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1. 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。

2. 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。

3. 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。

4. 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。

5. 发明申请

US20100318224A1 MANIPULATOR AND METHOD OF CONTROLLING THE SAME 有权
标题翻译：操纵器及其控制方法
公开(公告)号：US20100318224A1
公开(公告)日：2010-12-16
申请号：US12866959
申请日：2009-03-05
申请人： Akinobu Okuda , Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
发明人： Akinobu Okuda , Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
IPC分类号： B25J13/08 , B25J17/02 , B25J18/00 , B25J9/00 , G05B15/00 , G06F19/00 , B25J19/06
CPC分类号： B25J9/1676 , G05B2219/39082 , Y10T74/20329
摘要： A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.
摘要翻译：操纵器具有臂，臂，保持部，枢转地互连臂和臂的第一接合部，将臂和保持部枢转地相互连接的第二接头部，能够驱动第一接头的第一接头驱动部接合部，能够驱动第二接合部的第二关节驱动部，用于指定具有与障碍物碰撞的可能性或与障碍物碰撞的一个臂的部件指定部，以及用于控制第一关节驱动部和第二关节驱动部，用于使远离障碍物的方向枢转地移动由构件指定部指定的臂中的一个臂，并且使臂中的另一个朝向障碍物的方向。

6. 发明申请

US20090312868A1 MANIPULATOR AND MANIPULATOR POSTURE CONTROL METHOD 有权
标题翻译：操纵器和操纵器姿态控制方法
公开(公告)号：US20090312868A1
公开(公告)日：2009-12-17
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： It is aimed to provide a manipulator capable of reducing a colliding force exerted to an obstacle even in the case where the manipulator collides without being able to avoid a collision with the obstacle.A manipulator 1 includes an arm unit 3 rotatably provided on a main unit 2. A posture detector 10 executes a control to incline the arm unit 3 obliquely backward with respect to a moving direction P when the main unit 2 of the manipulator 1 is moved. Thus, the arm unit 3 collides with an obstacle 11 in an inclined state, wherefore a colliding force exerted to the obstacle 11 can be distributed.
摘要翻译：目的在于提供一种即使在机械手碰撞而不能避免与障碍物碰撞的情况下也能够减小施加于障碍物的碰撞力的机械手。机械手1包括可旋转地设置在主单元2上的臂单元3.姿态检测器10执行使得当机械手1的主单元2移动时相对于移动方向P向后倾斜的臂单元3的控制。因此，臂单元3以倾斜状态与障碍物11碰撞，由此可以分配施加到障碍物11的碰撞力。

7. 发明申请

US20090095109A1 STRUCTURE, MANIPULATOR AND STRUCTURE CONTROL SYSTEM 有权
标题翻译：结构，操纵器和结构控制系统
公开(公告)号：US20090095109A1
公开(公告)日：2009-04-16
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 , B25J19/02 , B25J9/00 , B25J15/00
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。

8. 发明授权

US08504203B2 Manipulator and method of controlling the same 有权
标题翻译：操纵器及其控制方法
公开(公告)号：US08504203B2
公开(公告)日：2013-08-06
申请号：US12866959
申请日：2009-03-05
申请人： Akinobu Okuda , Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
发明人： Akinobu Okuda , Soichiro Fujioka , Osamu Mizuno , Yoshihiko Matsukawa , Tsuyoshi Tojo , Rie Takahashi , Tohru Nakamura
IPC分类号： G05B19/04
CPC分类号： B25J9/1676 , G05B2219/39082 , Y10T74/20329
摘要： A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.
摘要翻译：操纵器具有臂，臂，保持部，枢转地互连臂和臂的第一接合部，将臂和保持部枢转地相互连接的第二接头部，能够驱动第一接头的第一接头驱动部接合部，能够驱动第二接合部的第二关节驱动部，用于指定具有与障碍物碰撞的可能性或与障碍物碰撞的一个臂的部件指定部，以及用于控制第一关节驱动部和第二关节驱动部，用于使远离障碍物的方向枢转地移动由构件指定部指定的臂中的一个臂，并且使臂中的另一个朝向障碍物的方向。

9. 发明申请

US20110112682A1 MEDICINE SELECTION SUPPORT SYSTEM, MEDICINE SELECTION SUPPORT METHOD, MEDICINE DISPENSING DEVICE, AND DUMMY BODY 审中-公开
标题翻译：药物选择支持系统，药物选择支持方法，药物分配装置和DUMMY BODY
公开(公告)号：US20110112682A1
公开(公告)日：2011-05-12
申请号：US13000049
申请日：2010-05-28
申请人： Yoshihiko Matsukawa , Makoto Gotou , Takanobu Tanimoto , Tohru Nakamura , Soichiro Fujioka
发明人： Yoshihiko Matsukawa , Makoto Gotou , Takanobu Tanimoto , Tohru Nakamura , Soichiro Fujioka
IPC分类号： G06F7/00 , G06T15/00
CPC分类号： G07F17/0092 , A61J7/0069 , A61J2205/10 , A61J2205/20 , A61J2205/30 , A61J2205/60 , G07F11/72
摘要： A medicine selection support system of the invention includes an automatic dispensing device for dispensing a general medicine and a dummy body for a managed medicine based on the pharmacy information, a management terminal for reading medicine information of the managed medicine from the dummy body, and an exchange support section for supporting exchange between the managed medicine and the dummy body from the medicine information read by the terminal. With the automatic dispensing device, a dummy body corresponding to the managed medicine can be dispensed at the same timing as that of a general medicine.
摘要翻译：本发明的药物选择支援系统包括：基于药剂学信息的用于分配一般药物的自动分配装置和用于管理药物的假体;从虚拟体读取管理药物的药物信息的管理终端;以及交换支持部分，用于从终端读取的药物信息中支持管理医学与虚拟体之间的交换。利用自动分配装置，可以在与一般药物相同的时刻分配与被管理药物相对应的假体。

10. 发明申请

US20070276540A1 Robot, radio detection system, radio detection method and recording medium storing radio detection processing program 审中-公开
标题翻译：机器人，无线电检测系统，无线电检测方法和存储无线电检测处理程序的记录介质
公开(公告)号：US20070276540A1
公开(公告)日：2007-11-29
申请号：US11798418
申请日：2007-05-14
申请人： Akinobu Okuda , Osamu Mizuno , Yoshihiko Matsukawa
发明人： Akinobu Okuda , Osamu Mizuno , Yoshihiko Matsukawa
IPC分类号： G06F19/00 , G05B19/00
CPC分类号： G05D1/028 , G05D1/0272 , G05D2201/0207
摘要： A robot is provided with a position setting unit for setting the position information of a destination, a locomotion unit for a movement to the set position, an actuator for driving the locomotion unit to the set position of movement, and a radio detection system for detecting the presence or absence of an unauthorized radio wave based on received radio waves. The radio detection system includes a radio receiver for detecting radio signals at mutually different positions in accordance with position information, a radio signal storage for storing the detected radio signals, a radio signal verifier for detecting the presence or absence of a radio signal having the same characteristics by comparing a detected radio signal and the radio signal stored in the radio signal storage, and an unauthorized radio wave detector for detecting the presence of an unauthorized radio wave when the radio signal having the same characteristics is present.
摘要翻译：机器人设置有用于将目的地的位置信息，用于移动到设定位置的移动单元，用于将移动单元驱动到设定移动位置的致动器的位置设定单元，以及用于检测基于接收的无线电波的存在或不存在未授权的无线电波。无线电检测系统包括：用于根据位置信息检测相互不同位置的无线电信号的无线电接收机，用于存储检测到的无线电信号的无线电信号存储器，用于检测有无相同信号的无线电信号的无线电信号验证器通过比较检测到的无线电信号和存储在无线电信号存储器中的无线电信号的特性，以及当存在具有相同特性的无线电信号时，用于检测未授权无线电波的存在的未授权无线电波检测器。

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