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1. 发明授权

US09612727B2 Task changing apparatus, task changing method, and task changing program 有权
公开(公告)号：US09612727B2
公开(公告)日：2017-04-04
申请号：US14185483
申请日：2014-02-20
申请人： Fuminori Saito , Kunimatsu Hashimoto
发明人： Fuminori Saito , Kunimatsu Hashimoto
IPC分类号： G06F3/048 , G06F3/0484 , B25J9/16
CPC分类号： G06F3/0484 , B25J9/1661 , G05B2219/40095 , G05B2219/40099
摘要： A task changing apparatus changes a task program executed by a robot. The task changing apparatus includes: a storage unit that stores a task program including a plurality of hierarchical levels arranged in a tree-like structure representing a plurality of pieces of task information executed by the robot and lower-order task information associated with the task information; a display control unit that causes the task information to be displayed on a display screen of a display unit so as to allow setting of the task information, the task information being associated with each other for each hierarchical level of the task program stored in the storage unit; and a change unit that changes the task program for the robot based on a series of pieces of task information set on the display screen of the display unit.

2. 发明申请

US20140298231A1 TASK CHANGING APPARATUS, TASK CHANGING METHOD, AND TASK CHANGING PROGRAM 有权
标题翻译：任务更改设备，任务更改方法和任务更改程序
公开(公告)号：US20140298231A1
公开(公告)日：2014-10-02
申请号：US14185483
申请日：2014-02-20
申请人： Fuminori Saito , Kunimatsu Hashimoto
发明人： Fuminori Saito , Kunimatsu Hashimoto
IPC分类号： G06F3/0484
CPC分类号： G06F3/0484 , B25J9/1661 , G05B2219/40095 , G05B2219/40099
摘要： A task changing apparatus changes a task program executed by a robot. The task changing apparatus includes: a storage unit that stores a task program including a plurality of hierarchical levels arranged in a tree-like structure representing a plurality of pieces of task information executed by the robot and lower-order task information associated with the task information; a display control unit that causes the task information to be displayed on a display screen of a display unit so as to allow setting of the task information, the task information being associated with each other for each hierarchical level of the task program stored in the storage unit; and a change unit that changes the task program for the robot based on a series of pieces of task information set on the display screen of the display unit.
摘要翻译：任务改变装置改变由机器人执行的任务程序。任务改变装置包括：存储单元，其存储包括以表示由所述机器人执行的多个任务信息的树状结构而布置的多个分级的任务程序，以及与所述任务信息相关联的下位任务信息 ; 显示控制单元，其使任务信息显示在显示单元的显示屏幕上，以便允许设置任务信息，对于存储在存储器中的任务程序的每个分层级，任务信息彼此相关联单元; 以及改变单元，其基于在所述显示单元的显示屏幕上设置的一系列任务信息来改变所述机器人的任务程序。

3. 发明授权

US06612589B2 Holding device 失效
标题翻译：保持装置
公开(公告)号：US06612589B2
公开(公告)日：2003-09-02
申请号：US10099979
申请日：2002-03-19
申请人： Fuminori Saito
发明人： Fuminori Saito
IPC分类号： B23B3116
CPC分类号： B25J9/104 , B23B31/16275 , B25J15/10 , Y10S294/902 , Y10T279/19 , Y10T279/1986
摘要： A holding device includes a support frame; multiple pairs of holding fixtures mounted on the support frame; a holding fixture pulley attached to one holding fixture of each one pair of holding fixtures; at least one frame pulley attached to the support frame; a drive rope bridging between the holding fixture pulley and the frame pulley and having one end pulled in one direction and the other end fixed to the support frame; and a drive source that pulls the drive rope. With this configuration, when the drive rope is pulled by the drive source, holding fixtures constituting each one pair of holding fixtures are linked to move symmetrically to each other in a direction that holds an object to be held, each one pair of holding fixtures move independently of other pairs of holding fixtures, and the holding fixtures of each one pair of holding fixtures are movable toward and away from each other on a straight line or on two parallel straight lines on a plane of the support frame. The multiple pairs of holding fixtures have contact parts that contact the object when the object is being held, and at least one of the contact parts is disposed so that it is rotatable about an axis parallel to a line normal to the plane of the support frame to maintain a rolling contact with the object when holding the object.
摘要翻译：保持装置包括支撑框架; 多对固定装置安装在支撑架上; 固定固定滑轮，其安装在每对保持夹具的一个固定夹具上; 至少一个框架滑轮，附接到所述支撑框架; 桥接在保持夹具滑轮和框架滑轮之间并具有沿一个方向拉动的一端并且另一端固定到支撑框架的驱动绳索; 以及拉动驱动绳的驱动源。利用这种构造，当驱动绳被驱动源拉动时，构成每对保持固定装置的保持固定件被连接成在保持被保持物体的方向上彼此对称地移动，每对保持夹具移动独立于其他成对的固定装置，并且每对保持固定装置的保持固定装置能够在支撑框架的平面上的直线上或两条平行的直线上彼此相移或相互移动。多对保持夹具具有接触部件，当物体被保持时接触物体，并且接触部件中的至少一个被设置成使得其能够绕平行于垂直于支撑框架的平面的线旋转在保持物体时保持与物体的滚动接触。

4. 发明申请

US20220065210A1 DROPLET EJECTOR 有权
公开(公告)号：US20220065210A1
公开(公告)日：2022-03-03
申请号：US17420744
申请日：2019-12-26
申请人： Tokihiro Ikeda , Fuminori Saito
发明人： Fuminori Saito , Tokihiro Ikeda , Shinji Tamura
IPC分类号： F02M69/04 , F02M27/04 , F02M51/08
摘要： In a droplet ejector equipped with an ejection port for ejecting minute droplets of a liquid, the ejection port 61 or the ejector and a conductor 10 such as a vehicle body are made electrically conductive to increase the electrostatic capacity of the ejection port 61 or the ejector and to suppress enlargement of the potential difference between the ejection port 61 and the liquid caused by flow electrification of the liquid. When the potential difference is large, a coulomb force acts between the electrified droplets and the electrostatically-charged ejection port, causing problems such as delayed or insufficient droplet discharge, but such problems are solved by increasing the electrostatic capacity of the ejection port 61 or the ejector.

5. 发明授权

US08442686B2 Articulated arm robot, control method and control program 有权
标题翻译：铰接臂机器人，控制方法和控制程序
公开(公告)号：US08442686B2
公开(公告)日：2013-05-14
申请号：US13643278
申请日：2011-01-31
申请人： Fuminori Saito , Toru Isobe
发明人： Fuminori Saito , Toru Isobe
IPC分类号： G05B15/00 , G05B19/00 , G05B19/18
CPC分类号： B25J9/06 , B25J3/00 , B25J9/042 , B25J9/047
摘要： An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.
摘要翻译：铰接臂机器人包括能够向上和向下延伸和收缩的支撑部分，第一臂部分，其一端通过第一关节连接到支撑部分，以可绕偏转轴线旋转，并且具有可围绕辊轴线旋转的第二关节在两端之间，第二臂部分，其一端通过第三关节连接到第一臂部分的另一端，以便围绕偏转轴线或俯仰轴线旋转;端部执行器部分，其连接到第二臂的另一端部分通过第四关节可围绕偏转轴或俯仰轴线旋转，以及分别使第一至第四关节旋转并且支撑部分延伸和收缩的驱动器，以及控制器，其执行驱动器的驱动控制第一至第四关节通过在第一，第二和第三臂部分仅在水平面旋转的SCARA模式和第二和第三臂部分仅在垂直方向旋转的垂直模式之间切换臂校平面。

6. 发明授权

US06587752B1 Robot operation teaching method and apparatus 失效
标题翻译：机器人操作教学方法与装置
公开(公告)号：US06587752B1
公开(公告)日：2003-07-01
申请号：US10154961
申请日：2002-05-28
申请人： Fuminori Saito
发明人： Fuminori Saito
IPC分类号： G05B1500
CPC分类号： B25J9/1671 , G05B19/425 , G05B2219/39449 , G05B2219/40097 , G05B2219/40125 , G05B2219/40323 , G05B2219/40503
摘要： A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.
摘要翻译：机器人操作教学方法和装置包括：三维测量系统，其可以测量对应于在相机图像上指定的点的空间坐标，能够显示来自相机的空间图像的显示器或由相应于空间图像。具有至少两个自由度的指示装置用于通过在模型空间中准备对应于实际空间图像的简单几何元素来定义工作轨迹。通过使用参数建模提前提供几何元素的定义，可以通过修改与定义相关联的几个元素分配和参数中的某些几何元素来适应其他任务。

7. 发明申请

US20220298994A1 FUEL DROPLET MICRONIZER 有权
公开(公告)号：US20220298994A1
公开(公告)日：2022-09-22
申请号：US17635531
申请日：2020-08-17
申请人： Fuminori Saito , Tokihiro Ikeda
发明人： Fuminori Saito , Tokihiro Ikeda
IPC分类号： F02M27/04 , F02M69/04
摘要： A fuel droplet micronizer serves to enhance and stabilize the power of the engines by effectively pulverizing fuel liquid to micro-droplets against flow electrification. The fuel droplet micronizer is composed of a micronization assistance part 30 formed from filaments, a mesh-like sheet or ribbon-like materials so forth made of metals, semiconductors, ceramics and glasses so on. The micronization assistance part 30 is installed between an ejection port 20 of an carburetor or the ejection apparatus and an intake valve 41 of the engine, whereby the fuel liquid ejected from the ejection port 20 of the carburetor or the ejection apparatus is smashed at the micronization assistance part 30, whereof impact facilitates micronization of fuel droplets by pulverizing and scattering.

8. 发明授权

US08442177B2 Signal receiving apparatus and signal transmitting system 有权
标题翻译：信号接收装置和信号发射系统
公开(公告)号：US08442177B2
公开(公告)日：2013-05-14
申请号：US12997765
申请日：2009-09-24
申请人： Kohei Teramoto , Masaru Kimura , Tsuyoshi Nakada , Fuminori Saito
发明人： Kohei Teramoto , Masaru Kimura , Tsuyoshi Nakada , Fuminori Saito
IPC分类号： H04L7/00
CPC分类号： H04N21/44004 , G11B20/10009 , G11B20/10037 , G11B20/10222 , G11B20/1024 , G11B20/10379 , G11B20/10398 , G11B20/225 , G11B27/038 , G11B2220/2545 , H04N9/896 , H04N21/23406 , H04N21/42646 , H04N21/4305
摘要： A signal receiving apparatus 2 has a memory circuit 22, writing of data contained in a digital input signal transmitted from a signal transmitting apparatus 1 is performed using a clock signal separated and created by a PLL circuit 21 from the digital input signal received, and reading is performed using a reference clock signal with quartz accuracy from a reference clock generating circuit 24. To reproduce the digital input signal by correcting the shift between the clock signal and the reference clock signal, the signal receiving apparatus detects the shift between the two clock signals. When the signal receiving apparatus 2 side lags behind the signal transmitting apparatus 1, the data contained in the digital input signal undergoes thinning out, and when it leads, a signal generated from previous and subsequent digital input signal is interpolated.
摘要翻译：信号接收装置2具有存储电路22，使用由PLL电路21从接收到的数字输入信号分离并创建的时钟信号，读取从信号发送装置1发送的数字输入信号中包含的数据的写入，读取使用来自参考时钟产生电路24的石英精度的参考时钟信号来执行。为了通过校正时钟信号和参考时钟信号之间的偏移来再现数字输入信号，信号接收装置检测两个时钟信号之间的偏移。当信号接收装置2侧滞后于信号发送装置1时，包含在数字输入信号中的数据经历稀疏化，当其导通时，内插由前一个和后续数字输入信号产生的信号。

9. 发明申请

US20110113081A1 SIGNAL PROCESSING CIRCUIT 有权
标题翻译：信号处理电路
公开(公告)号：US20110113081A1
公开(公告)日：2011-05-12
申请号：US13003738
申请日：2009-09-24
申请人： Kohei Teramoto , Masaru Kimura , Tsuyoshi Nakada , Fuminori Saito
发明人： Kohei Teramoto , Masaru Kimura , Tsuyoshi Nakada , Fuminori Saito
IPC分类号： G06F17/10
CPC分类号： H03H21/0012 , H03H17/0264 , H03H17/0294 , H03H17/04 , H03H17/06 , H03H2017/0483
摘要： A signal processing circuit has two types of filters: an IIR filter 11 and an FIR filter 12 having an equivalent transfer function at all times. In an adjustment mode in which the signal processing circuit is adjusted to have an arbitrary transfer function, the signal processing circuit makes a configuration setting to use the IIR filter 11. When completing the adjustment or in a signal processing mode, the signal processing circuit makes a configuration setting change to switch to the FIR filter 12 having the equivalent transfer function.
摘要翻译：信号处理电路具有两种类型的滤波器：总是具有等效传递函数的IIR滤波器11和FIR滤波器12。在信号处理电路被调整为具有任意传递函数的调整模式中，信号处理电路进行配置设置以使用IIR滤波器11.当完成调整或信号处理模式时，信号处理电路配置设置改变以切换到具有等效传送功能的FIR滤波器12。

10. 发明申请

US20110103524A1 SIGNAL RECEIVING APPARATUS AND SIGNAL TRANSMITTING SYSTEM 有权
标题翻译：信号接收装置和信号发送系统
公开(公告)号：US20110103524A1
公开(公告)日：2011-05-05
申请号：US12997765
申请日：2009-09-24
申请人： Kohei Teramoto , Masaru Kimura , Tsuyoshi Nakada , Fuminori Saito
发明人： Kohei Teramoto , Masaru Kimura , Tsuyoshi Nakada , Fuminori Saito
IPC分类号： H03D3/24 , H04L27/06
CPC分类号： H04N21/44004 , G11B20/10009 , G11B20/10037 , G11B20/10222 , G11B20/1024 , G11B20/10379 , G11B20/10398 , G11B20/225 , G11B27/038 , G11B2220/2545 , H04N9/896 , H04N21/23406 , H04N21/42646 , H04N21/4305
摘要： A signal receiving apparatus 2 has a memory circuit 22, writing of data contained in a digital input signal transmitted from a signal transmitting apparatus 1 is performed using a clock signal separated and created by a PLL circuit 21 from the digital input signal received, and reading is performed using a reference clock signal with quartz accuracy from a reference clock generating circuit 24. To reproduce the digital input signal by correcting the shift between the clock signal and the reference clock signal, the signal receiving apparatus detects the shift between the two clock signals. When the signal receiving apparatus 2 side lags behind the signal transmitting apparatus 1, the data contained in the digital input signal undergoes thinning out, and when it leads, a signal generated from previous and subsequent digital input signal is interpolated.
摘要翻译：信号接收装置2具有存储电路22，使用由PLL电路21从接收到的数字输入信号分离并创建的时钟信号，读取从信号发送装置1发送的数字输入信号中包含的数据的写入，读取使用来自参考时钟产生电路24的石英精度的参考时钟信号来执行。为了通过校正时钟信号和参考时钟信号之间的偏移来再现数字输入信号，信号接收装置检测两个时钟信号之间的偏移。当信号接收装置2侧滞后于信号发送装置1时，包含在数字输入信号中的数据经历稀疏化，当其导通时，内插由前一个和后续数字输入信号产生的信号。

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