Abstract: A multi-fingered robot hand has a minimum required number of joints in finger mechanisms and is capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion provided with three finger mechanisms each connected by a root joint; a second palm portion provided with one finger mechanism connected by a root joint; and a palm joint connecting the first palm portion and the second palm portion. The palm joint permits a variation in the connection angle of the second palm portion to the first palm portion. The palm joint, bending joints, bending joints of the root joints and the root joint have rotation axes parallel to each other, and the finger mechanisms bend while turning around the rotation axes.

Abstract: 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.

Abstract: A medicine mixing device includes a pedestal, a main rotating-base, a sub rotating-base, and a control unit. The pedestal is used to place medicine containers thereon. The main rotating-base includes a holding portion and a main rotating shaft, and rotates around the main rotating shaft. The holding portion holds a syringe for sucking a medicine at its center on its vertical plane. The main rotating shaft is orthogonal to the vertical plane. The sub rotating-base is disposed close to a part of the circumference of the main-rotating base and rotates relatively with respect to the main rotating-base. The sub rotating-base includes a fixing unit and a sub rotating shaft parallel to the main rotating shaft. The fixing unit fixes thereto one medicine container selected from the medicine containers on the pedestal. The control unit controls a medicine to be sucked out of the medicine container into the syringe.

Abstract: 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.

Abstract: 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.

Abstract: A multi-fingered robot hand having a minimum required number of joints in finger mechanisms and capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion (8) provided with three finger mechanisms (2, 3, 4) each connected by a root joint (12); a second palm portion (9) provided with one finger mechanism (1) connected by a root joint (13); and a palm joint (10) connecting the first palm portion (8) and the second palm portion (9). The palm joint (10) permits a variation in the connection angle of the second palm portion (9) to the first palm portion (8). The palm joint (10), bending joints (5), bending joints (6) of the root joints (12) and the root joint (13) have rotation axes parallel to each other, and the finger mechanisms (1, 2, 3, 4) bend while turning around the rotation axes.

Abstract: The joint mechanism includes a first link, a second link, a third link, a shaft supported on the second link to be rotatable about an axis thereof, and movable in an axis direction thereof, a first worm and a second worm mounted on the shaft, a first worm wheel in mesh with the first worm to pivotally move the first link with respect to the second link, and a second worm wheel in mesh with the second worm to pivotally move the third link with respect to the second link. The first link and the third link are pivotally moved in opposite directions to each other by rotating the shaft, and pivotally moved in identical directions to each other by moving the shaft in the axis direction.

Abstract: A manipulator is provided with a first link, a second link, first and second differential input shafts rotatably supported on the first link, a differential output shaft rotatably supported on the second link, a differential gear mechanism for rotating the differential output shaft about two axes orthogonal to each other in accordance with the sum or difference of rotating speeds of the first and second differential input shafts, a first transmitting portion for transmitting a driving force to the first differential input shaft, a second transmitting portion for transmitting a driving force to the second differential input shaft, a first shaft rotational angle sensor for detecting rotational angle information of the first differential input shaft, a second shaft rotational angle sensor for detecting rotational angle information of the second differential input shaft, and a controller for detecting the reception of an external force by the first or second link based on an output signal of the first or second s

Abstract: 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.

Abstract: 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.

Abstract: The present invention provides a developing apparatus that can effectively prevent generation of a ghost due to poor detachment of a developer after development, and generation of unevenness in density between a left part and a right part of an image region due to lack of an amount of the developer transported. The developing apparatus satisfies the relationship r+R?d?3r+R where r denotes a rotational radius of a second developer transporting screw, R denotes a rotational radius of a development roller, and d denotes a center distance between the second developer transporting screw and the development roller. The developing apparatus also satisfies the relationship M0?(mg0×v×l)/0.

Abstract: The present invention provides a developing apparatus to be provided in a quick start up electrophotographic image forming apparatus that can efficiently prevent generation of unevenness by a screw pitch in a short period of time. The developing apparatus rotates a developer transporting screw so as to transport and supply a developer to a developer bearing member, and develops a latent image formed on an image bearing member by the developer. The developer transporting screw includes a vane winding around a rotation shaft in a spiral form. A vane surface on other side of a developer transport direction of the vane includes two planes having different angles with a rotational center line of the rotation shaft.

Abstract: The present invention provides a one-component development type developing apparatus including a rotatable electrostatic latent image holding member 1 on the surface of which an electrostatic latent image is formed, and using a toner 4 for rendering the electrostatic latent image visible, wherein when the shape factor SF-1 of a toner fine particle is expressed by: SF-1=(M2/A)×(?/4)×100 where A is the projected area of the fine particle and M is the absolute maximum length of the fine particle, then the shape factor SF-1 of the toner 4 is at least 100 and at most 140, and the developing apparatus includes: a toner holding member 3 that is formed from a silicone rubber elastic material and that is for holding the toner 4 and transporting it to the electrostatic latent image holding member 1; a toner layer regulating member 9 for forming the toner on the toner holding member 3 into a thin layer; and a toner supply member 5 that is formed from a silicone rubber foam and that rotates, in a position opposed to th

Abstract: 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.

Abstract: The developing apparatus of the present invention includes a developer holding member for supplying a developer including a toner and a carrier onto the surface of an electrostatic latent image holding member; first developer transporter for transporting the developer in a first direction, the first developer transporter being disposed in a first developer transport path; second developer transporter for transporting the developer in a second direction that is opposite to the first direction and supplying the developer to the developer holding member, the second developer transporter being disposed in a second developer transport path; a magnet roller for drawing up the developer that has been transported through the second developer transport path into the first developer transport path; and an inclined surface that is disposed in contact with or close to the surface of the magnet roller and that is inclined such that the height thereof decreases along the first direction, wherein the developer that is held

Abstract: An optical scan apparatus includes an optical deflection unit (4), an image formation optical system (3), and curved surface mirrors (7a to 7d). Light fluxes from the image formation optical system (3) come onto the deflection surface (4a) of die optical deflection unit (4) in an oblique direction. Light fluxes from the optical deflection unit (4) come onto the curved surface mirrors (7a to 7d) in an oblique direction. When a boundary is a plane (6) including a normal at the center of the deflection surface (4a) and parallel to the main scan direction, the curved surface mirrors (7a to 7d) are arranged in the same space divided by the boundary and the scan speeds of fluxes scanning the surfaces to be scanned (8a to 8d) are almost identical. Thus, it is possible to obtain identical drive frequencies of the light sources (1a to 1d), thereby simplifying the circuit.

Abstract: The present invention provides a developing apparatus that can effectively prevent generation of a ghost due to poor detachment of a developer after development, and generation of unevenness in density between a left part and a right part of an image region due to lack of an amount of the developer transported. The developing apparatus satisfies the relationship r+R?d?3r+R where r denotes a rotational radius of a second developer transporting screw, R denotes a rotational radius of a development roller, and d denotes a center distance between the second developer transporting screw and the development roller. The developing apparatus also satisfies the relationship M0?(mg0×v×l)/0.

Abstract: The present invention provides a developing apparatus to be provided in a quick start up electrophotographic image forming apparatus that can efficiently prevent generation of unevenness by a screw pitch in a short period of time. The developing apparatus rotates a developer transporting screw so as to transport and supply a developer to a developer bearing member, and develops a latent image formed on an image bearing member by the developer. The developer transporting screw includes a vane winding around a rotation shaft in a spiral form. A vane surface on other side of a developer transport direction of the vane includes two planes having different angles with a rotational center line of the rotation shaft.

Abstract: A light scanner includes a semiconductor laser, a polygon mirror, a first imaging optical system for guiding a light beam from the laser to the deflection surface of the polygon mirror, a second imaging optical system of a single curved mirror for guiding the light beam from the polygon mirror to a photosensitive drum, and a photodiode for detecting the light beam scanned by the polygon mirror. The first imaging optical system, the polygon mirror, and the second imaging optical system are located at different positions in the sub-scanning direction so that the light beam from the first imaging optical system enters the deflection surface obliquely, and the light beam from the polygon mirror enters the curved mirror obliquely.

Abstract: An image reading device comprising a rotary polygon mirror (6) for scanning a light flux from a light source (1), an imaging optical system (4) for forming on a reflection plane of the mirror (6) a linear image larger than the width in a main scanning direction of the one reflection plane, and a curved-face mirror (7), wherein the light source (1), the imaging optical system (4), the rotary polygon mirror (6) and the curved-face mirror (7) are disposed in different positions in a sub-scanning direction, a light flux from the imaging optical system (4) shines obliquely onto the polygon mirror (6), and a light flux reflected off the mirror (6) beams obliquely onto the curved-face mirror (7). Since one curved-face mirror can beam a light flux reflected from the rotary polygon mirror onto a surface to be scanned and the rotary polygon mirror having a small inscribed radius and many reflection planes can be used, satisfactory optical performance and high-speed feature can be realized.