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    ROBOT CONTROLLER WHICH CONDUCTS A FORCE CONTROL BY USING A THREE-AXIAL FORCE SENSOR
    1.
    发明申请
    ROBOT CONTROLLER WHICH CONDUCTS A FORCE CONTROL BY USING A THREE-AXIAL FORCE SENSOR 有权
    使用三轴力传感器进行力控制的机器人控制器

    公开(公告)号：US20130338832A1

    公开(公告)日：2013-12-19

    申请号：US13495170

    申请日：2012-06-13

    申请人： Takashi SATO ,  Takahiro IWATAKE

    发明人： Takashi SATO ,  Takahiro IWATAKE

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1633 ,  G05B2219/39321 ,  G05B2219/40587

    摘要： A robot controller (11) which moves either a tool (4) or a workpiece (W) relative to another one with a hand unit, controls the force acting between the tool and the workpiece, comprising a force detector unit (3) for detecting a force in one axial direction and moments about the axes in two axial directions that are at right angles with the one axis and are, further, at right angles with each other; a force-presuming point setting unit (12) for setting a force-presuming point at where a force acting between the tool and the workpiece is presumed; and a force-presuming unit (13) for presuming forces in the two axial directions and a moment about the one axis based upon the force in the one axial direction and the moments about the axes in the two axial directions, and upon the position of the force-presuming point.

    摘要翻译： 一种用手单元相对于另一工具（W）移动工具（4）或工件（W）的机器人控制器（11）控制作用在工具和工件之间的力，其包括用于检测的力检测器单元（3） 在一个轴向上的力和在两个轴向方向上的轴线的力矩与一个轴线成直角并且彼此成直角; 用于设定在工具与工件之间作用的力的推定点的力推定点设定单元（12）; 以及用于在两个轴向方向上推定力的力推定单元（13），并且基于在一个轴向方向上的力和围绕轴在两个轴向方向上的力矩，并且基于位置 力量推定点。

    REACTOR CONTAINMENT VESSEL AND NUCLEAR POWER PLANT USING THE SAME
    2.
    发明申请
    REACTOR CONTAINMENT VESSEL AND NUCLEAR POWER PLANT USING THE SAME 有权
    使用相同的反应容器容器和核电厂

    公开(公告)号：US20120121056A1

    公开(公告)日：2012-05-17

    申请号：US13351691

    申请日：2012-01-17

    申请人： Takashi SATO ,  Makoto AKINAGA ,  Yoshihiro KOJIMA

    发明人： Takashi SATO ,  Makoto AKINAGA ,  Yoshihiro KOJIMA

    IPC分类号： G21C13/00 ,  G21C9/00 ,  G21C9/016

    CPC分类号： G21C9/004 ,  G21C9/016 ,  G21C13/10 ,  G21C15/18 ,  Y02E30/40

    摘要： According to an embodiment, a nuclear reactor containment vessel has: a primary reactor containment vessel which contains a nuclear pressure vessel; a secondary reactor containment vessel and which is disposed outside the primary reactor containment vessel which has the pressure resistant properties and the leak-tightness which are equivalent to those of the primary reactor containment vessel; an air bag which is disposed within the secondary reactor containment vessel and which, when a failure occurs in primary reactor containment vessel, expands while receiving and encapsulating a high pressure gas discharged from the inside of the primary reactor containment vessel; and a gas phase vent pipe which connects the primary reactor containment vessel and the air bag.

    摘要翻译： 根据实施例，核反应堆安全壳具有：包含核压力容器的主反应堆容纳容器; 第二反应堆安全壳，并且设置在主反应堆容纳容器的外部，其具有与初级反应堆安全壳相同的耐压性和密封性; 设置在二次反应堆容纳容器内的气囊，当在一次反应堆安全壳中发生故障时，在接收并封装从一次反应堆安全壳内部排出的高压气体的同时膨胀; 以及连接主反应堆安全壳和气囊的气相通气管。

    SOLID-STATE IMAGE PICKUP DEVICE
    3.
    发明申请
    SOLID-STATE IMAGE PICKUP DEVICE 审中-公开
    固态图像拾取器件

    公开(公告)号：US20090267121A1

    公开(公告)日：2009-10-29

    申请号：US12366313

    申请日：2009-02-05

    申请人： Yukimasa ISHIDA ,  Takashi SATO ,  Yasushi YAMAZAKI

    发明人： Yukimasa ISHIDA ,  Takashi SATO ,  Yasushi YAMAZAKI

    IPC分类号： H01L31/00

    CPC分类号： H01L27/14658

    摘要： A solid-state image pickup device is provided which includes a substrate; a transistor formed on the substrate; a photoelectric conversion element including a first electrode connected to a drain or a source of the transistor, a semiconductor layer stacked on the first electrode, and a second electrode stacked on the semiconductor layer; an insulating layer disposed on the second electrode; and a bias line formed on the insulating layer to be connected to the second electrode, in which the insulating layer contains at least an inorganic insulating film, and the bias line is connected to the second electrode via a contact hole formed in the insulating layer, and a side surface of the semiconductor layer is in contact with the inorganic insulating film.

    摘要翻译： 提供一种固态图像拾取装置，其包括基板; 形成在基板上的晶体管; 光电转换元件，包括连接到晶体管的漏极或源极的第一电极，堆叠在第一电极上的半导体层和堆叠在半导体层上的第二电极; 设置在所述第二电极上的绝缘层; 以及形成在绝缘层上的与绝缘层至少包含无机绝缘膜连接的绝缘层上的偏置线，偏置线经由形成在绝缘层中的接触孔连接到第二电极， 并且半导体层的侧表面与无机绝缘膜接触。

    MANUFACTURING METHOD OF SEMICONDUCTOR DEVICE
    4.
    发明申请
    MANUFACTURING METHOD OF SEMICONDUCTOR DEVICE 审中-公开
    半导体器件的制造方法

    公开(公告)号：US20090246709A1

    公开(公告)日：2009-10-01

    申请号：US12407142

    申请日：2009-03-19

    申请人： Tetsuro NAKASUGI ,  Takashi SATO ,  Kazutaka ISHIGO

    发明人： Tetsuro NAKASUGI ,  Takashi SATO ,  Kazutaka ISHIGO

    IPC分类号： G03F7/20 ,  B28B11/08

    CPC分类号： H01L23/544 ,  B82Y10/00 ,  B82Y40/00 ,  G03F1/42 ,  G03F1/70 ,  G03F7/0002 ,  G03F7/70466 ,  G03F7/70633 ,  G03F9/7076 ,  G03F9/708 ,  G03F9/7084 ,  H01L2223/54426 ,  H01L2223/54453 ,  H01L2223/5446 ,  H01L2924/0002 ,  H01L2924/00

    摘要： A manufacturing method of a semiconductor device includes preparing a first circuit pattern original plate including a first pattern part of a mark pattern, preparing a second circuit pattern original plate including a second pattern part of the mark pattern, transferring the first pattern part to a mask film on an underlying area to form a first transfer pattern part in the mask film, transferring the second pattern part to the mask film to form a second transfer pattern part in the mask film, and patterning the underlying area by using the mask film including a transfer mark pattern, which is obtained by combining the first transfer pattern part and the second transfer pattern part, as a mask to form an underlying mark pattern in the underlying area.

    摘要翻译： 半导体器件的制造方法包括：制备包括标记图案的第一图案部分的第一电路图案原版，制备包括标记图案的第二图案部分的第二电路图案原版，将第一图案部分转印到掩模 在掩模膜上形成第一转印图案部分，将第二图案部分转印到掩模膜上，以在掩模膜中形成第二转印图案部分，并通过使用掩模膜对其下面的区域进行图案化 转印标记图案，其通过组合第一转印图案部分和第二转印图案部分而获得，作为掩模，以在下面的区域中形成下面的标记图案。

    FITTING APPARATUS
    5.
    发明申请
    FITTING APPARATUS 有权
    配套设备

    公开(公告)号：US20080312769A1

    公开(公告)日：2008-12-18

    申请号：US12138995

    申请日：2008-06-13

    申请人： Takashi SATO ,  Nobuaki YAMAOKA

    发明人： Takashi SATO ,  Nobuaki YAMAOKA

    IPC分类号： B25J9/10

    CPC分类号： B25J9/1633 ,  B25J9/1687 ,  G05B2219/39529 ,  G05B2219/40032

    摘要： A fitting apparatus includes a robot arm having, at the forward end thereof, a gripper for holding a workpiece, a force detector for detecting a force and moment received by the workpiece held by the gripper, and a controller for controlling an operation of the robot arm. The controller includes a motion command generating unit for generating an operation command to fit two workpieces to each other, and an operation command correcting unit for correcting the operation command so as to correct the position of the gripper in a direction perpendicular to the fitting direction and the orientation of the gripper around an axis perpendicular to the fitting direction until the detected force and moment become less than or equal to a threshold value, based on either maximum values of the force and moment detected by the force detector while the two workpieces are in contact with each other or the force and moment detected by the force detector when the two workpieces first come into contact with each other.

    摘要翻译： 一种装配装置，包括：机器人臂，其前端具有用于保持工件的夹持器，用于检测由夹持器保持的工件所接收的力和力矩的力检测器，以及用于控制机器人的操作的控制器 臂。 控制器包括：运动指令生成单元，用于产生用于彼此配合两个工件的操作命令;以及操作指令校正单元，用于校正操作命令，以便在与安装方向垂直的方向上校正夹持器的位置，以及 基于在两个工件处于该位置时由力检测器检测到的力和力矩的最大值，所述夹具围绕垂直于装配方向的轴线的取向直到检测到的力和力矩变得小于或等于阈值 当两个工件首先接触时，彼此接触或者由力检测器检测到的力和力矩。

    ROLLER HEMMING DEVICE USING ROBOT MANIPULATOR WITH FORCE SENSOR
    9.
    发明申请
    ROLLER HEMMING DEVICE USING ROBOT MANIPULATOR WITH FORCE SENSOR 有权
    使用具有力传感器的机器人操纵器的滚子制动装置

    公开(公告)号：US20110107807A1

    公开(公告)日：2011-05-12

    申请号：US12907321

    申请日：2010-10-19

    申请人： Takashi SATO ,  Ko GIKA

    发明人： Takashi SATO ,  Ko GIKA

    IPC分类号： B21D7/022

    CPC分类号： B25J9/1633 ,  B21D19/043 ,  B21D39/023

    摘要： A roller hemming device capable of correcting a positional error between a robot manipulator and a workpiece, and carrying out a pre-hemming and/or hemming process with appropriate pressing force. The roller hemming device has a position detecting part adapted to detect a current position of a roller attached to a front end of the robot manipulator; a force sensor arranged between a wrist section of the robot manipulator and the roller; and a controller adapted to control the position of the roller by using an output of the position detecting part and an output of the force sensor, so that pressing force applied to a mold by the roller is a predetermined value.

    摘要翻译： 一种能够校正机器人操纵器和工件之间的位置误差并且以适当的按压力进行预折边和/或折边加工的辊式折边装置。 辊式折边装置具有位置检测部，其适于检测附接到机器人操纵器的前端的辊的当前位置; 布置在所述机器人操纵器的腕部与所述滚子之间的力传感器; 以及控制器，其通过使用位置检测部的输出和力传感器的输出来控制辊的位置，使得由辊施加到模具的按压力是预定值。