公开(公告)号：US5006999A

公开(公告)日：1991-04-09

申请号：US331318

申请日：1989-03-31

申请人： Toshitaka Kuno ,  Mitsuo Koide ,  Masaru Nakano ,  Chisao Hayashi ,  Yoshito Kato ,  Yasuo Ishiguro

发明人： Toshitaka Kuno ,  Mitsuo Koide ,  Masaru Nakano ,  Chisao Hayashi ,  Yoshito Kato ,  Yasuo Ishiguro

IPC分类号： G05B19/4155 ,  B25J9/18 ,  G05B19/425

CPC分类号： G05B19/425 ,  G05B2219/36417

摘要： This invention is a real-time tracking controller for a standard-path robot that detects a target point in advance, permitting higher-speed work. The robot uses both sensed data and previously taught data to accurately execute its task. Accurate control is obtained using target points corresponding to time intervals. Thus, even if the speed or path is changed during operation, accurate tracing is continuously executed.

公开(公告)号：US4609275A

公开(公告)日：1986-09-02

申请号：US774228

申请日：1985-09-09

申请人： Yasuo Ishiguro

发明人： Yasuo Ishiguro

IPC分类号： G03B7/087 ,  G03B7/083 ,  G03B9/10 ,  G03B9/24 ,  H01L41/08 ,  H01L41/09 ,  G03B7/00

CPC分类号： G03B7/083

摘要： An exposure control unit including an element having electrostrictive properties and a fixed end and a deformation quantity of which is determined in accordance with a voltage applied thereto drives a programming shutter provided with shutter blades having the function of the diaphragm by a driving source composed of the deformation produced at a free end of the electrostrictive element when the voltage is applied to the element. The shutter blades having the function of the diaphragm are opened by the deformation produced at the free end of the electrostrictive element in accordance with the voltage applied to the element and the voltage is increased with the lapse of time in interlocked relationship with the opening operation of the shutter blades so that the electrostrictive element is gradually deformed and the shutter blades are also gradually opened. The electrostrictive element is then short-circuited at a time when a proper exposure is obtained so that the exposure operation is immediately terminated.

摘要翻译： 一种曝光控制单元，其包括具有电致伸缩特性的元件和固定端，并且其变形量根据施加的电压确定，驱动设置有具有隔膜功能的快门叶片的编程开关，所述驱动源由 当电压施加到元件时，在电致伸缩元件的自由端产生变形。 具有隔膜功能的快门叶片根据施加到元件上的电压在电致伸缩元件的自由端处产生的变形而打开，电压随着时间的推移而增加，与开启操作的联动关系 快门叶片使得电致伸缩元件逐渐变形并且快门叶片也逐渐打开。 然后在获得适当的曝光时，电致伸缩元件被短路，从而立即终止曝光操作。

公开(公告)号：US4190344A

公开(公告)日：1980-02-26

申请号：US859194

申请日：1977-12-09

申请人： Yasuo Ishiguro ,  Kenji Wakazono

发明人： Yasuo Ishiguro ,  Kenji Wakazono

IPC分类号： G03B7/26 ,  G03B9/62 ,  G03B9/08

CPC分类号： G03B9/62

摘要： A shutter driving circuit including a voltage judging circuit and indicating circuit in order to always properly make shutter opening and closing operations, whereby an electric current is prevented from flowing to driving coils and such state can be indicated by the indicating circuit when the voltage of a current source for feeding a current to a pair of driving coils to be made to make opening and closing motions of the shutter by the voltage judging circuit is below a predetermined value.

摘要翻译： 一种快门驱动电路，包括电压判定电路和指示电路，以便始终正确地进行快门打开和关闭操作，从而防止电流流向驱动线圈，并且当电压为1时，指示电路可以指示这种状态 用于将电流馈送到要由电压判断电路进行快门的打开和关闭运动的一对驱动线圈的电流源低于预定值。

公开(公告)号：US4139282A

公开(公告)日：1979-02-13

申请号：US797745

申请日：1977-05-17

申请人： Yasuo Ishiguro ,  Tomio Kurosu

发明人： Yasuo Ishiguro ,  Tomio Kurosu

IPC分类号： G03B19/18 ,  G03B7/085 ,  G03B17/00 ,  G03B17/18 ,  G03B21/36

CPC分类号： G03B17/18 ,  G03B7/085

摘要： A device is provided for indicating fading operation in cinecamera. A control circuit receives the scene light indicating voltage and a manually adjusted output voltage for operating a diaphragm driving means to adjust the aperture to a proper value for the scene brightness an RC circuit is connected to the diaphragm control circuit which selectively applys either a constant charging or discharging voltage to the diaphragm control circuit, this causes the control circuit to drive the diaphragm to continuously vary the aperture for effecting the fading-out and the fading-in of the scene. A first comparator receives the output voltage of the RC circuit and the output voltage of the diaphragm control circuit and produces a signal when both voltages are coincident. A second comparator connected to the RC circuit produces a signal when the output voltage of the RC circuit reaches a constant charging an indicator receives the output signals of the first and the second comparator for indicating the completion of both fading-out and fading-in of the scene.

摘要翻译： 提供了一种用于指示电影摄影机中的衰落操作的装置。 控制电路接收场景光指示电压和手动调节的输出电压，用于操作光阑驱动装置，以将光圈调节到场景亮度的适当值，RC电路连接到光阑控制电路，其选择性地施加恒定充电 或放电到膜片控制电路的电压，这使得控制电路驱动光阑连续地改变光圈以实现场景的淡出和衰落。 第一比较器接收RC电路的输出电压和光阑控制电路的输出电压，并且当两个电压一致时产生信号。 连接到RC电路的第二比较器当RC电路的输出电压达到恒定充电时产生信号，指示器接收第一和第二比较器的输出信号，以指示两个衰减和衰落的完成 现场。

公开(公告)号：US4712183A

公开(公告)日：1987-12-08

申请号：US763127

申请日：1985-08-06

申请人： Osamu Shiroshita ,  Yasuo Ishiguro ,  Yoshizumi Itou

发明人： Osamu Shiroshita ,  Yasuo Ishiguro ,  Yoshizumi Itou

IPC分类号： B25J13/00 ,  B25J9/10 ,  B25J9/18 ,  G05B19/18 ,  G05B19/418 ,  G06F15/46 ,  G05B19/42

CPC分类号： G05B19/4182 ,  G05B2219/39101 ,  Y02P90/083 ,  Y02P90/265

摘要： A tracking robot apparatus has a robot for performing a predetermined operation, a movable device for moving an object of interest, a signal input device for designating operations of the robot and the movable device, an operation device for calculating an operation instruction value of the movable device in response to an input signal from the signal input device, a controller for driving the movable device in accordance with the calculated operation instruction value, an operation device for calculating a position/posture instruction value to keep relative position and posture of the robot and the movable device unchanged upon operation of the movable device, and a controller for driving a robot in accordance with the calculated position/posture instruction value. The movable device is operated in response to the signal from the signal input device, and at the same time the robot is operated such that the relative position and posture of the robot and the movable device are kept unchanged.

摘要翻译： 跟踪机器人装置具有用于执行预定操作的机器人，用于移动感兴趣对象的可移动装置，用于指定机器人和可移动装置的操作的信号输入装置，用于计算可移动的操作指令值的操作装置 响应于来自信号输入装置的输入信号的装置，用于根据计算出的操作指示值驱动可移动装置的控制器，用于计算姿势指示值以保持机器人的相对位置和姿势的操作装置，以及 在可移动装置的操作时，可移动装置不变，以及根据所计算的位置/姿势指令值来驱动机器人的控制器。 可移动装置响应于来自信号输入装置的信号而被操作，并且同时机器人被操作，使得机器人和可移动装置的相对位置和姿态保持不变。

公开(公告)号：US4502769A

公开(公告)日：1985-03-05

申请号：US473628

申请日：1983-03-09

申请人： Masao Nakamori ,  Yasuo Ishiguro

发明人： Masao Nakamori ,  Yasuo Ishiguro

IPC分类号： G03B19/12

CPC分类号： G03B19/12

摘要： A quick-return mirror driving mechanism for single-lens reflex cameras so formed that the release of a mirror-up operating member and the release of a mirror-down operating member are effected by a single electromagnetic means, in order to eliminate a mechanical connection between the shutter mechanism and quick-return mirror driving mechanism and, therefore, to simplify the mechanism as a whole.

摘要翻译： 用于单镜头反光相机的快速返回镜驱动机构，其形成为通过单个电磁装置实现镜面操作构件的释放和镜下降操作构件的释放，以便消除机械连接 在快门机构和快速返回镜驱动机构之间，因此整体上简化机构。

公开(公告)号：US4478500A

公开(公告)日：1984-10-23

申请号：US348744

申请日：1982-02-16

申请人： Yasuo Ishiguro

发明人： Yasuo Ishiguro

IPC分类号： G03B7/087 ,  G03B7/081 ,  G03B7/091 ,  G03B7/20 ,  G03B7/08

CPC分类号： G03B7/097 ,  G03B7/087 ,  G03B7/089 ,  G03B7/20

摘要： An exposure controlling device comprising a means of discriminating to what zone of exposure zones sectioned in advance an exposure value determined by considering the brightness information of an object to be photographed obtained by a TTL light measurement under the maximum diaphragm aperture and the film sensitivity of the film to be used belongs, a means of determining a diaphragm value simultaneously with and in response to the discrimination of the exposure zone and a means of comparing the determined diaphragm value with the F-number of a photographing lens to be used and controlling a proper exposure time corresponding to said diaphragm value so that a diaphragm aperture and shutter speed for obtaining a proper exposure can be automatically set without making any special switching operation even in the case of using any photographing lens different in the F-number. The means of determining the diaphragm value includes a member which can be intermittently driven by a pulse signal. By the initial motion of this member, a mirror mechanism or automatic focus adjusting device can be released.

摘要翻译： 一种曝光控制装置，其特征在于，包括：通过考虑通过最大光阑孔径下的TTL光测量获得的拍摄对象的亮度信息和所述最大光阑孔径的胶片感光度来判别曝光值的区域， 要使用的胶片属于同时和响应于曝光区域的辨别而确定光阑值的手段以及将所确定的光阑值与所使用的拍摄镜头的F数进行比较的手段，并且控制适当的 对应于所述光圈值的曝光时间，使得即使在使用F数不同的拍摄镜头的情况下，也可以自动设定用于获得适当曝光的光圈孔径和快门速度，而不进行任何特殊的切换操作。 确定光阑值的方法包括可由脉冲信号间歇地驱动的部件。 通过该构件的初始运动，可以释放镜子机构或自动对焦调节装置。

公开(公告)号：US4192595A

公开(公告)日：1980-03-11

申请号：US935985

申请日：1978-08-22

申请人： Kenji Wakazono ,  Yasuo Ishiguro ,  Toshihisa Saito

发明人： Kenji Wakazono ,  Yasuo Ishiguro ,  Toshihisa Saito

IPC分类号： G03B9/70 ,  G03B15/05

CPC分类号： G03B15/05 ,  G03B2215/05

摘要： An electroflash controlling circuit wherein, in order to make the fully open time of a shutter and the flashing time of a flash accurately coincide with each other, a delaying circuit operated by an electric signal for starting a shutter blade opening motion or an electric signal for starting a shutter blade closing motion is provided so that a flashing circuit may be triggered after the lapse of a delay time made by the delaying circuit.

摘要翻译： 一种电闪控制电路，其中为了使快门的完全打开时间和闪光的闪光时间彼此精确地一致，延迟电路由用于启动快门叶片打开动作的电信号或电信号操作的延迟电路 提供快门叶片关闭运动的开始，使得在延迟电路经过延迟时间之后可以触发闪光电路。

公开(公告)号：US4143958A

公开(公告)日：1979-03-13

申请号：US838225

申请日：1977-09-30

申请人： Yasuo Ishiguro ,  Kenji Wakazono

发明人： Yasuo Ishiguro ,  Kenji Wakazono

IPC分类号： G03B9/62 ,  G03B17/40

CPC分类号： G03B9/62

摘要： A controlling circuit for electric shutters wherein, in an electric shutter adapted to start a shutter closing moton by energizing a driving coil with a discharge current from a capacitor, the capacitor is made to be discharged by a voltage drop detecting circuit provided so that the shutter may be positively closed even in case a current source switch is opened by an unexpected accident in the course of an exposure controlling operation.

摘要翻译： 一种用于电动快门的控制电路，其特征在于，在通过用来自电容器的放电电流激励驱动线圈来启动快门关闭运动的电动快门中，电容器被设置为使得快门 即使在曝光控制操作过程中由意外事故打开电流源开关的情况下也可以是正闭合的。

公开(公告)号：US4967127A

公开(公告)日：1990-10-30

申请号：US370699

申请日：1989-06-23

申请人： Yasuo Ishiguro ,  Yoshito Kato ,  Chisao Hayashi ,  Masaru Nakano ,  Mitsuo Koide ,  Hiroshi Moribe ,  Toshitaka Kuno

发明人： Yasuo Ishiguro ,  Yoshito Kato ,  Chisao Hayashi ,  Masaru Nakano ,  Mitsuo Koide ,  Hiroshi Moribe ,  Toshitaka Kuno

IPC分类号： B23Q35/00 ,  B23Q33/00 ,  B24B17/00 ,  B24B17/10 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  G05B19/18 ,  G05B19/404 ,  G05B19/4155 ,  G05B19/425

CPC分类号： G05B19/425 ,  B25J13/085 ,  G05B2219/36417 ,  G05B2219/45083 ,  G05B2219/45161 ,  G05B2219/49362

摘要： A tracking control robot controls its arm end, which holds a tool, to track a taught path so that a reaction force between a workpiece and the tool remains constant. An ideal state for the arm end is determined from the present state of the arm end and the difference between the actual reaction force and a predetermined target force. Then, this ideal state is compared with a reference state of the arm end on the taught path to obtain a target position and a target attitude of the arm end. Since a target position is always determined independently of the last target position, no position error due to time delay affects a new target position even when the next target position is generated before the tool reaches the last target position. Thus, the robot is quick, responsive, and accurate when tracking at a constant operation speed.

摘要翻译： 跟踪控制机器人控制其臂端，其保持工具以跟踪教导的路径，使得工件和工具之间的反作用力保持恒定。 从臂端的当前状态和实际反作用力与预定目标力之间的差确定臂端的理想状态。 然后，将该理想状态与教导路径上的臂端的基准状态进行比较，以获得臂端的目标位置和目标姿态。 由于目标位置总是独立于最后的目标位置而被确定，所以即使在工具到达最后的目标位置之前产生下一个目标位置，也不会由于时间延迟而导致位置误差影响新的目标位置。 因此，当以恒定的操作速度进行跟踪时，机器人快速，响应和准确。