动头部护理方法
公开(公告)号：US08745776B2
公开(公告)日：2014-06-10
申请号：US13819387
申请日：2012-04-20
申请人： Osamu Mizuno , Soichiro Fujioka , Tohru Nakamura
发明人： Osamu Mizuno , Soichiro Fujioka , Tohru Nakamura
IPC分类号： A45D19/10
CPC分类号： A45D19/10 , A61H7/004 , A61H7/006 , A61H7/007 , A61H23/006 , A61H23/0245 , A61H23/0254 , A61H35/008 , A61H2201/1215 , A61H2201/5028 , A61H2201/5071 , A61H2201/5092 , A61H2205/021
摘要： An object of the present invention is to care for the occipital region supported with an occipital region supporter, without leaving an uncared-for part thereof, at time of automatic care of the person's head. In order to achieve the object, an automatic head washing apparatus 11 according to the present invention, is an automatic head care apparatus that cares for a person's head automatically, which has a first end effector 13 and a second end effector 16, and which is controlled by a plurality of modes including: a first mode for rubbing a second region 24 of the occipital region 22 by moving the second end effector 16 in a state in which the first end effector 13 contacts a first region 23 of the occipital region 22 of the person with the first end effector 13 being fixed at a first position; and a second mode for rubbing a first region 23 of the occipital region 22 by moving the first end effector 13 in a state in which the second end effector 16 contacts a second region 24 of the occipital region 22 with the second end effector 16 being fixed at a second position.
摘要翻译：本发明的一个目的是在自动照顾人的头部的时候照顾枕枕区支撑者支撑的枕骨区域，而不会留下未被遮挡的枕头部分。为了实现该目的，根据本发明的自动洗头装置11是自动头部护理装置，其自动关心人的头部，其具有第一端部执行器13和第二端部执行器16，并且其是由多个模式控制，包括：通过在第一末端执行器13接触枕骨区域22的第一区域23的状态下移动第二末端执行器16来摩擦枕叶区域22的第二区域24的第一模式具有第一末端执行器13的人被固定在第一位置; 以及第二模式，用于通过在第二端部执行器16接触枕骨区域22的第二区域24的状态下移动第一端部执行器13，同时第二端部执行器16被固定来摩擦枕骨区域22的第一区域23 在第二个位置。

24. 发明授权

US08690828B2 Syringe drive device 有权
标题翻译：注射器驱动装置
公开(公告)号：US08690828B2
公开(公告)日：2014-04-08
申请号：US13375309
申请日：2010-07-22
申请人： Soichiro Fujioka , Tohru Nakamura , Osamu Mizuno , Akinobu Okuda , Akihiro Ohta
发明人： Soichiro Fujioka , Tohru Nakamura , Osamu Mizuno , Akinobu Okuda , Akihiro Ohta
IPC分类号： A61M37/00
CPC分类号： A61J1/2096 , A61J1/20 , A61J1/201 , A61M5/20 , A61M2005/2414
摘要： A syringe drive device 1 includes a cylinder holding section 3 configured to detachably hold a cylinder 201, a piston manipulating section 4 detachably coupled with a piston, and a piston drive section 5 including racks 31A and 31B coupled with the piston manipulating section 4 and configured to move the piston manipulating section 4 so that a piston 202 is moved in a push-in direction or a pull-out direction. A cylinder 200A having a given capacity (for example, 50 cc) is directly loaded in the syringe drive device 1 with no adapter therebetween. A syringe 200C having a different capacity (for example, 20 cc) is loaded in the syringe drive device 1 by means of a cylinder adapter 81 and a piston adapter 82.
摘要翻译：注射器驱动装置1包括可拆卸地保持缸体201的气缸保持部3，与活塞可拆卸地连接的活塞操作部分4和活塞驱动部分5，其包括与活塞操纵部分4联接的齿条31A和31B，以移动活塞操纵部分4，使得活塞202沿推入方向或拉出方向移动。具有给定容量（例如，50cc）的气瓶200A被直接装载在注射器驱动装置1中，其间没有适配器。具有不同容量（例如20cc）的注射器200C通过气缸适配器81和活塞适配器82装载在注射器驱动装置1中。

25. 发明授权

US08647305B2 Syringe drive device 有权
标题翻译：注射器驱动装置
公开(公告)号：US08647305B2
公开(公告)日：2014-02-11
申请号：US13257338
申请日：2010-03-23
申请人： Akihiro Ohta , Tohru Nakamura , Osamu Mizuno , Soichiro Fujioka , Akinobu Okuda , Tsuyoshi Tojo
发明人： Akihiro Ohta , Tohru Nakamura , Osamu Mizuno , Soichiro Fujioka , Akinobu Okuda , Tsuyoshi Tojo
IPC分类号： A61M5/00
CPC分类号： A61M5/007 , A61M5/1407 , A61M5/14546 , A61M5/1456 , A61M5/1782 , A61M2005/1403
摘要： A syringe drive device drives a syringe including a cylindrical cylinder and a piston. The cylinder includes a solution supply port at one end, and an opening at the other end. The piston is inserted into the cylinder through the opening. The syringe drive device includes a cylinder holder to rotatably hold the cylinder of the syringe, and a piston driver to drive the piston in its axial direction with respect to the cylinder held in the cylinder holder.
摘要翻译：注射器驱动装置驱动包括圆柱形气缸和活塞的注射器。圆筒包括一端的溶液供给口和另一端的开口。活塞通过开口插入气缸。注射器驱动装置包括可旋转地保持注射器的气缸的气缸保持器和用于相对于保持在气缸保持器中的气缸沿其轴向方向驱动活塞的活塞驱动器。

26. 发明申请

US20130160198A1 HEAD CARE SYSTEM AND HAIR WASHING APPARATUS USING THE SYSTEM 审中-公开
标题翻译：头部护理系统和使用该系统的头发洗涤设备
公开(公告)号：US20130160198A1
公开(公告)日：2013-06-27
申请号：US13819497
申请日：2012-06-11
申请人： Osamu Mizuno , Soichiro Fujioka , Tohru Nakamura
发明人： Osamu Mizuno , Soichiro Fujioka , Tohru Nakamura
IPC分类号： A45D19/08
CPC分类号： A61H15/0078 , A45D19/14 , A61H7/004 , A61H35/008 , A61H2201/0192 , A61H2201/1215 , A61H2201/1463 , A61H2201/1607 , A61H2201/1669 , A61H2201/1671 , A61H2201/1676 , A61H2201/1692 , A61H2201/5007
摘要： A head care system (hair washing apparatus 100) according to the present invention includes a base (bowl 101) having a head support 11 for supporting a head 10 of a human. The system includes a pair of arm units (washing unit 12) for taking care of the head 10. Each of the arm units has a support shaft mounted to the base. The arm units are arranged such that the head support 11 is located between the pair of arm units. The system includes a pair of shaft driving members for driving the arm units in such a manner that each of the arm units rotates about the corresponding support shaft. The system includes a controller 400 for controlling driving operations of the shaft driving members. Each of the arm units includes a contact arm (third arm 107L, 108L, 107R, 108R) having a plurality of contacts equipped on tips of the contact arm, a secondary arm (second arm 106L, 106R) for rotatably supporting the contact arm, and a main arm (first arm 105L, 105R) which rotatably supports the secondary arm and is rotatably supported by the base. The main arm has a four-link mechanism.
摘要翻译：根据本发明的头部护理系统（洗头装置100）包括具有用于支撑人的头部10的头部支撑件11的底座（碗101）。该系统包括用于保护头10的一对臂单元（洗涤单元12）。每个臂单元具有安装到基座的支撑轴。臂单元布置成使得头部支撑件11位于一对臂单元之间。该系统包括一对轴驱动构件，用于以这样的方式驱动臂单元，使得每个臂单元围绕相应的支撑轴旋转。该系统包括用于控制轴驱动构件的驱动操作的控制器400。每个臂单元包括接触臂（第三臂107L，108L，107R，108R），其具有设置在接触臂的尖端上的多个触点，用于可旋转地支撑接触臂的次臂（第二臂106L，106R）以及可旋转地支撑副臂并由基座可旋转地支撑的主臂（第一臂105L，105R）。主臂具有四连杆机构。

27. 发明授权

US08402860B2 Structure, manipulator and structure control system 有权
标题翻译：结构，机械手和结构控制系统
公开(公告)号：US08402860B2
公开(公告)日：2013-03-26
申请号：US12249414
申请日：2008-10-10
申请人： Osamu Mizuno , Akinobu Okuda , Tsuyoshi Tojo , Tohru Nakamura , Rie Takahashi , Soichiro Fujioka , Yoshihiko Matsukawa
发明人： Osamu Mizuno , Akinobu Okuda , Tsuyoshi Tojo , Tohru Nakamura , Rie Takahashi , Soichiro Fujioka , Yoshihiko Matsukawa
IPC分类号： B25J18/00
CPC分类号： B25J19/063 , B25J9/1045 , B25J18/06 , Y10T74/20305
摘要： A structure is provided with a first member at a base end side, a third member at a leading end side, a second member arranged between the first and third members, and a coupling force generator for generating a first coupling force for pressing an end surface of the first member and that of the second member against each other and a second coupling force for pressing an end surface of the second member and that of the third member against each other. In this structure, the first and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the first member and that of the second member by the first coupling force, whereas the second and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the second member and that of the first member by the second coupling force.
摘要翻译：一种结构在基端侧具有第一构件，在前端侧具有第三构件，在第一构件和第三构件之间设置有第二构件，以及联接力发生器，用于产生用于按压端面的第一联接力的第一构件和第二构件的第二构件和第二构件彼此抵靠的第二联接力。在该结构中，第一和第三构件在施加比第一构件的端面和第二构件的端面之间产生的耦合力大的外力作用第一联接力时相对移位，而第二和第三构件当施加大于通过第二联接力在第二构件的端面与第一构件的端面之间产生的联接力的外力时，构件相对移位。

28. 发明申请

US20110036188A1 ROBOT ARM 有权
标题翻译：机器人ARM
公开(公告)号：US20110036188A1
公开(公告)日：2011-02-17
申请号：US12863644
申请日：2009-01-21
申请人： Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Akinobu Okuda , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
发明人： Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Akinobu Okuda , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
IPC分类号： F16H3/02 , F16H3/44
CPC分类号： B25J19/06 , B25J9/102 , B25J19/0091 , F16H35/10 , Y10T74/19614 , Y10T74/20305 , Y10T74/20329
摘要： A robot arm has: a drive gear that has a shaft; a gear frame being capable of turning about the shaft of the drive gear; a first follower gear being capable of turning, in synchronization with the drive gear, about a shaft fixed to the gear frame, in a direction opposite to the turning direction of the drive gear; a transmission control mechanism that is capable of locking the first follower gear to the drive gear; an arm that moves in synchronization with the first follower gear; and a collision detection unit that is capable of detecting a collision between the arm and an obstacle. The transmission control mechanism unlocks the follower gear from the drive gear in response to detection, by the collision detection unit, of collision between the arm and the obstacle.
摘要翻译：机器人臂具有：具有轴的驱动齿轮; 能够围绕驱动齿轮的轴转动的齿轮架; 第一从动齿轮能够与驱动齿轮同步地沿与驱动齿轮的转动方向相反的方向围绕固定到齿轮架的轴转动; 传动控制机构，其能够将第一从动齿轮锁定到驱动齿轮; 与第一从动齿轮同步移动的臂; 以及能够检测臂与障碍物之间的碰撞的碰撞检测单元。响应于碰撞检测单元检测到臂与障碍物之间的碰撞，变速器控制机构从驱动齿轮解锁从动齿轮。

29. 发明授权

US08401699B2 Manipulator and manipulator posture control method 有权
标题翻译：机械手和机械手姿态控制方法
公开(公告)号：US08401699B2
公开(公告)日：2013-03-19
申请号：US12480973
申请日：2009-06-09
申请人： Tsuyoshi Tojo , Osamu Mizuno , Akinobu Okuda , Yoshihiko Matsukawa , Rie Takahashi , Soichiro Fujioka , Tohru Nakamura
发明人： Tsuyoshi Tojo , Osamu Mizuno , Akinobu Okuda , Yoshihiko Matsukawa , Rie Takahashi , Soichiro Fujioka , Tohru Nakamura
IPC分类号： G06F19/00
CPC分类号： B25J9/1676
摘要： A manipulator includes a main unit movable to a specified target position, an arm unit rotatably provided on the main unit, and a posture controller. The posture controller controls the posture of the arm unit so that a front surface of the arm unit facing forward in a moving direction of the main unit is not orthogonal to the moving direction of the main unit when the movement of the main unit is performed. The arm unit may be inclined obliquely backward with respect to a moving direction of the main unit when the main unit is moved to a specified target position.
摘要翻译：机械手包括可移动到指定目标位置的主单元，可旋转地设置在主单元上的臂单元和姿势控制器。姿势控制器控制臂单元的姿势，使得当执行主单元的移动时，在主单元的移动方向上面向前的臂单元的前表面与主单元的移动方向不正交。当主单元移动到指定的目标位置时，臂单元可相对于主单元的移动方向倾斜向后倾斜。

30. 发明授权

US08286528B2 Robot arm 有权
标题翻译：机器人手臂
公开(公告)号：US08286528B2
公开(公告)日：2012-10-16
申请号：US12863644
申请日：2009-01-21
申请人： Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Akinobu Okuda , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
发明人： Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Akinobu Okuda , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J19/06 , B25J9/102 , B25J19/0091 , F16H35/10 , Y10T74/19614 , Y10T74/20305 , Y10T74/20329
摘要： A robot arm has a drive gear that has a shaft, a gear frame being capable of turning about the shaft of the drive gear, a first follower gear being capable of turning, in synchronization with the drive gear, about a shaft fixed to the gear frame, in a direction opposite to the turning direction of the drive gear, a transmission control mechanism that is capable of locking the first follower gear to the drive gear, an arm that moves in synchronization with the first follower gear, and a collision detection unit that is capable of detecting a collision between the arm and an obstacle. The transmission control mechanism unlocks the follower gear from the drive gear in response to detection, by the collision detection unit, of a collision between the arm and the obstacle. The robot arm enables quick cushioning of the impact force of the collision.
摘要翻译：机器人臂具有驱动齿轮，其具有轴，齿轮架能够围绕驱动齿轮的轴转动，第一从动齿轮能够与驱动齿轮同步地绕固定到齿轮的轴转动框架，在与驱动齿轮的转动方向相反的方向上，能够将第一从动齿轮锁定到驱动齿轮的传动控制机构，与第一从动齿轮同步移动的臂，以及碰撞检测单元能够检测手臂与障碍物之间的碰撞。变速器控制机构响应于碰撞检测单元检测到臂和障碍物之间的碰撞而将从动齿轮从驱动齿轮解锁。机器人手臂能够快速缓冲碰撞的冲击力。

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