公开(公告)号：US08315735B2

公开(公告)日：2012-11-20

申请号：US12694201

申请日：2010-01-26

申请人： Ryo Nihei ,  Shinsuke Sakakibara ,  Kazunori Ban ,  Masahiro Morioka ,  Satoshi Adachi ,  Shouta Takizawa

发明人： Ryo Nihei ,  Shinsuke Sakakibara ,  Kazunori Ban ,  Masahiro Morioka ,  Satoshi Adachi ,  Shouta Takizawa

IPC分类号： G06F19/00

CPC分类号： B25J9/1676 ,  F16P1/00 ,  G05B2219/40203

摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.

摘要翻译： 人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。 机器人位于工作台的一侧，操作者位于工作台的另一侧。 操作员的可达区域受工作台的限制。 工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。 在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人 入境禁区。

公开(公告)号：US07945232B2

公开(公告)日：2011-05-17

申请号：US11769151

申请日：2007-06-27

申请人： Yoshikazu Sugiyama ,  Satoshi Adachi ,  Yusaku Katsube ,  Masazumi Tone ,  Taku Takaki

发明人： Yoshikazu Sugiyama ,  Satoshi Adachi ,  Yusaku Katsube ,  Masazumi Tone ,  Taku Takaki

IPC分类号： H04B1/28

CPC分类号： H03F3/195 ,  H03F1/22 ,  H03F1/565 ,  H03F3/24 ,  H03F2200/108 ,  H03F2200/111 ,  H03F2200/294 ,  H03F2200/381 ,  H03F2200/387 ,  H03F2200/391 ,  H03F2200/451 ,  H03F2200/519 ,  H03F2200/75

摘要： When switching over from a portable telephone system of 800 MHz band to a UWB communication system of 9 GHz band, depending upon a signal for changing over a high pass filter and a low pass filter, a reactance element, which is determined to be matching with a load Z of the high pass filter, is connected to an output terminal of a transmitting power amplifier. With this, it is possible to achieve a multi-band or multi-mode wireless receiver of using a frequency band from 800 MHz to 10 GHz, without an enlargement of a circuit scale and an increase of costs.

摘要翻译： 当从800MHz频带的便携式电话系统切换到9GHz频带的UWB通信系统时，根据用于切换高通滤波器和低通滤波器的信号，确定为匹配的电抗元件 高通滤波器的负载Z连接到发射功率放大器的输出端。 由此，可以实现使用800MHz至10GHz的频带的多频带或多模式无线接收机，而不会扩大电路规模并增加成本。

公开(公告)号：US08812157B2

公开(公告)日：2014-08-19

申请号：US13437178

申请日：2012-04-02

申请人： Masahiro Morioka ,  Satoshi Adachi

发明人： Masahiro Morioka ,  Satoshi Adachi

IPC分类号： G05B19/04 ,  B25J9/16 ,  G05B19/418

CPC分类号： B25J9/1674

摘要： When an error occurs in robot system, a difference between first and second detection values of two sensors or first and second sensors occurs due to differences in position and responsibility. When this difference exceeds a predetermined threshold, control section detects that a difference has occurred in robot system. The first and second detection values of two sensors or first and second sensors are compared, and therefore, reliability of the detection values can be secured. Further, the abnormal state can be determined through the difference between the first and second detection values, and therefore, errors resulting from problems such as variations in gears and speed reducers due to temperature changes of the operational state and disposition environment of the robot can be avoided.

摘要翻译： 当机器人系统发生错误时，由于位置和责任的差异，两个传感器或第一和第二传感器的第一和第二检测值之间的差异发生。 当该差超过预定阈值时，控制部检测出机器人系统发生差异。 比较两个传感器或第一和第二传感器的第一和第二检测值，因此可以确保检测值的可靠性。 此外，可以通过第一和第二检测值之间的差异来确定异常状态，因此，由于机器人的操作状态和配置环境的温度变化引起的齿轮和减速器的变化等问题，可以是 避免。

公开(公告)号：US08109170B2

公开(公告)日：2012-02-07

申请号：US12505969

申请日：2009-07-20

申请人： Munehiro Jinushi ,  Masahiro Morioka ,  Satoshi Adachi

发明人： Munehiro Jinushi ,  Masahiro Morioka ,  Satoshi Adachi

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B66C23/00

CPC分类号： B25J19/0025 ,  H02G11/00 ,  Y10S414/131 ,  Y10T74/20305 ,  Y10T74/20311 ,  Y10T74/20329 ,  Y10T74/20335

摘要： An umbilical member motion limiting device is provided on a robot which has a forearm, a wrist portion, an operating tool attached to the end of the wrist portion, and the umbilical member connected to the operating tool through the forearm, for limiting the motion of the umbilical member corresponding to the motion of the robot. The motion limiting device comprises a swing portion attached to the wrist portion so as to swing around a swing axis and a limiting portion arranged on the swing portion for limiting the motion of the umbilical member. Thus, the motion limiting device can minimize interference due to surplus length of the umbilical member and avoid contact of the umbilical member with external equipment.

摘要翻译： 脐部件运动限制装置设置在机器人上，该机器人具有前臂，腕部，连接到腕部的端部的操作工具，以及通过前臂连接到操作工具的脐带构件，用于限制 脐带部件对应于机器人的运动。 运动限制装置包括：摆动部分，其围绕摆动轴线旋转安装到腕部;以及限制部分，其布置在摆动部分上，用于限制脐带部件的运动。 因此，运动限制装置可以最小化由于脐带构件的多余长度引起的干扰，并避免脐带构件与外部设备的接触。

公开(公告)号：US07714787B2

公开(公告)日：2010-05-11

申请号：US11448128

申请日：2006-06-07

申请人： Satoshi Adachi ,  Makoto Katagishi ,  Ikuo Murata ,  Masumi Iwamura ,  Ken Takei ,  Takahiro Sugiyama ,  Yohei Shirakawa

发明人： Satoshi Adachi ,  Makoto Katagishi ,  Ikuo Murata ,  Masumi Iwamura ,  Ken Takei ,  Takahiro Sugiyama ,  Yohei Shirakawa

IPC分类号： H01Q1/24

CPC分类号： H01Q1/38 ,  H01Q1/22 ,  H01Q1/243 ,  H01Q9/145 ,  H04B1/0458 ,  H04B1/18

摘要： In an antenna that has high sensitivity to frequencies of narrow bands and over a wide band and that can be small-sized, and in a wireless module, wireless unit and wireless apparatus using this antenna, the antenna is comprised of a transmission line, and variable capacitance means connected to this transmission line, and the variable capacitance means controls the resonant frequency.

摘要翻译： 在对窄带和宽带的频率具有高灵敏度并且可以是小尺寸的天线中，并且在无线模块中使用该天线的无线单元和无线装置的天线中，天线由传输线组成，并且 可变电容装置连接到该传输线，并且可变电容装置控制谐振频率。

公开(公告)号：US06538457B2

公开(公告)日：2003-03-25

申请号：US09761842

申请日：2001-01-18

申请人： Kenichi Nakayama ,  Satoshi Adachi

发明人： Kenichi Nakayama ,  Satoshi Adachi

IPC分类号： G01R2726

CPC分类号： G01D5/2415

摘要： Both a sensor portion and a signal processing portion are provided on a glass board. The sensor portion is formed by subjecting a conductive layer to the patterning process. A gold coupling layer is provided on the conductive layer and the signal processing portion is formed by the flip chip method on the coupling layer. The sensor portion and the signal processing portion may be formed on the major surface and the rear surface of the glass board and these portions may be coupled by through holes. Since the signal processing portion as well as the sensor portion is formed on the glass board, the wiring distance can be made shorter and the entire size of the sensor can be miniaturized.

摘要翻译： 传感器部分和信号处理部分均设置在玻璃板上。 传感器部分通过对导电层进行图案化处理而形成。 在导电层上设置金结合层，在耦合层上通过倒装芯片法形成信号处理部分。 传感器部分和信号处理部分可以形成在玻璃板的主表面和后表面上，并且这些部分可以通过通孔联接。 由于信号处理部分和传感器部分形成在玻璃板上，所以布线距离可以缩短，并且传感器的整体尺寸可以小型化。

公开(公告)号：US5982307A

公开(公告)日：1999-11-09

申请号：US891642

申请日：1997-07-11

申请人： Satoshi Adachi

发明人： Satoshi Adachi

IPC分类号： G06F5/00 ,  H03M7/12

CPC分类号： H03M7/12

摘要： The first shift-register 1 has 4 bits.times.N stages for storing the operated result BCD data 4 bits by 4 bits from LSD. The second shift-register 2 has 4 bits.times.M stages for storing a BIN data to be translated 4 bits by 4 bits from MSD. The D-F/F 5 is to store the output from the first shift-register 1 and the intermediate result, and output thereof is supplied to the arithmetic/logic circuit 6 through the first selector 3. The output of the second shift-register 2 is selected by the second selector 4 to be supplied to the arithmetic/logic circuit 6. The arithmetic/logic circuit 6 performs.times.16 operation for the stored data in the shift register 1, and adding the resultant to 4 bits data stored in the shift-register 2 with carry process. The output DO of the arithmetic/logic circuit 6 is stored in the D-F/F 5 in the first half of the shift clock SCK1, and stored in the shift-register 1 in the latter half of the shift clock SCK1. The shift-register 1 makes a round, while the shift-register 2 is 1 stage shifted.

摘要翻译： 第一移位寄存器1具有4位×N级，用于将操作结果BCD数据4位从LSD存储4位。 第二移位寄存器2具有4位×M级，用于存储要从MSD 4位×4位转换的BIN数据。 DF / F 5存储来自第一移位寄存器1的输出和中间结果，其输出通过第一选择器3提供给运算逻辑电路6.第二移位寄存器2的输出为 算术/逻辑电路6对移位寄存器1中存储的数据执行x16操作，并将结果相加于存储在移位寄存器2中的4位数据 随身携带。 算术/逻辑电路6的输出DO存储在移位时钟SCK1的前半部分的D-F / F 5中，并存储在移位时钟SCK1的后半部分的移位寄存器1中。 移位寄存器1进行回合，而移位寄存器2为1级位移。

公开(公告)号：US4738926A

公开(公告)日：1988-04-19

申请号：US709711

申请日：1985-03-08

申请人： Fukusaburo Hamada ,  Keishin Sugahara ,  Kou-ichi Shiosaki ,  Satoshi Adachi ,  Hiroshi Mizokami

发明人： Fukusaburo Hamada ,  Keishin Sugahara ,  Kou-ichi Shiosaki ,  Satoshi Adachi ,  Hiroshi Mizokami

IPC分类号： C12P21/00 ,  A61K39/00 ,  A61K39/29 ,  C07K14/02 ,  C12N7/02

CPC分类号： C07K14/005 ,  A61K39/00 ,  C12N2730/10122 ,  Y10S435/803 ,  Y10S435/82 ,  Y10S530/826

摘要： Industrially useful method for the purification of HBs antigen produced by a recombinant organism being capable of producing HBs antigen which is prepared by means of DNA recombination technique, which comprises subjecting an HBs antigen-containing material produced by a recombinant organism to an adsorption chromatography with a silica, optionally followed by a gel filtration and further an adsorption chromatography with a hydroxyapatite, and then eluting the HBs antigen, preferably, with a buffer having a pH 9 or more which is incorporated with urea. The purification method can give a highly pure HBs antigen suitable for the preparation of hepatitis B vaccine in a large scale from recombinant organisms prepared by DNA recombination technique.

摘要翻译： 能够产生通过DNA重组技术制备的HBs抗原产生的HBs抗原产生的工业上有用的方法，该方法包括使由重组生物产生的含HBs抗原的材料进行吸附色谱， 二氧化硅，任选地随后进行凝胶过滤，并进一步用羟基磷灰石进行吸附色谱，然后优选用与尿素结合的pH9或更高的缓冲液洗脱HBs抗原。 纯化方法可以通过DNA重组技术制备重组生物体，从而大规模制备适合于乙型肝炎疫苗制备的高纯度HBs抗原。

公开(公告)号：US20120259464A1

公开(公告)日：2012-10-11

申请号：US13437178

申请日：2012-04-02

申请人： Masahiro MORIOKA ,  Satoshi ADACHI

发明人： Masahiro MORIOKA ,  Satoshi ADACHI

IPC分类号： G05B19/04

CPC分类号： B25J9/1674

摘要： When an error occurs in robot system, a difference between first and second detection values of two sensors or first and second sensors occurs due to differences in position and responsibility. When this difference exceeds a predetermined threshold, control section detects that a difference has occurred in robot system. The first and second detection values of two sensors or first and second sensors are compared, and therefore, reliability of the detection values can be secured. Further, the abnormal state can be determined through the difference between the first and second detection values, and therefore, errors resulting from problems such as variations in gears and speed reducers due to temperature changes of the operational state and disposition environment of the robot can be avoided.

摘要翻译： 当机器人系统发生错误时，由于位置和责任的差异，两个传感器或第一和第二传感器的第一和第二检测值之间的差异发生。 当该差超过预定阈值时，控制部检测出机器人系统发生差异。 比较两个传感器或第一和第二传感器的第一和第二检测值，因此可以确保检测值的可靠性。 此外，可以通过第一和第二检测值之间的差异来确定异常状态，因此，由于机器人的操作状态和配置环境的温度变化引起的齿轮和减速器的变化等问题，可以是 避免。

公开(公告)号：US20120043831A1

公开(公告)日：2012-02-23

申请号：US13185667

申请日：2011-07-19

申请人： Shinsuke SAKAKIBARA ,  Masahiro Morioka ,  Satoshi Adachi

发明人： Shinsuke SAKAKIBARA ,  Masahiro Morioka ,  Satoshi Adachi

IPC分类号： H02H11/00

CPC分类号： B25J19/06 ,  B25J9/1674 ,  B25J13/085 ,  B25J21/00 ,  G05B2219/40198 ,  G05B2219/40202

摘要： A human-robot interactive system wherein a robot and a human share an area for performing interactive work, characterized by being provided with a force sensor which is set at an end effector attached to a front end of the robot or which is set at the robot and stopping the robot or controlling operation of the robot so that a detected value of the force sensor becomes smaller when the detected value of the force sensor exceeds a predetermined value, by the robot including a first robot portion which is positioned further from the human than a set position of the force sensor and a second robot portion which is positioned closer to the human than the set position of the force sensor, and, furthermore, by the robot system being provided with a limiter which limits a work area of the human so as to prevent contact by the human with the first robot portion of the robot during operation even when the robot most approaches the human. Due to this, safety of the human can be ensured even in an environment where the human could contact the robot.

摘要翻译： 一种人 - 机器人交互系统，其中机器人和人共享用于执行交互式工作的区域，其特征在于设置有力传感器，所述力传感器被设置在附接到所述机器人的前端的终端执行器或设置在所述机器人 并且当机器人的检测值超过预定值时，通过机器人包括第一机器人部分，其位于距人更远的位置处，机器人的停止或机器人的操作控制使得力传感器的检测值变小 力传感器的设定位置和位于比力传感器的设定位置更靠近人的第二机器人部分，此外，由机器人系统设置限制器来限制人的工作区域 为了防止在操作期间人机器人与机器人的第一机器人部分接触，即使当机器人最接近人时。 因此，即使在人类可以接触机器人的环境中，也可以确保人的安全性。