| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 121 | JPS6128701Y2 - | JP19090081 | 1981-12-23 | JPS6128701Y2 | 1986-08-25 | |
| 122 | Coupler having plurality of degree of freedom | JP12528085 | 1985-06-11 | JPS614689A | 1986-01-10 | JIYAN KURO; JIYAN FUARIPU |
| A flexible bellows connecting device which positions an output member has a pair of jacks (1,2) equipped with deformation sensors (12,13). A pair of variable capacity bellows pump reservoirs (3,4) permit predetermined motion of the jacks. An electric motor (19) drives the pump. The sensor signals provide deformation difference signal feedback to the electronic control system which may include a microprocessor (5) for closed loop position control. | ||||||
| 123 | Actuator | JP20591982 | 1982-11-24 | JPS5895974A | 1983-06-07 | DANIERU FURANSOWA; JIYANNJIYATSUKU REPISHIE; JIRU MERUSE |
| 124 | Method and apparatus for analysing possibility of execution of series of programmed movement of robot | JP17197281 | 1981-10-27 | JPS57114384A | 1982-07-16 | EBANSU KOSUTASU; JIERARUDO DABURIYU KURAMU; JIEROOMU EFU UOKAA |
| 125 | Device and method for evaluating capability of regeneration of series of programmed operation of work performing robot | JP5103281 | 1981-04-04 | JPS56157983A | 1981-12-05 | EBUANSU KOSUTASU; GERARUDO DABURIYU KURAMU; JIEROOMU EFU UOOKAA |
| 126 | Improvement regarding manipulator | JP12663380 | 1980-09-11 | JPS5645390A | 1981-04-25 | ROI KOUSAA |
| 127 | Apparatus for automatically operating articulated robot | JP2121578 | 1978-02-24 | JPS54113157A | 1979-09-04 | HASEGAWA AKIRA |
| PURPOSE:To cause horizontal linear motion and its uniform motion of an articulated robot with ease, by automatizing turning, expansion and contraction of the robot while effecting only vertical movement by hand. CONSTITUTION:Turning bed 2 is mounted on base 1 in the manner that it can be turned about a vertical axis. Robot arm B is provided with an upper arm 4, fore arm 9 and cylinders 5, 11 for actuating the arms 4, 9. Turning angle theta of handle frame 14 is detected by potentiometer 19 which in turn produces a signal proportional to the turning angle theta, whereby servo valve 25 is set into operation and turning bed 2 is turned through rotation of turning motor 27. Further, servo valves 30, 31 are set into operation in response to signals from potentiometers 20, 21 adapted for detecting angles alpha and beta formed by upper handle 15, handle frame 14 and fore handle 17, respectively, so as to apply hydraulic pressure to cylinders 5, 11 and to thereby actuate arms 4, 9. | ||||||
| 128 | Remote controller with force sense | JP5080376 | 1976-05-06 | JPS52134985A | 1977-11-11 | KAWAUCHI MASATAKA |
| PURPOSE:To ensure the safety and high efficiency of remote control operation, by operating a master side to generate the input signal of positions and to control the position of a slave side in response to the input signal. | ||||||
| 129 | Kansetsurenketsukeishikino mootatsukisosasochi | JP8820675 | 1975-07-18 | JPS5137462A | 1976-03-29 | DANIERU FURANSOWA; JAN KUROODO JERUMON; HOORU MARUSHARU; JAN BERUCHU |
| 130 | Kikaierementooseigyosurusochi | JP7497175 | 1975-06-19 | JPS5113085A | 1976-02-02 | GYUI DEBURII; KUROODO GURUNIE; MISHERU PUCHI; ANRI RIGO; JAN BERUTEYU |
| 131 | Enkakuseigyosochi | JP7497075 | 1975-06-19 | JPS5113084A | 1976-02-02 | GYUI DEBURII; MISHERU PUCHI; JAN BERUTEYU |
| 132 | JPS50118461A - | JP2253375 | 1975-02-25 | JPS50118461A | 1975-09-17 | |
| 133 | JPS5072373A - | JP3475174 | 1974-03-29 | JPS5072373A | 1975-06-14 | |
| 134 | CONTROL DEVICE AND ROBOT SYSTEM | US16003333 | 2018-06-08 | US20180354122A1 | 2018-12-13 | Ryosuke IMAI; Masaki MOTOYOSHI |
| A control device for controlling a robot including an arm driven via a reduction gear by a motor generating a drive force, the control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to perform speed control on the arm by using an input detection value from an input position detection sensor which detects an input side operation position of the reduction gear, and an output detection value from an output position detection sensor which detects an output side operation position of the reduction gear. | ||||||
| 135 | Motor driven articulated arm with cable capstan including a brake | US15193948 | 2016-06-27 | US10118289B2 | 2018-11-06 | Francois Louveau |
| A motor-driven articulated haptic interface arm includes a frame; an arm linked to the frame and rotationally mobile about an axis; and a motor including a rotor, which delivers at least one maximum resistant torque about the axis opposing at least part of forces applied to the arm by its environment. A main transmission transmits to the arm the resistant torque about the axis and includes a capstan-type cable reducer. The arm includes elements for evaluating the resistant torque transmitted to the arm by the motor; braking rotation of the arm about the axis; activating the brake when the maximum resistant torque is reached by the motor; evaluating, after activation of the brake, the forces transmitted to the arm by the environment, including determining a deformation of the transmission under the forces; and deactivating the brake when the deformation goes below a predetermined threshold value. | ||||||
| 136 | ROBOTIC SURGICAL ASSEMBLY | US15768519 | 2016-10-14 | US20180303567A1 | 2018-10-25 | Massimiliano SIMI; Giuseppe Maria PRISCO |
| A robotic surgical assembly (100) includes a support (104), one macro-positioning arm (30), connected to the support (104) and having a plurality of degrees of freedom. The macro-positioning arm (30) includes a support member (38), at least two micro-positioning devices (41, 141, 241, 341), each having a plurality of motorized degrees of freedom, connected in cascade to the support member (38) of the macro-positioning arm (30), and at least two medical instruments (60, 160, 260, 360). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device (70, 170, 270) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments (60, 160, 260, 360) has a shaft (65), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X). | ||||||
| 137 | SURGICAL TOOL FOR ROBOTIC SURGERY AND ROBOTIC SURGICAL ASSEMBLY | US15768525 | 2016-10-14 | US20180296285A1 | 2018-10-18 | Massimiliano SIMI; Giuseppe Maria PRISCO |
| A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis. | ||||||
| 138 | Manipulator and manipulator system | US15006433 | 2016-01-26 | US10085612B2 | 2018-10-02 | Naoya Hatakeyama; Takumi Isoda; Masatoshi Iida; Sadahiro Watanabe |
| A manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving part actuates rapidly in association with the operation of an operating part. The manipulator includes an operating part operated by an operator, a moving part operated by the operating part, a transmitting part for coupling the operating part to the moving part to transmit driving force of the operating part to the moving part, a transmission compensating part for making up for a dynamic surplus occurring in the transmitting part in association with the operation of the operating part, an input part for acquiring a state of at least one of the operating, moving and transmitting part, and a control unit for controlling the transmission compensating part depending on the state acquired by the input part. | ||||||
| 139 | REMOTE-CONTROL MANIPULATOR SYSTEM AND METHOD OF OPERATING THE SAME | US15755179 | 2016-05-27 | US20180257240A1 | 2018-09-13 | Yasuhiko HASHIMOTO; Masayuki KAMON |
| A remote-control manipulator system includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm configured to perform a series of works comprised of a plurality of processes, a camera configured to image operation of the slave arm, a display device configured to display an image captured by the camera, a storage device configured to store information related to environment in a workspace as an environment model, and a control device. The control device is configured, while operating the slave arm manually or hybridly, to acquire circumference information that is information related to a circumference area of an area imaged by the camera based on the environment model stored in the storage device, and display on the display device so that the image captured by the camera and the circumference information are interlocked. | ||||||
| 140 | ROBOT SYSTEM | US15755228 | 2016-06-24 | US20180243923A1 | 2018-08-30 | Yasuhiko HASHIMOTO; Masayuki KAMON |
| A robot system includes a robot including a tactile sensor and a hand having the tactile sensor, a robot controller configured to control operation of the hand of the robot according to robot manipulating information, a manipulator, a tactile information processor configured to generate tactile information defined by a pressure distribution based on pressures detected by at least the plurality of pressure sensors and spatial positions of the plurality of pressure sensors, convert the tactile information into sensible tactile information that is sensible by the operator, and output the sensible tactile information, a sensible tactile information presenting part configured to present to the operator the sensible tactile information outputted from the tactile information processor. | ||||||
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