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    • 66. 发明授权
    • Graphic display apparatus for robot system
    • 机器人系统图形显示装置
    • US07002585B1
    • 2006-02-21
    • US09688042
    • 2000-10-12
    • Atsushi WatanabeTetsuya KosakaYoshiharu Nagatsuka
    • Atsushi WatanabeTetsuya KosakaYoshiharu Nagatsuka
    • G06T13/00G06T15/70
    • B25J9/1671G05B2219/35314G05B2219/36071G05B2219/36315
    • 3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.
    • 机器人的各种物体(例如机器人主体,周边设备,机器,部件(工件))的3-D型号预先存储在对象库中。 尺寸可以改变的边线的尺寸线数据,以及用于约束可以改变的顶点的坐标位置的约束条件也存储在对象库中。 从对象库中选择具有与要使用的对象的形状对应的形状的模型,并且设置形状的尺寸。 所选模型的尺寸被修改,使得模型的形状对应于实际对象的形状。 使用调整尺寸的模型,在显示屏上形成机器人的动画运动。 利用上述结构,可以容易地设置和改变与机器人运动相关的对象3-D模型。
    • 68. 发明申请
    • Valve timing control apparatus
    • 气门正时控制装置
    • US20050257763A1
    • 2005-11-24
    • US11133301
    • 2005-05-20
    • Atsushi WatanabeIsao HayaseSeiji SugaTakanori SawadaTomoya Tsukada
    • Atsushi WatanabeIsao HayaseSeiji SugaTakanori SawadaTomoya Tsukada
    • F01L1/34F01L1/344F02D13/02
    • F01L1/3442F01L1/34409
    • The invention intends to improve a response by utilizing a rotational variable torque of a cam shaft. Communication paths respectively communicating an advance hydraulic chamber and a retard hydraulic chamber provided in a second rotary member and a hydraulic connecting passage are provided so as to be communicated, at a time when a control member intending to improve a response by moving a phase angle control slider in an axial direction or a rotational direction in correspondence to an operating state such as an advance, a retard or the like so as to intermittently communicate an advance chamber communication path and a retard chamber communication path with a hydraulic chamber connecting groove only in a section in which a cam shaft variable torque in an operating direction is applied, is controlled in a rotating region, and a relative rotation of a third rotary member and the second rotary member stops.
    • 本发明旨在通过利用凸轮轴的旋转可变扭矩来改善响应。 在设置在第二旋转构件和液压连接通道中的分别连通前进液压室和延迟液压室的通信路径被设置成在通过移动相位角控制来改善响应的控制构件时被连通 滑块相对于诸如前进,延迟等的操作状态沿轴向或旋转方向间歇地连通前进室连通路径和延迟室连通路径,其中液压室连通槽仅在 其中施加有操作方向的凸轮轴可变扭矩的区段被控制在旋转区域中,并且第三旋转构件和第二旋转构件的相对旋转停止。