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    • 2. 发明授权
    • Cool feeling composition
    • 酷感组合
    • US06328982B1
    • 2001-12-11
    • US09366721
    • 1999-08-04
    • Kenichiro ShiroyamaKiyohito SawanoHideaki Ohta
    • Kenichiro ShiroyamaKiyohito SawanoHideaki Ohta
    • A61K600
    • A61Q19/00A61K8/33A61K8/34A61K8/345A61K2800/244A61Q5/02A61Q15/00A61Q19/10
    • A cool feeling composition having an excellent cool feeling is obtained by blending at least one cool feeling agent selected from the group consisting of l-menthol, l-isopulegol, 3-(l-menthoxy)propane-1,2-diol and p-menthane-3,8-diol with vanillyl butyl ether. In this cool feeling composition, vanillyl butyl ether is preferably used in an amount, on the weight basis, {fraction (1/1000)} to 2 times as much as l-menthol, or {fraction (1/1000)} to ½time as much as l-isopulegol, 3-(l-menthoxy)propane-1,2-diol and p-menthane-3,8-diol. The cool feeling composition is capable of imparting a long-lasting and strong cool feeling when used in cosmetics, toiletries, cataplasms, bath agents, pharmaceutical compositions, etc.
    • 通过混合至少一种选自1-薄荷醇,1-异ule g醇,3-(1-薄荷氧基)丙烷-1,2-二醇和对 - 甲苯基的凉爽感觉剂,获得具有优异的凉爽感的凉爽感觉组合物, 薄荷烷-3,8-二醇与香草基丁基醚。 在这种凉爽的感觉组合物中,香草基丁基醚的用量优选为{份数(1/1000)}至l-薄荷醇的2倍或{级分(1/1000)}至1/2的量 1-异丙基醇,3-(1-薄荷氧基)丙烷-1,2-二醇和对薄荷烷-3,8-二醇。 当用于化妆品,化妆品,粘土,浴剂,药物组合物等时,凉爽的感觉组合物能够赋予持久和强烈的凉爽感。
    • 3. 发明授权
    • Industrial robot control method and apparatus
    • 工业机器人控制方法及装置
    • US5285525A
    • 1994-02-08
    • US654542
    • 1991-02-13
    • Yoichi NagaoHideaki OhtaKazuhiko OnoueHisanori Nakamura
    • Yoichi NagaoHideaki OhtaKazuhiko OnoueHisanori Nakamura
    • B25J9/10B23K9/12B25J9/06B25J9/16B25J9/18B25J9/22B25J13/00G05B19/4093G05B19/18
    • B25J9/1607B25J9/06
    • A method and apparatus for controlling an industrial robot. Values of .theta..sub.i for positions/postures of robot axes are determined, when a work mounted to the end of a robot hand is located adjacent to the end of a fixed tool, the tool being separated from the robot. Positions/postures Xi are determined in a reverse representation of the robot base for a coordinate system of the end of the hand, for the values of .theta..sub.i, by a forward transformation operation by which positions/postures of the end of the hand with respect to the base are determined using the values .theta..sub.i. Positions/postures T.sub.i in a matrix representation of the end of the tool in the coordinate system of the end of the hand are also determined, for the positions/postures of the axes, based on X.sub.i and predetermined positions/postures P of the end of the tool using the coordinate system of the base. Intermediate positions/postures T.sub.j each between two T.sub.i positions/postures are determined, using an interpolation function. Positions/postures X.sub.j are determined in a reverse matrix representation of the base using the coordinate system of the end of the hand based on P and T.sub.j. Positional values .theta..sub.j corresponding to positions/postures of the axes and to X.sub.j are determined, using a reverse transformation operation. The robot is then driven using .theta..sub.j.
    • 一种用于控制工业机器人的方法和装置。 确定机器人轴的位置/姿势的(θ)i的值,当安装到机器人手的末端的工件位于与固定工具的端部相邻时,该工具与机器人分离。 位置/姿势X(OVS)i以对于手的结束的坐标系的机器人基座的反向表示来确定,对于(θ)i的值,通过正向变换操作来确定 使用值(θ)i确定手的相对于基准的结束。 位置/姿势也根据X(OVS)i和预定位置/姿势P来确定在手端的坐标系中工具端部的矩阵表示中的位置/姿势 的工具的末端使用基座的坐标系。 使用内插函数确定在两个Ti位置/姿势之间的中间位置/姿势Tj。 位置/姿势X(OVS)j使用基于P和Tj的手的结束坐标系,在基底的反向矩阵表示中确定。 使用逆变换操作来确定对应于轴的位置/姿势和Xj的位置值(θ)j。 然后使用(theta)j驱动机器人。
    • 10. 发明授权
    • Composition for hard article surface cleaning liquid
    • 硬物品表面清洗液的组成
    • US07030070B2
    • 2006-04-18
    • US10634915
    • 2003-08-06
    • Kazutoshi SakuraiHideaki Ohta
    • Kazutoshi SakuraiHideaki Ohta
    • C11D3/50
    • C11D3/2075C11D3/50
    • A fragrant compound or fragrant composition stable for a long period of time in an acidic hard article surface cleaning liquid adjusted so as to be acidic, particularly to pH 2.0 to 3.0 with an organic acid. One or more of fragrant compounds selected from the group consisting of 2,6-dimethyl-2-heptanol, 3,3-dimethylcyclohexyl methyl ketone, o-tert-butylcyclohexanol, α-amylcinnamic aldehyde, α-damascone, γ-octalactone, γ-nonalactone, γ-decalactone, anethole, ethyl benzoate, ethyl 2,2,6-trimethylcyclohexanecarboxylate, 2,2,6-trimethyl-1-crotonylcyclohexane, 6-acetyl-1,1,2,4,4,7-hexamethyltetrahydronaphthalene, isoamyl phenylethyl ether, methyl octin carbonate, 6,7-dihydro-1,1,2,3,3-pentamethyl-4(5H)-indanone, tricyclodecenyl acetate, undecyl aldehyde, fenchyl acetate, dihydrojasmone, cedryl methyl ether, p-cresol, hexyl aldehyde, and rosephenone are stable.
    • 在酸性硬的制品表面清洗液中长时间稳定的芳香化合物或芳香组合物被调节至酸性,特别是用有机酸调至pH2.0至3.0。 一种或多种选自2,6-二甲基-2-庚醇,3,3-二甲基环己基甲基酮,邻叔丁基环己醇,α-戊基肉桂醛,α-大黄酮,γ-八聚内酯,γ- 壬内酯,γ-癸内酯,茴香脑,苯甲酸乙酯,2,2,6-三甲基环己烷羧酸乙酯,2,2,6-三甲基-1-丁烯基环己烷,6-乙酰基-1,1,2,4,4,7-六甲基四氢化萘 ,异戊基苯基乙基醚,甲基辛烯碳酸酯,6,7-二氢-1,1,2,3,3-五甲基-4(5H) - 茚满酮,乙酸三环癸酯,十一烷基醛,乙酸戊酯,二氢茉莉酮,柏木甲基醚, - 甲酚,己醛和rosephenone是稳定的。