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1. 发明申请

US20130310973A1 METHOD OF CONTROLLING SEVEN-AXIS ARTICULATED ROBOT, CONTROL PROGRAM, AND ROBOT CONTROL DEVICE 有权
标题翻译：控制七轴机器人，控制程序和机器人控制装置的方法
公开(公告)号：US20130310973A1
公开(公告)日：2013-11-21
申请号：US13977272
申请日：2011-12-21
申请人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
发明人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
IPC分类号： B25J9/06
CPC分类号： B25J9/06 , B25J9/046 , B25J9/1607 , B25J9/1643 , G05B2219/39018 , G05B2219/39414 , G05B2219/40344
摘要： Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.
摘要翻译：提供了一种控制七轴铰接机器人的方法，其包括从机器人的近端顺序地排列到机器人的远端的七个接头，所述七个接头包括各自引起下一个接头转动的旋转轴和各自引起的旋转轴下一个枢转枢转，使得旋转的旋转轴和引起枢转的旋转轴交替布置，所述七轴铰接机器人构造成使得机器人的三个近端侧接头的旋转轴线彼此不相交在一个点上。该方法包括使用三个关节之间的中间关节的这种关节角度作为约束条件来执行逆变换，以便在将中间关节的旋转轴假设为假定的情况下使假设的肘角恒定肩。

2. 发明授权

US4898837A Method of fabricating a semiconductor integrated circuit 失效
标题翻译：制造半导体集成电路的方法
公开(公告)号：US4898837A
公开(公告)日：1990-02-06
申请号：US271748
申请日：1988-11-15
申请人： Kazuo Takeda , Nobuyuki Sekikawa , Katsuhiro Hayasaka , Chikao Fujunuma , Nobuo Itoh , Tetsuya Kubota
发明人： Kazuo Takeda , Nobuyuki Sekikawa , Katsuhiro Hayasaka , Chikao Fujunuma , Nobuo Itoh , Tetsuya Kubota
IPC分类号： H01L21/8222 , H01L27/06
CPC分类号： H01L27/0658 , H01L21/8222
摘要： A method of fabricating a semiconductor integrated circuit comprises the steps of: forming buried layers in predetermined regions of a semiconductor substrate; forming an epitaxial layer covering the substrate and the buried layers; forming isolation regions dividing the epitaxial layer into a plurality of islands; selectively implanting ions to form a base region of a vertical bipolar transistor in a surface layer of one island and simultaneously to form a resistor region in a surface layer of another island; and selectively diffusing impurities into a surface layer of the base region, to form an emitter region of the vertical bipolar transistor.
摘要翻译：一种制造半导体集成电路的方法包括以下步骤：在半导体衬底的预定区域中形成掩埋层; 形成覆盖所述衬底和所述埋层的外延层; 形成将所述外延层分成多个岛的隔离区; 选择性地注入离子以形成一个岛的表面层中的垂直双极晶体管的基极区，同时在另一个岛的表面层中形成电阻区; 并且将杂质选择性地扩散到基极区的表面层中，以形成垂直双极晶体管的发射极区。

3. 发明授权

US09073211B2 Control system and teaching method for seven-axis articulated robot 有权
标题翻译：七轴铰接机器人的控制系统和教学方法
公开(公告)号：US09073211B2
公开(公告)日：2015-07-07
申请号：US13977281
申请日：2011-12-21
申请人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
发明人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
IPC分类号： G05B19/4155 , B25J9/16 , G05B19/425
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/39032 , G05B2219/39414 , G05B2219/40074
摘要： A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robotand thereby performing proper teaching during teaching operation. The control system includes a setting device for setting a specified plane in a teaching mode for teaching a seven-axis articulated robot; a control unit for controlling the movement of the seven-axis articulated robot so as to restrict a motion trajectory of an elbow portion within the plane set by the setting device; and a computing unit for performing inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, setting the restriction of the movement of the elbow portion as a constraint condition, when the position for the hand end is taught.
摘要翻译：提供了一种用于七轴铰接机器人的控制系统和教学方法，该系统和方法能够容易地掌握整个机器人的运动轨迹，从而在教学操作期间进行适当的教学。该控制系统包括用于在用于示教七轴铰接机器人的示教模式中设定指定平面的设定装置; 控制单元，用于控制七轴铰接机器人的移动，以限制由设置装置设定的平面内的肘部的运动轨迹; 以及计算单元，用于执行逆变换操作，以基于所述手端的位置的变化来计算每个枢转轴的枢转角度，将所述肘部的移动的限制设置为约束条件，当所述肘部的位置为手端被教

4. 发明申请

US20120258988A1 THERAPEUTIC OR PROPHYLACTIC AGENT FOR DIABETES 有权
标题翻译：糖尿病的治疗剂或预防剂
公开(公告)号：US20120258988A1
公开(公告)日：2012-10-11
申请号：US13509483
申请日：2010-11-12
申请人： Takehiro Takahashi , Hiroki Kumagai , Takashi Kadowaki , Naoto Kubota , Tetsuya Kubota
发明人： Takehiro Takahashi , Hiroki Kumagai , Takashi Kadowaki , Naoto Kubota , Tetsuya Kubota
IPC分类号： A61K31/5585 , A61P3/10
CPC分类号： A61K31/343 , A61K31/4439 , A61K31/5575 , A61K2300/00
摘要： A therapeutic or prophylactic agent for diabetes includes a thiazolidine derivative as a PPAR-γ agonist as an effective component which exhibits a reduced side effect of the PPAR-γ agonist. The therapeutic or prophylactic agent for diabetes includes a particular IP agonist such as beraprost sodium (BPS), and a thiazolidine derivative such as pioglitazone or a pharmaceutically acceptable salt thereof. Since the therapeutic or prophylactic agent exhibits a sufficiently effective hypoglycemic action without being accompanied by side effects characteristic to PPAR-γ agonists, the agent is useful as a highly safe and effective therapeutic or prophylactic agent for diabetes.
摘要翻译：用于糖尿病的治疗或预防剂包括作为PPAR-γ激动剂的噻唑烷衍生物作为有效成分，其表现出PPAR-γ激动剂的副作用降低。用于糖尿病的治疗或预防剂包括特定的IP激动剂如贝前列素钠（BPS）和吡咯烷衍生物如吡格列酮或其药学上可接受的盐。由于治疗或预防剂表现出足够有效的降血糖作用，而不伴随PPAR-γ激动剂特征的副作用，因此该药剂可用作糖尿病的高度安全有效的治疗或预防剂。

5. 发明申请

US20100016507A1 THERMOPLASTIC RESIN, PROCESS FOR PRODUCTION OF THE SAME, AND MOLDED ARTICLE MANUFACTURED FROM THE SAME 审中-公开
标题翻译：热塑性树脂，其制造方法和从其制造的模制品
公开(公告)号：US20100016507A1
公开(公告)日：2010-01-21
申请号：US11916065
申请日：2006-06-01
申请人： Norifumi Sumimoto , Wataru Kakuno , Tetsuya Kubota , Atsushi Watanabe , Toshio Oohama , Takeshi Watanabe
发明人： Norifumi Sumimoto , Wataru Kakuno , Tetsuya Kubota , Atsushi Watanabe , Toshio Oohama , Takeshi Watanabe
IPC分类号： C08L51/04
CPC分类号： C08F265/06 , C08F265/00 , C08F265/04 , C08L51/003 , C08L51/04 , C08L2666/02
摘要： The objective of the present invention is to provide a thermoplastic resin capable of producing a thin-walled article such as a film, a sheet and a bag stably by extrusion such as calender molding, and of leading to a thin-walled article wherein an undesirable phenomenon due to flow marks generated on the surface is improved and which is excellent in whitening resistance upon bending, and the like, and a method for the production thereof, a molded article and a composite article comprising thereof. The present thermoplastic resin comprises an acryl-based rubbery polymer reinforced resin having a graft ratio of 80% to 170%, a number-average particle diameter of an acryl-based rubbery polymer of 60 to 150 nm, an intrinsic viscosity of a component dissolved by acetonitrile of 0.4 to 0.8 dl/g, a content of a bound cyanidated vinyl compound in the component dissolved by acetonitrile of 20% to 30% by mass, and standard deviation of a distribution of the content of a bound cyanidated vinyl compound measured using liquid chromatography is 5 or less.
摘要翻译：本发明的目的是提供一种热塑性树脂，其能够通过诸如压延成型的挤出来稳定地制造薄膜，片材和袋子等薄壁制品，并且导致薄壁制品，其中不期望的表面上产生的流痕产生的现象得到改善，弯曲时的耐白化性优异等，以及其制造方法，成型品及其组合物。本发明的热塑性树脂包括接枝率为80〜170％，丙烯酸系橡胶质聚合物的数均粒径为60〜150nm，溶解成分的特性粘度的丙烯酸类橡胶状聚合物强化树脂通过乙腈为0.4〜0.8dl / g，由乙腈溶解的成分中的结合的氰化乙烯基化合物的含量为20〜30质量％，使用结合的氰化乙烯基化合物的含量的分布的标准偏差液相色谱法为5以下。

6. 发明授权

US07644811B2 Lock-up device of hydraulic torque transmitting apparatus 有权
标题翻译：液力扭矩传动装置锁紧装置
公开(公告)号：US07644811B2
公开(公告)日：2010-01-12
申请号：US11597901
申请日：2004-12-15
申请人： Tetsuya Kubota
发明人： Tetsuya Kubota
IPC分类号： F16H45/02
CPC分类号： F16H45/02 , F16H41/26 , F16H2045/0294
摘要： A lock-up device 7 includes a front cover 2, an impeller 3, a turbine 4, and a piston 22 positioned to divide a space between the front cover 2 and the turbine 4, and is engageable with the front cover 2. The piston 22 is formed with a plurality of projections 41 extending in the radial direction on a surface 42. The projection 41 has a straight front edge 51 and a straight rear edge 52, and an arced radially outer edge 53 and radially inner edge 54. The rear edge 52 in the rotation direction overlaps a straight line Ls connecting a radially inner end 52a with the rotation center O, or the rear edge 52 in the rotation direction is inclined to the straight line Ls such that a radially outer end 52b is positioned rearward of the straight line Ls in the rotation direction.
摘要翻译：锁定装置7包括前盖2，叶轮3，涡轮4和定位成分隔前盖2和涡轮4之间的空间的活塞22，并且可与前盖2接合。活塞 22形成有在表面42上沿径向延伸的多个突起41.突起41具有直的前边缘51和直的后边缘52，以及弧形的径向外边缘53和径向内边缘54.后方沿旋转方向的边缘52与连接径向内端52a与旋转中心O的直线Ls重叠，或者后边缘52沿旋转方向倾斜，直线Lb位于直线Ls的后方，直线Ls在旋转方向上。

7. 发明申请

US20060136094A1 Robot controller and robot control method 有权
标题翻译：机器人控制器和机器人控制方法
公开(公告)号：US20060136094A1
公开(公告)日：2006-06-22
申请号：US11294441
申请日：2005-12-06
申请人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
发明人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
IPC分类号： G06F19/00
CPC分类号： B25J9/1638
摘要： An input unit enters angular displacements by which drive shafts of a robot arm are to be turned as teaching data into a control unit. The control unit converts the input angular displacements into position-attitude data, namely, converted commands, indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system through forward conversion. The control unit corrects the position-attitude data on the basis of inherent errors in the robot to provide corrected position-attitude data. The control unit converts the corrected position-attitude data into corrected angular displacements through inverse conversion and gives the corrected angular displacements to an actuator included in the robot. The inherent errors in the robot include mechanismic errors resulting from machining errors and assembling errors, installation errors and errors in the origins of axes.
摘要翻译：输入单元进入角位移，通过该位移将机器人手臂的驱动轴作为示教数据转动到控制单元中。控制单元将输入角位移转换成位置姿态数据，即转换后的指令，通过正向转换指示机器人手臂的自由端的位置和机器人在直角坐标系中的姿态。控制单元基于机器人中的固有误差校正位置姿态数据，以提供校正的位置姿态数据。控制单元通过反向转换将校正的位置姿态数据转换成校正的角位移，并将校正的角位移给予包括在机器人中的致动器。机器人的固有误差包括由于加工误差和组装误差，安装误差和轴原点误差而导致的机械误差。

8. 发明授权

US06747241B2 Laser beam projector 有权
标题翻译：激光束投影仪
公开(公告)号：US06747241B2
公开(公告)日：2004-06-08
申请号：US10020190
申请日：2001-12-18
申请人： Shigekazu Shikoda , Tetsuya Kubota , Hirotaka Uehara , Osamu Satoh , Tomoyuki Uno , Mamoru Nishio
发明人： Shigekazu Shikoda , Tetsuya Kubota , Hirotaka Uehara , Osamu Satoh , Tomoyuki Uno , Mamoru Nishio
IPC分类号： B23K2620
CPC分类号： B23K26/0884
摘要： A laser beam projector to be employed in an automatic welding machine, such as a robot, includes an optical head that projects a laser beam and a holding and turning mechanism that holds and turns the optical head. The spot of the laser beam can be accurately located on the portion to be welded by turning the optical head by the holding and turning mechanism.
摘要翻译：用于诸如机器人的自动焊接机器中的激光束投影仪包括投影激光束的光学头和保持和转动光学头的保持转动机构。通过保持转动机构转动光学头，可以将激光束的光点准确地定位在待焊接的部分上。

9. 发明授权

US06633018B2 Laser welding head with associated roller 有权
标题翻译：激光焊头与相关滚筒
公开(公告)号：US06633018B2
公开(公告)日：2003-10-14
申请号：US10020189
申请日：2001-12-18
申请人： Shigekazu Shikoda , Tetsuya Kubota , Hirotaka Uehara , Osamu Satoh , Tomoyuki Uno , Takayuki Murata , Mamoru Nishio
发明人： Shigekazu Shikoda , Tetsuya Kubota , Hirotaka Uehara , Osamu Satoh , Tomoyuki Uno , Takayuki Murata , Mamoru Nishio
IPC分类号： B23K2620
CPC分类号： B23K26/0884 , B23K26/037 , B23K26/244 , B23K2103/04
摘要： A laser-welding head is capable of applying a fixed pressure to parts to be welded of workpieces regardless of the undulation of the surfaces of the parts to be welded. The laser-welding head includes a pressing device (12) having a roller (16) which rolls along parts of workpieces near a weld line (40) to press together the same parts of the workpieces, a pressing unit (6) for applying a predetermined pressure to the pressing device (12) to press the pressing device (12) toward the parts of the workpieces near the weld line (40), and a laser beam projecting unit (17) mounted on the pressing unit (6) for movement together with the pressing device (12). The pressing unit (6) is provided with a pneumatic cylinder actuator for applying the predetermined pressure to the pressing device (12).
摘要翻译：激光焊接头能够对待焊接的部件施加固定的压力，而不管待焊接部件的表面是否起伏。激光焊接头包括具有沿着工件的一部分滚动的辊（ 16 ）的加压装置（ 12 ）在焊接线附近（ 40 ）将工件的相同部分，按压单元（ 6 ）向压制装置施加预定的压力（ 12 ）将按压装置（ 12 ）朝向焊接线附近的工件（ 40 ）和安装在压制单元上的激光束投影单元（ 17 ）用于与按压装置（ 12 ）一起移动的 6 ）。按压单元（ 6 ）设置有气压致动器，用于将预定压力施加到按压装置（ 12 ）。

10. 发明授权

US09492422B2 Therapeutic or prophylactic agent for diabetes 有权
标题翻译：糖尿病的治疗或预防剂
公开(公告)号：US09492422B2
公开(公告)日：2016-11-15
申请号：US13509483
申请日：2010-11-12
申请人： Takehiro Takahashi , Hiroki Kumagai , Takashi Kadowaki , Naoto Kubota , Tetsuya Kubota
发明人： Takehiro Takahashi , Hiroki Kumagai , Takashi Kadowaki , Naoto Kubota , Tetsuya Kubota
IPC分类号： A61K31/5585 , A61P31/10 , A61K31/343 , A61K31/4439 , A61K31/5575
CPC分类号： A61K31/343 , A61K31/4439 , A61K31/5575 , A61K2300/00
摘要： A therapeutic or prophylactic agent for diabetes includes a thiazolidine derivative as a PPAR-γ agonist as an effective component which exhibits a reduced side effect of the PPAR-γ agonist. The therapeutic or prophylactic agent for diabetes includes a particular IP agonist such as beraprost sodium (BPS), and a thiazolidine derivative such as pioglitazone or a pharmaceutically acceptable salt thereof. Since the therapeutic or prophylactic agent exhibits a sufficiently effective hypoglycemic action without being accompanied by side effects characteristic to PPAR-γ agonists, the agent is useful as a highly safe and effective therapeutic or prophylactic agent for diabetes.
摘要翻译：用于糖尿病的治疗或预防剂包括作为PPAR-γ激动剂的噻唑烷衍生物作为有效成分，其表现出PPAR-γ激动剂的副作用降低。用于糖尿病的治疗或预防剂包括特定的IP激动剂如贝前列素钠（BPS）和吡咯烷衍生物如吡格列酮或其药学上可接受的盐。由于治疗或预防剂表现出足够有效的降血糖作用，而不伴随PPAR-γ激动剂特征的副作用，因此该药剂可用作糖尿病的高度安全有效的治疗或预防剂。

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