公开(公告)号：US5754361A

公开(公告)日：1998-05-19

申请号：US531107

申请日：1995-09-20

申请人： Kazuo Sakai ,  Tomokazu Ishii ,  Tadashi Honzawa ,  Masaru Orii ,  Fujio Tajima ,  Kooetsu Okuyama ,  Takao Terayama

发明人： Kazuo Sakai ,  Tomokazu Ishii ,  Tadashi Honzawa ,  Masaru Orii ,  Fujio Tajima ,  Kooetsu Okuyama ,  Takao Terayama

IPC分类号： G11B15/60 ,  G11B15/67 ,  G11B15/66

CPC分类号： G11B15/674

摘要： A tape cartridge is received into one end of an information recording and/or reproducing apparatus conforming to an 8 inch Form Factor Size. A first reel is held inside this tape cartridge, and a tape wound onto this first reel is extracted from a cartridge including the first reel and threaded by a simple pivotal motion of a tape threading arm, and wound onto a second reel disposed at the other end of the information recording and/or reproducing apparatus. The pivotal center of the tape threading arm and a recording head are disposed at opposite sides respectively with regard to a line joining a first and second reel axes to facilitate a compact overall construction. Tape guides formed into cylindrical rollers and the recording head are disposed on the inner side of the trajectory of the tape threading to transfer the tape smoothly. The tape guides and the recording head may be arranged substantially in line. Also, the tape guides next to the recording head may be fixed rollers.

摘要翻译： 磁带盒被接收到符合8英寸外形尺寸的信息记录和/或再现装置的一端。 第一卷轴被保持在该带盒内，并且缠绕在该第一卷轴上的带从包括第一卷轴的盒中提取并且通过带穿线臂的简单枢转运动而被卷绕，并且卷绕在另一个上布置的第二卷轴上 信息记录和/或再现装置的末端。 带穿线臂和记录头的枢转中心分别相对于连接第一和第二卷轴的线分别设置在相对侧，以便于紧凑的整体结构。 形成圆柱滚子的胶带导轨和记录头设置在磁带穿线的轨迹的内侧，以平滑地传送磁带。 带引导件和记录头可以基本上排成一列。 此外，记录头附近的带导向件可以是固定的辊。

公开(公告)号：US5739976A

公开(公告)日：1998-04-14

申请号：US550226

申请日：1995-10-30

申请人： Kazuo Sakai ,  Fumio Takeda ,  Taichiro Yamashita ,  Fujio Tajima ,  Takao Terayama ,  Tomokazu Ishii ,  Kooetsu Okuyama ,  Takayuki Munemoto ,  Nobuyuki Kaku ,  Kenmei Masuda ,  Shigeyuki Kobata ,  Fukuyasu Abe ,  Kenji Ogiro ,  Shigemitsu Higuchi

发明人： Kazuo Sakai ,  Fumio Takeda ,  Taichiro Yamashita ,  Fujio Tajima ,  Takao Terayama ,  Tomokazu Ishii ,  Kooetsu Okuyama ,  Takayuki Munemoto ,  Nobuyuki Kaku ,  Kenmei Masuda ,  Shigeyuki Kobata ,  Fukuyasu Abe ,  Kenji Ogiro ,  Shigemitsu Higuchi

IPC分类号： G11B15/67

CPC分类号： G11B15/67

摘要： As a method of increasing the storage capacity of a magnetic recording and reproducing apparatus for recording and reproducing information to and from a magnetic tape in a cartridge, there is a helical scan recording method in which the magnetic tape is diagonally wound around a drum which rotates a magnetic head. With an apparatus adapted to this method, the disposition of the cartridge and the take-up reel for taking up the magnetic tape on the same plane arises a necessity of considerably bending the magnetic tape at the drum portion and, accordingly, the magnetic tape is damaged. In order to prevent the damage of the foregoing type, the tape passage surface from the cartridge to the drum and the tape passage from the drum to the take-up reel are formed by an angle at which the direction in which the magnetic tape is moved is changed due to winding of the magnetic tape around the drum so that the magnetic tape is not bent excessively. A threading device capable of three-dimensionally controlling the position of the magnetic tape in accordance with a predetermined tape passage is provided for the apparatus structured as described above. The threading device is formed by a link mechanism to be moved along the locus of a cam groove so that the three-dimensional position control can be performed.

摘要翻译： 作为增加用于向盒中的磁带记录和再现信息的磁记录和再现装置的存储容量的方法，存在一种螺旋扫描记录方法，其中磁带对旋转地卷绕在转动的磁鼓上 磁头。 利用适用于该方法的装置，将磁带和用于将磁带卷绕在同一平面上的卷取卷轴的布置产生必须在磁鼓部分显着弯曲磁带，因此磁带是 破损。 为了防止上述类型的损坏，从盒到鼓的带通道表面和从鼓到卷取卷轴的带通道以磁带移动方向的角度形成 由于磁带绕磁鼓缠绕而变化，使得磁带不会过度弯曲。 对于如上所述构造的装置，提供能够根据预定的带通道三维地控制磁带的位置的穿线装置。 穿线装置由连接机构形成，以沿着凸轮槽的轨迹移动，从而能够进行三维位置控制。

公开(公告)号：US5497059A

公开(公告)日：1996-03-05

申请号：US322411

申请日：1994-10-04

申请人： Fujio Tajima ,  Hideki Tanaka ,  Kooetsu Okuyama ,  Tomokazu Ishii ,  Kenji Toki

发明人： Fujio Tajima ,  Hideki Tanaka ,  Kooetsu Okuyama ,  Tomokazu Ishii ,  Kenji Toki

IPC分类号： G05B13/04 ,  G05B17/02

CPC分类号： G05B13/042 ,  G05B17/02

摘要： A servo-mechanism control system calculates an operation value to be applied to a control object from a desired value of a control output and a detected control output of the control object, and drives the control object based on the calculated operation value so that the control output becomes equal to the desired value. The control system is less sensitive to the variation of characteristics of the control object and disturbances, and stable control is accomplished by a simple circuit arrangement. A mathematical model and its inverse function, which are based on the assumption that the control system is not subjected to the variation of characteristics of the control object and disturbances, are used to calculate a model-based control output. In error of the operation value is calculated from the difference between the model-based control output and the detected control output by using the inverse function of the mathematical model, and the operation value applied to the control object is modified by subtracting the error from the calculated operation value. Alternatively, the model-based operation value is calculated from the detected control output by using only the inverse function of the mathematical model, and the operation value is modified based on the difference between the model-based operation value and the calculated operation value.

摘要翻译： 伺服机构控制系统根据控制输出的期望值和检测到的控制对象的控制输出来计算要施加到控制对象的操作值，并且基于计算出的操作值驱动控制对象，使得控制 输出变为等于所需值。 控制系统对控制对象和干扰特性的变化较不敏感，稳定控制是通过简单的电路布置实现的。 基于控制系统不受控制对象和干扰特性变化的假设的数学模型及其逆函数用于计算基于模型的控制输出。 由于使用数学模型的反函数，基于基于模型的控制输出与检测出的控制输出之间的差异来计算操作值，并且通过从控制对象中减去误差来修改应用于控制对象的操作值 计算操作值。 或者，通过仅使用数学模型的逆函数从检测到的控制输出计算基于模型的操作值，并且基于基于模型的操作值与计算的操作值之间的差异来修改操作值。

公开(公告)号：US5371449A

公开(公告)日：1994-12-06

申请号：US853947

申请日：1992-03-19

申请人： Fujio Tajima ,  Hideki Tanaka ,  Kooetsu Okuyama ,  Tomokazu Ishii ,  Kenji Toki

发明人： Fujio Tajima ,  Hideki Tanaka ,  Kooetsu Okuyama ,  Tomokazu Ishii ,  Kenji Toki

IPC分类号： G05B13/04 ,  G05B19/23 ,  G11B5/55 ,  G11B7/09 ,  G11B15/46 ,  G11B15/467 ,  G05B11/01

CPC分类号： G11B15/46 ,  G05B13/04 ,  G05B19/237 ,  G11B15/4673 ,  G11B5/5547 ,  G11B7/0901 ,  G05B2219/34014 ,  G05B2219/41368 ,  G05B2219/41393 ,  G05B2219/41394 ,  G05B2219/42062

摘要： In a servo system using a discrete signal relative to a position, a time delay and an error upon detecting a speed due to lack of positional information are eliminated to achieve a positioning to a target position in a short time. A pulse signal X.sub.P relative to a position is used to establish synchronization with an observer which is adjusted to match with an actual apparatus comprising a load, a motor and so on, and an estimated speed value or an estimated position value generated by the observer are used to determine an operating signal for the servo system.

摘要翻译： 在使用相对于位置的离散信号的伺服系统中，消除了由于缺少位置信息而检测到速度的时间延迟和误差，以在短时间内实现对目标位置的定位。 使用相对于位置的脉冲信号XP与观察者建立同步，该观察者被调整以与包括负载，电动机等的实际装置相匹配，并且由观察者产生的估计速度值或估计位置值 用于确定伺服系统的操作信号。

公开(公告)号：US5352961A

公开(公告)日：1994-10-04

申请号：US948266

申请日：1992-09-21

申请人： Fujio Tajima ,  Hideki Tanaka ,  Kooetsu Okuyama ,  Tomokazu Ishii ,  Kenji Toki

发明人： Fujio Tajima ,  Hideki Tanaka ,  Kooetsu Okuyama ,  Tomokazu Ishii ,  Kenji Toki

IPC分类号： G05B13/04 ,  G05B17/02

CPC分类号： G05B13/042 ,  G05B17/02

摘要： A servo-mechanism control system calculates an operation value to be applied to a control object from a desired value of a control output and a detected control output of the control object, and drives the control object based on the calculated operation value so that the control output becomes equal to the desired value. The control system is less sensitive to the variation of characteristics of the control object and disturbances, and stable control is accomplished by a simple circuit arrangement. A mathematical model and its inverse function, which are based on the assumption that the control system is not subjected to the variation of characteristics of the control object and disturbances, are used to calculate a model-based control output. An error of the operation value is calculated from the difference between the model-based control output and the detected control output by using the inverse function of the mathematical model, and the operation value applied to the control object is modified by subtracting the error from the calculated operation value. Alternatively, the model-based operation value is calculated from the detected control output by using only the inverse function of the mathematical model, and the operation value is modified based on the difference between the model-based operation value and the calculated operation value.

摘要翻译： 伺服机构控制系统根据控制输出的期望值和检测到的控制对象的控制输出来计算要施加到控制对象的操作值，并且基于计算出的操作值驱动控制对象，使得控制 输出变为等于所需值。 控制系统对控制对象和干扰特性的变化较不敏感，稳定控制是通过简单的电路布置实现的。 基于控制系统不受控制对象和干扰特性变化的假设的数学模型及其逆函数用于计算基于模型的控制输出。 通过使用数学模型的逆函数，基于基于模型的控制输出与检测到的控制输出之间的差计算操作值的误差，并且通过从控制对象的反函数中减去误差来修改施加到控制对象的操作值 计算操作值。 或者，通过仅使用数学模型的逆函数从检测到的控制输出计算基于模型的操作值，并且基于基于模型的操作值与计算的操作值之间的差异来修改操作值。

公开(公告)号：US5495371A

公开(公告)日：1996-02-27

申请号：US158315

申请日：1993-11-29

申请人： Takayuki Munemoto ,  Kazuo Sakai ,  Fujio Tajima ,  Tomokazu Ishii ,  Fumio Takeda ,  Kouetsu Okuyama ,  Takeshi Itoh ,  Shigeyuki Kobata ,  Kenmei Masuda ,  Shigemitsu Higuchi

发明人： Takayuki Munemoto ,  Kazuo Sakai ,  Fujio Tajima ,  Tomokazu Ishii ,  Fumio Takeda ,  Kouetsu Okuyama ,  Takeshi Itoh ,  Shigeyuki Kobata ,  Kenmei Masuda ,  Shigemitsu Higuchi

IPC分类号： G11B5/455 ,  G11B5/41 ,  G11B15/02 ,  G11B15/68 ,  G11B23/02 ,  G11B23/50 ,  G11B27/00 ,  G11B33/10 ,  G11B15/18

CPC分类号： G11B15/689 ,  G11B15/026 ,  G11B23/021 ,  G11B23/502 ,  G11B27/002 ,  G11B33/10 ,  G11B5/41 ,  G11B15/68

摘要： A magnetic recording and reproducing device and a magnetic tape library device are provided for properly recovering a function and issuing a warning when a failure of a magnetic head of the device takes place because of wear and dirt of the magnetic head. Further, a method for maintaining the magnetic head is provided. A wear sensor and a dirt sensor are prepared for sensing a wear amount of a state of dirt of the magnetic head. A head check controller operates to determine the wear amount of the magnetic head and the state of dirt based on the sensed result. In accordance with the determined result, the warning device is started for taking a precaution of preventing a head failure. As one aspect, the tape library device instructs to load the cleaning tape using a robot.

摘要翻译： 提供磁记录和再现装置和磁带库装置，用于当由于磁头的磨损和污物而发生装置的磁头发生故障时适当地恢复功能并发出警告。 此外，提供了一种用于保持磁头的方法。 准备了磨损传感器和污物传感器，用于感测磁头污垢状态的磨损量。 头部检查控制器基于感测结果来操作以确定磁头的磨损量和污物的状态。 根据确定的结果，启动警告装置以防止头部故障的预防。 作为一个方面，磁带库装置指示使用机器人装载清洁带。

公开(公告)号：US07101363B2

公开(公告)日：2006-09-05

申请号：US10675985

申请日：2003-10-02

申请人： Kouji Nishizawa ,  Fujio Tajima ,  Kosuke Kishi

发明人： Kouji Nishizawa ,  Fujio Tajima ,  Kosuke Kishi

IPC分类号： A61B17/00 ,  A61B17/28 ,  A61B17/42 ,  A61B17/44

CPC分类号： A61B17/062 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/2927 ,  A61B2017/2939 ,  A61B2090/064

摘要： A manipulator for medical use having a reduced size and improved controllability. The manipulator includes a surgical tool portion, a grip portion provided on the surgical tool portion, and a driver portion for driving the grip portion provided on the surgical tool portion. A connection portion of the surgical tool is provided between the surgical tool portion and the driver portion. The surgical tool can be separated from, and connected to, the driver portion. The surgical tool portion has two rotating members disposed in opposing relation to each other. A driving arrangement is provided for driving one of the rotating members and causing it to revolute the other rotating member, but not rotate by itself. An arrangement is also provided for keeping a distance between rotation centers of the two rotating members constant.

摘要翻译： 用于医疗用途的操纵器具有减小的尺寸和改善的可控性。 机械手包括手术工具部分，设置在手术工具部分上的把手部分和用于驱动设置在外科手术工具部分上的把手部分的驱动器部分。 手术工具的连接部分设置在手术工具部分和驱动器部分之间。 手术工具可以与驱动器部分分离并连接到驱动器部分。 手术工具部分具有彼此相对设置的两个旋转部件。 提供驱动装置，用于驱动旋转构件之一并使其旋转另一个旋转构件，但不会自身旋转。 还提供了用于保持两个旋转构件的旋转中心之间的距离恒定的布置。

公开(公告)号：US06454776B1

公开(公告)日：2002-09-24

申请号：US09520721

申请日：2000-03-08

申请人： Fujio Tajima ,  Kazutoshi Kan ,  Yasuhiro Nemoto ,  Masakatsu Fujie

发明人： Fujio Tajima ,  Kazutoshi Kan ,  Yasuhiro Nemoto ,  Masakatsu Fujie

IPC分类号： A61B1900

CPC分类号： A61B34/70 ,  A61B34/76 ,  A61B90/37 ,  A61B2017/00044 ,  A61B2090/065

摘要： A surgical operating apparatus which reduces an adverse influence caused by a diseased portion of a patient while a surgical operation is carried out by the surgical operating apparatus. The surgical operating apparatus includes a disease portion tissue manipulator for treating a treating subject portion of the patient in response to an entered control command, a manipulation inputting unit for inputting a manipulation command to the disease portion manipulating means, and a detector for detecting a repeated movement of a diseased portion of said patient. The surgical operating apparatus adjusts the movement of the disease portion manipulator in response to the detection output from the detector.

摘要翻译： 一种手术操作装置，其通过外科手术装置进行手术操作时，减轻由病人的患病部分引起的不良影响。 外科手术装置包括：疾病部分组织操纵器，用于响应于输入的控制命令来治疗患者的治疗对象部分;操作输入单元，用于向疾病部分操纵装置输入操作命令;以及检测器，用于检测重复 所述患者的疾病部分的运动。 外科手术装置响应于来自检测器的检测输出来调整疾病部分机械手的移动。

公开(公告)号：US5855553A

公开(公告)日：1999-01-05

申请号：US601356

申请日：1996-02-16

申请人： Fujio Tajima ,  Masakatsu Fujie ,  Isao Nakajima ,  Hiroshi Takeuchi ,  Toshihiko Wada

发明人： Fujio Tajima ,  Masakatsu Fujie ,  Isao Nakajima ,  Hiroshi Takeuchi ,  Toshihiko Wada

IPC分类号： B25J3/00 ,  A61B5/055 ,  A61B8/00 ,  A61B17/00 ,  A61B19/00 ,  A61B5/00

CPC分类号： A61B34/70 ,  A61B34/76 ,  A61B34/77

摘要： A remote surgery supporting system and a method thereof produces a presentation of realism control data generated by realism control data generating means 101 from image data obtained from work environment data detecting means 104 and measurement data processing means 118 and from force and proximity data. While viewing this presentation, the surgical operator inputs actions through action command inputting means 114 and thereafter, diseased tissue manipulating means 102 executes a procedure on diseased part 125. The manipulation force of each surgical operator received from manipulation command generating means 103 and force reflection from the diseased part 125 are combined and presented to the action command inputting means 114. Thereby, a plurality of surgical operators can perform a surgerical operation while viewing the realism control data and sensing the manipulation force of other surgical operators and the force reflection from the diseased part. Thus, a master/slave type remote surgery supporting system which allows a plurality of surgical operators to perform a surgical operation which requires many degrees of freedom can be provided.

摘要翻译： 远程手术辅助系统及其方法根据从工作环境数据检测装置104和测量数据处理装置118以及强制和邻近数据获得的图像数据产生由实际控制数据产生装置101产生的现实控制数据的呈现。 在观察该呈现时，外科手术者通过动作指令输入装置114输入动作，此后，患病组织操作装置102执行患病部分125上的过程。从操作指令发生装置103接收到的每个外科手术操作者的操纵力， 患病部125被组合并被呈现给动作指令输入装置114.由此，多个外科手术操作者可以在观察实际控制数据并感测其他外科手术操作者的操纵力和来自病变的力反射的同时执行手术操作 部分。 因此，可以提供允许多个外科手术操作者执行需要许多自由度的外科手术的主/从类型的远程手术支持系统。

公开(公告)号：US5708859A

公开(公告)日：1998-01-13

申请号：US802574

申请日：1997-02-19

申请人： Fujio Tajima ,  Hiroshi Hatazawa

发明人： Fujio Tajima ,  Hiroshi Hatazawa

IPC分类号： G03B17/56 ,  G02B27/00 ,  G03B17/08 ,  H04N5/225

CPC分类号： G02B27/0006 ,  B08B17/02 ,  G03B17/08 ,  H04N5/2252

摘要： The water drop removing apparatus for a camera lens assembly is arranged to automatically wipe off water drops or the like attached on the front face of the lens assembly to make field shooting in rainy or snowy weather easy. Injection nozzles consisting of a soft tube in the number of three, for example, are disposed on the top edge and each side edge in such a manner that they are mounted to be rocked around a rocking shaft by a motor or an air rocking mechanism. Each of the injection nozzles are connected with an electromagnetic valve, an air pump, or the like. The three injection valves are rocked fanwise in an order to inject air onto the face of the shooting window through the injection nozzles during the forward period of this rocking. The nozzles on each side is rocked from top to bottom. This causes the water drops attached on the front face of the shooting window to be automatically removed, so that there is no need to wipe off water drops with cloth or the like. In addition, the injection nozzles may be automatically operated at rainfall by using a rainfall sensor.

摘要翻译： 用于相机镜头组件的水滴去除装置被布置成自动地擦去附接在透镜组件的正面上的水滴等，以使得在多雨或多雪的天气中的场地拍摄变得容易。 例如由3个软管构成的注射喷嘴以这样的方式设置在上边缘和每个侧边缘上，使得它们通过马达或空气摇摆机构安装在摆动轴周围。 每个喷嘴与电磁阀，气泵等连接。 三个喷射阀以风扇方式摇摆，以便在该摇摆的前进期间通过喷射喷嘴将空气喷射到拍摄窗口的表面上。 每侧的喷嘴从上到下摇摆。 这使得附着在拍摄窗口的前表面上的水滴被自动去除，因此不需要用布等擦拭水滴。 此外，注射喷嘴可以通过使用降雨传感器在降雨时自动运行。