公开(公告)号：US4836742A

公开(公告)日：1989-06-06

申请号：US59227

申请日：1987-06-05

申请人： Yasuo Ishiguro ,  Yoshizumi Itou ,  Osamu Shiroshita ,  Masaru Nakano

发明人： Yasuo Ishiguro ,  Yoshizumi Itou ,  Osamu Shiroshita ,  Masaru Nakano

IPC分类号： B25J9/22 ,  B25J9/16 ,  G05B19/4103 ,  G05B19/418 ,  G05B19/42 ,  G05B19/423

CPC分类号： G05B19/423 ,  G05B19/4182 ,  Y02P90/083

摘要： A system is provided for controling a robot operating in association with a rotary table, including a robot, a rotary table, and a control circuit. The control circuit carries out a step of composing and storing teaching data as values on a rotary table orthogonal coordinate system (UVW axes), the rotational shaft of the rotary table being the vertical (W) axis, a step of calculating the UVW coordinates of a plurality of interpolation points by carrying out path interpolation along a line and/or curve defined by the stored teaching data, a step of calculating the degree of rotation of the rotary table which is required to bring each of the interpolation points into the U-W plane, a step of computing the UVW coordinates of the positions that the interpolation points occupy as they pass through the U-W plane, a step of transforming the data obtained by the computing step from coordinates in the UVW coordinate system to coordinates in a robot assigned coordinate system (XYZ axes) or orientation positions of the joint axes of the robot, and operating the robot in accordance with the information thus derived.

摘要翻译： 提供了一种用于控制与旋转台相关联的机器人的系统，包括机器人，旋转台和控制电路。 控制电路执行将作为数值的教学数据组合并存储在旋转台正交坐标系（UVW轴）上的旋转台的旋转轴为垂直（W）轴的步骤，计算UVW坐标的步骤 通过沿着由所存储的示教数据定义的线和/或曲线执行路径插值来执行多个插值点;计算旋转台的旋转程度的步骤，所述旋转台的旋转度是使每个插值点进入UW平面所需要的 计算插入点在通过UW平面时占据的位置的UVW坐标的步骤，将通过计算步骤获得的数据从UVW坐标系中的坐标转换为机器人分配坐标系中的坐标的步骤 （XYZ轴）或机器人的关节轴的取向位置，并根据所得到的信息操作机器人。

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。

公开(公告)号：US4831316A

公开(公告)日：1989-05-16

申请号：US103403

申请日：1987-10-01

申请人： Yasuo Ishiguro ,  Yoshito Kato ,  Fumiaki Takeda ,  Mitsuo Koide ,  Toshitaka Kuno ,  Masaru Nakano

发明人： Yasuo Ishiguro ,  Yoshito Kato ,  Fumiaki Takeda ,  Mitsuo Koide ,  Toshitaka Kuno ,  Masaru Nakano

IPC分类号： G05B19/18 ,  B25J9/16 ,  B25J9/18 ,  G05B19/404 ,  G05B19/4063 ,  G05B19/4155 ,  G05B19/42 ,  G05B19/425

CPC分类号： G05B19/425 ,  G05B2219/36417

摘要： A control system for an industrial robot having a hand which traces a pre-stored standard course defining its position and posture and which has a foresight function. The hand is provided with a tool and a work shape sensor, where the tool and the work shape sensor have a known spatial relationship. The foresight function is realized by a control system comprising temporary storing means for temporarily storing a future position and/or posture data of the tool calculated from a sensed position and/or posture data of the present sensor position. The stored data is output after a delayed time interval when it is compared with a pre-stored standard data. When the difference is small, the data is used to control the future position and/or posture of the hand. When the difference is great, an abnormality process is started.

摘要翻译： 一种用于工业机器人的控制系统，其具有跟踪预定义的标准过程的手，其限定其位置和姿态并具有预见功能。 手上设置有工具和工件形状传感器，其中工具和工件形状传感器具有已知的空间关系。 前视功能由包括临时存储装置的控制系统来实现，该临时存储装置用于临时存储从当前传感器位置的感测位置和/或姿势数据计算的工具的未来位置和/或姿势数据。 存储的数据在与预先存储的标准数据进行比较的延迟时间间隔之后输出。 当差异较小时，数据用于控制手的未来位置和/或姿势。 当差异很大时，开始异常处理。

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：US08786811B2

公开(公告)日：2014-07-22

申请号：US13396621

申请日：2012-02-15

申请人： Daisuke Kubota ,  Akio Yamashita ,  Masaru Nakano

发明人： Daisuke Kubota ,  Akio Yamashita ,  Masaru Nakano

IPC分类号： G02F1/1343 ,  G02F1/1335

CPC分类号： G02F1/134363 ,  G02F1/133707 ,  G02F2001/13793

摘要： A liquid crystal display device using a horizontal electric field mode, in which contrast ratio is improved, is provided. A first polarizing plate having a polarization axis along a first direction, a second polarizing plate having a polarization axis along a second direction orthogonal to the first direction, a plurality of first structure bodies provided over a first substrate, a plurality of second structure bodies provided over the first substrate, a first electrode layer covering top surfaces and side surfaces of the plurality of first structure bodies, and a second electrode layer covering top surfaces and side surfaces of the plurality of second structure bodies are provided. The side surfaces of the first structure bodies and the side surfaces of the second structure bodies are parallel to the first direction or the second direction. Thus, a liquid crystal display device in which contrast ratio is improved can be provided.

摘要翻译： 提供了一种使用水平电场模式的液晶显示装置，其中对比度提高。 具有沿着第一方向具有偏振轴的第一偏振片，具有与第一方向正交的第二方向的偏振轴的第二偏振片，设置在第一基板上的多个第一结构体，设置在多个第二结构体上的多个第二结构体， 在第一基板上设置覆盖多个第一结构体的顶表面和侧表面的第一电极层，以及覆盖多个第二结构体的顶表面和侧表面的第二电极层。 第一结构体的侧表面和第二结构体的侧表面平行于第一方向或第二方向。 因此，可以提供对比度提高的液晶显示装置。

公开(公告)号：US08099999B2

公开(公告)日：2012-01-24

申请号：US12606597

申请日：2009-10-27

申请人： Masaru Nakano

发明人： Masaru Nakano

IPC分类号： G01M15/04

CPC分类号： F02M25/0854 ,  F02M25/0827

摘要： A purge gas concentration estimation apparatus has a canister having a casing that is filled with adsorbent which adsorbs and desorbs evaporated fuel and a heat capacity detection device that is disposed in the casing. The heat capacity detection device detects a heat capacity of an inside of the casing. An adsorption amount of the evaporated fuel that is adsorbed in the casing is detected from the heat capacity of the inside of the casing detected by the heat capacity detection device, and a purge gas concentration is estimated from the detected adsorption amount of the evaporated fuel.

摘要翻译： 吹扫气体浓度估计装置具有：罐，其具有填充有吸附和解吸蒸发燃料的吸附剂的壳体和设置在壳体中的热容量检测装置。 热容检测装置检测壳体内部的热容量。 从由热容检测装置检测到的壳体内部的热容中检测吸附在壳体中的蒸发燃料的吸附量，根据检测到的蒸发燃料的吸附量来估计吹扫气体浓度。

公开(公告)号：US07322343B2

公开(公告)日：2008-01-29

申请号：US11605346

申请日：2006-11-29

申请人： Eiji Yamada ,  Masaru Nakano ,  Masashi Uchino ,  Takahiro Osaki

发明人： Eiji Yamada ,  Masaru Nakano ,  Masashi Uchino ,  Takahiro Osaki

IPC分类号： F02M33/04 ,  F02M33/02

CPC分类号： F02M25/0854 ,  B60K15/03504 ,  B60K2015/03514

摘要： A fuel vapor storage canister for an automotive vehicle, includes a casing formed thereinside with charge, purge and drain ports connected to a gas passage. First, second, third and fourth adsorption layers are disposed in the gas passage and arranged in order of first, second, third and forth adsorption layers from side of the charge port along a longitudinal direction of the gas passage. Each adsorption layer includes a fuel vapor adsorbent. Additionally, a first space section is formed between the first and second adsorption layers. A second space section is formed between the second and third adsorption sections. A third space section is formed between the third and fourth adsorption sections. Each space section has a width in the longitudinal direction of the gas passage.

摘要翻译： 一种用于机动车辆的燃料蒸汽存储罐，包括形成在其下的壳体，其中充电，净化和排出端口连接到气体通道。 第一，第二，第三和第四吸附层设置在气体通道中，并且沿着气体通道的纵向方向按照从充电端口侧开始的第一，第二，第三和第四吸附层的顺序排列。 每个吸附层包括燃料蒸气吸附剂。 此外，在第一和第二吸附层之间形成第一空间部分。 第二空间部分形成在第二和第三吸附部分之间。 第三空间部分形成在第三和第四吸附部分之间。 每个空间部分具有在气体通道的纵向方向上的宽度。

公开(公告)号：US20050172938A1

公开(公告)日：2005-08-11

申请号：US10509185

申请日：2003-07-14

申请人： Masashi Uchino ,  Masaru Nakano ,  Eiji Yamada ,  Hiroyuki Yoshida ,  Hiroaki Okada

发明人： Masashi Uchino ,  Masaru Nakano ,  Eiji Yamada ,  Hiroyuki Yoshida ,  Hiroaki Okada

IPC分类号： F02M25/08 ,  B01D53/02

CPC分类号： F02M25/0854

摘要： A fuel vapor treatment device for suppressing emission of fuel vapor from a fuel tank or the like of an automotive vehicle. The fuel vapor treatment device comprises a casing having a charge port connected to a fuel tank, a purge port connected to an intake section of an engine, and an atmospheric air port through which atmospheric air is introduced. Fuel vapor adsorbing material is filled in the casing. Additionally, an adsorbing material cartridge is disposed in a part of the casing and includes a cylindrical cartridge main body section having a cross-sectional area smaller than that of the casing. Fuel vapor adsorbing material is filled in the cartridge main body section. Air introduced from the atmospheric air port is flowable through the inside of the cartridge main body section to the fuel vapor adsorbing material in the casing.

摘要翻译： 一种用于抑制来自机动车辆的燃料箱等的燃料蒸气的排出的燃料蒸气处理装置。 燃料蒸汽处理装置包括具有连接到燃料箱的充气口，连接到发动机的进气部分的吹扫口和大气引入的大气空气口的壳体。 燃料蒸气吸附材料填充在壳体中。 另外，吸附材料盒设置在壳体的一部分中，并且包括具有小于壳体的横截面面积的圆柱形盒主体部分。 燃料蒸汽吸附材料填充在盒主体部分中。 从大气空气引入的空气可以通过盒主体部分的内部流到壳体中的燃料蒸气吸附材料。

公开(公告)号：US5130753A

公开(公告)日：1992-07-14

申请号：US621965

申请日：1990-12-04

申请人： Masaru Nakano ,  Junichi Matsuno

发明人： Masaru Nakano ,  Junichi Matsuno

IPC分类号： G03G15/00 ,  G03G15/14 ,  G03G15/16 ,  G03G15/20

CPC分类号： G03G15/1655

摘要： A copy sheet, to which a developed image has been transferred by a transfer device, continues to be attracted to a copy sheet carrying surface of an insulating film and delivered toward a fusing roller pair. A force in a direction for pressing the copy sheet toward the insulating film is exerted, by an attraction strengthening device, on the copy sheet which is passing the vicinity of a downstream end of the copy sheet carrying surface after the transfer operation. This force strengthens a force for retaining the copy sheet on the copy sheet carrying surface of the insulating film, so as to hinder a portion of the copy sheet from being bent upwardly to the side of a photoreceptor and separated from the insulating film. Thus, separation of the copy sheet from the insulating film can be prevented from extending as far as a transfer position.

摘要翻译： 显影图像已经通过转印装置转印到的复印纸继续被吸引到绝缘膜的复印纸承载表面并被输送到定影辊对。 通过吸引加强装置在转印操作之后通过复印纸承载表面的下游端的附近的复印纸上施加朝向绝缘膜压制复印纸的方向的力。 该力增强了将复印纸保持在绝缘膜的复印纸承载表面上的力，以便阻止复印纸的一部分向上弯曲到感光体侧并与绝缘膜分离。 因此，可以防止复印纸与绝缘膜的分离延伸到转印位置。

公开(公告)号：US08375925B2

公开(公告)日：2013-02-19

申请号：US12639383

申请日：2009-12-16

申请人： Takashi Ichikawa ,  Masaru Nakano

发明人： Takashi Ichikawa ,  Masaru Nakano

IPC分类号： F02M33/06

CPC分类号： F02D41/003 ,  F02M25/0854 ,  F02M25/089 ,  F02M2025/0881

摘要： In vaporized fuel processing device and method, an adsorption material provides a canister and configured to once hold the vaporized fuel generated in a fuel tank into the adsorption material within the canister, the canister into which an intake air pressure of an engine used for purge air being introduced when the engine is operated and purge air purging fuel corresponding to vaporized fuel from the adsorption material to be supplied to the engine; an electric heater configured to variably control an electric power supplied to the heater in accordance with a purge air quantity to be introduced within the canister.

摘要翻译： 在蒸发的燃料处理装置和方法中，吸附材料提供一个罐并且被配置成一次将在燃料箱中产生的蒸发燃料保持在罐内的吸附材料中，其中用于吹扫空气的发动机的进气压力 当发动机被操作时被引入，并且从被提供给发动机的吸附材料吹扫对应于汽化燃料的吹扫空气; 电加热器，其被配置为根据要引入所述罐内的吹扫空气量可变地控制供应到所述加热器的电力。