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    • 112. 发明申请
    • Electric actuator system
    • 电动执行器系统
    • US20050012480A1
    • 2005-01-20
    • US10892432
    • 2004-07-15
    • Tokuhisa TakeuchiHiroshi Nakajima
    • Tokuhisa TakeuchiHiroshi Nakajima
    • H02P3/06G05B19/23H02P3/00H02P7/06
    • G05B19/231G05B2219/37159G05B2219/37171G05B2219/37183
    • The detection of a pulse signal in an initialization pattern is ensured regardless of the position where a DC motor is stopped. A CPU detects the pulse signal generated by the pulse generator and an angle of rotation of a rotating shaft, and controls an angle of rotation of a rotating shaft based on the detected angle of rotation. The pulse generator generates the pulse signal in the initialization pattern, which indicates the position of origin of the angle of rotation, in accordance with the rotation of the DC motor. If a determination means determines that it is impossible to detect the pulse signal in the initialization pattern when the DC motor is rotated in a first direction, the CPU rotates the DC motor in a second direction.
    • 无论DC电机停止的位置如何,均可确保初始化模式下的脉冲信号的检测。 CPU检测由脉冲发生器产生的脉冲信号和旋转轴的旋转角度,并且基于检测到的旋转角度来控制旋转轴的旋转角度。 脉冲发生器根据直流电机的旋转产生初始化模式中的脉冲信号,该脉冲信号表示旋转角的原点位置。 如果确定装置确定当直流电动机沿第一方向旋转时不可能检测初始化模式中的脉冲信号,则CPU以直流电动机沿第二方向旋转。
    • 113. 发明授权
    • Borehole tool actuating mechanism
    • 井眼工具致动机构
    • US06588542B2
    • 2003-07-08
    • US09839069
    • 2001-04-20
    • Hiroshi NakajimaTatsuki Endo
    • Hiroshi NakajimaTatsuki Endo
    • G01V140
    • G01V1/52
    • A borehole tool including a tool body having and an anchoring mechanism, the anchoring mechanism having a drive mechanism including a motor, drive shaft, and clutch; an anchor arm moveable between first and second positions relative to the tool body; a push rod connecting the anchor arm to the drive mechanism; and a spring acting to bias the arm into a first position relative to the tool body. The push rod extends through the clutch mechanism and is engaged by the spring to bias the arm into the first position, and is also driven by the drive mechanism through the clutch to move the arm between the first and second position. The push rod may be connected to the anchor arm by a link. Measurement devices may be used to determine the position of the anchor arm or the tool body.
    • 一种钻孔工具,包括具有固定机构的工具主体,所述锚固机构具有包括马达,驱动轴和离合器的驱动机构; 锚臂能够相对于工具主体在第一和第二位置之间移动; 将所述锚臂与所述驱动机构连接的推杆; 以及用于将臂偏压到相对于工具主体的第一位置的弹簧。 推杆延伸穿过离合器机构并且被弹簧接合以将臂偏置到第一位置,并且还通过离合器由驱动机构驱动以在第一和第二位置之间移动臂。 推杆可以通过连杆连接到锚臂上。 测量装置可用于确定锚臂或工具主体的位置。
    • 114. 发明授权
    • Wafer thickness measuring apparatus and detection method thereof
    • 晶圆厚度测量装置及其检测方法
    • US06353473B1
    • 2002-03-05
    • US09499513
    • 2000-02-09
    • Hideo IshimoriHiroshi Nakajima
    • Hideo IshimoriHiroshi Nakajima
    • G01R2100
    • G01B11/0691G01B11/06
    • In a wafer thickness measuring apparatus and a method thereof, detection values are obtained from a sample piece (for example, a wafer chip) at a plurality of measurement points thereon by first and second detectors for absolute measurement of distances, and at the same time, measurement values of the fluctuations, for relative measurement of distances, are obtained by the optical heterodyne interferometer, and those measurement values are memorized as a plurality of measurement data being related with those measurement values. When measuring the thickness of a wafer, the measurements are performed at measurement points on the wafer which has a front surface and a reverse surface in height lying within the height of the sample piece, on which such a correspondence is obtained, thereby obtaining the detection values of the first and second detectors. Searching conversely from those detection values by referring the correspondence data, the respective detection values are converted into the data of the relative fluctuations therefrom upon the basis of the thickness of the sample piece, thereby obtaining the relative amounts of fluctuation in positions (i.e., the distances) upon the basis of the thickness of the sample piece, respectively. Then, by conducting addition and/or subtraction of the fluctuation amount on the front surface and the reverse surface from the thickness of the sample piece as a reference, it is possible to calculate out the thickness of the wafer to be measured.
    • 在晶片厚度测量装置及其方法中,通过用于绝对测量距离的第一和第二检测器在多个测量点处的样品(例如,晶片芯片)获得检测值,并且同时 通过光学外差干涉仪获得用于相对测量距离的波动的测量值,并且将这些测量值存储为与这些测量值相关的多个测量数据。 当测量晶片的厚度时,在晶片上的测量点上进行测量,该测量点具有在样品的高度内的正面和反面的高度,在该高度上获得这样的对应关系,由此获得检测 第一和第二检测器的值。 通过参照对应数据与这些检测值相反地进行搜索,根据样品的厚度将各检测值转换成相对波动的数据,从而获得位置的相对变动量(即, 距离)分别基于样品片的厚度。 然后,通过从作为基准的样品的厚度的前表面和反面的波动量进行加,减加算,可以计算待测晶片的厚度。
    • 116. 发明授权
    • Pattern extraction apparatus
    • 模式提取装置
    • US06195460B1
    • 2001-02-27
    • US09297537
    • 1999-04-30
    • Koji KobayashiHiroshi NakajimaTakafumi AokiMasayuki KawamataTatsuo Higuchi
    • Koji KobayashiHiroshi NakajimaTakafumi AokiMasayuki KawamataTatsuo Higuchi
    • G06K946
    • G06K9/522
    • Collation Fourier image data (FIG. 1D) FB generated by performing the two-dimensional discrete Fourier transform (DFT) for the image data (FIG. 1C) of a collation pattern is synthesized with registration Fourier image data (FIG. 1B) generated by performing the two-dimensional DFT for the image data of a registration pattern. After amplitude suppression processing is performed for the resultant data, two-dimensional DFT is performed. A correlation peak is extracted from a correlation component area which appears in the synthesized Fourier image data (FIG. 1E) for which the two-dimensional DFT has been performed. A predetermined area including this correlation peak is then masked (FIG. 1F). The two-dimensional DFT is performed for the masked synthesized Fourier image data, and amplitude restoration processing is performed for the data. The resultant data is re-synthesized with the registration Fourier image data FA, and the two-dimensional IDFT is performed for the synthesized data. With this processing, image data containing a difference pattern like the one shown in FIG. 1G or a moving pattern can be obtained.
    • 通过对核对图案的图像数据(图1C)执行二维离散付里叶变换(DFT)生成的核对付里叶图像数据(图1D),由登记付里叶图象数据(图1B)合成, 对注册图案的图像数据执行二维DFT。 在对所得数据进行幅度压缩处理之后,执行二维DFT。 从出现在执行了二维DFT的合成付里叶图像数据(图1E)中的相关分量区域提取相关峰值。 然后掩蔽包括该相关峰的预定区域(图1F)。 对被掩蔽的合成付里叶图像数据执行二维DFT,并且对数据执行幅度恢复处理。 所得到的数据与登记付里叶图象数据FA重新合成,并且对合成数据执行二维IDFT。 通过该处理,包含类似于图1所示的差异模式的图像数据。 可以获得1G或移动图案。
    • 118. 发明授权
    • Process for producing fructose 2,6,-bisphosphate and purification
process thereof
    • 制备果糖2,6,二磷酸的方法及其纯化方法
    • US5968787A
    • 1999-10-19
    • US562739
    • 1995-11-27
    • Ken IwataTatsuo KatayamaHiroshi Nakajima
    • Ken IwataTatsuo KatayamaHiroshi Nakajima
    • C07H11/04C12N9/12C12P19/02C12P19/04C12P19/24
    • C12N9/1205C07H11/04C12P19/02C12P19/04
    • This invention relates to a process for the production of fructose 2,6-bisphosphate which comprises effecting reactions among (i) fructose 6-phosphate, (ii) glucose, (iii) fructose or (iv) glucose 6-phosphate, ATP and a phosphate donor, in the presence of (i) fructose 6-phosphate 2-kinase (PFK 2) and an enzyme which converts ADP into ATP (ADP/ATP converting enzyme), (ii) PFK 2, an ADP/ATP converting enzyme, hexokinase or glucokinase and glucose 6-phosphate isomerase, (iii) PFK 2, an ADP/ATP converting enzyme and hexokinase or glucokinase, or (iv) PFK 2, an ADP/ATP converting enzyme and glucose 6-phosphate isomerase; to a process for the production of fructose 2,6-bisphosphate which comprises allowing diesterase to coexist in a solution containing fructose 1,2-cyclic, 6-bisphosphate; and to a process for the purification of fructose 2,6-bisphosphate which comprises adding zinc salt to a solution containing fructose 2,6-bisphosphate, removing formed precipitate of impurities and adding a zinc salt to the resulting solution to isolate formed precipitate of fructose 2,6-bisphosphate. According to the present invention, fructose 2,6-bisphosphate can be produced easily with a high yield and high purity fructose 2,6-bisphosphate can be obtained easily.
    • 本发明涉及一种生产2,6-二磷酸果糖的方法,其包括(i)果糖-6-磷酸,(ii)葡萄糖,(iii)果糖或(iv)葡萄糖-6-磷酸,ATP和 磷酸供体,在(i)果糖-6-磷酸2-激酶(PFK 2)和将ADP转化成ATP(ADP / ATP转化酶)的酶的存在下,(ii)PFK 2,ADP / ATP转化酶, (iii)PFK 2,ADP / ATP转化酶和己糖激酶或葡糖激酶,或(iv)PFK 2,ADP / ATP转化酶和葡萄糖-6-磷酸异构酶; 涉及生产2,6-二磷酸果糖的方法,其包括使二酯酶共存于含有1,2-环状6-二磷酸果糖的溶液中; 以及纯化2,6-二磷酸果糖的方法,该方法包括向含有2,6-二磷酸果糖的溶液中加入锌盐,除去形成的杂质沉淀物并向所得溶液中加入锌盐以分离形成的果糖沉淀物 2,6-二磷酸酯。 根据本发明,可以容易地以高产率制备2,6-二磷酸果糖,并且可以容易地获得高纯度的2,6-二磷酸果糖。
    • 120. 发明授权
    • Industrial robot and its control unit
    • 工业机器人及其控制单元
    • US5834916A
    • 1998-11-10
    • US697162
    • 1996-08-20
    • Shigeru ShimogamaHiroshi NakajimaYoshinori Sasaki
    • Shigeru ShimogamaHiroshi NakajimaYoshinori Sasaki
    • B25J19/06B25J9/10B25J9/18G05B19/23G05B19/4061B25J9/22
    • G05B19/4061G05B19/231G05B2219/37089G05B2219/37104G05B2219/37175G05B2219/42309G05B2219/45083G05B2219/50198Y10S388/90
    • A control unit for an industrial robot comprising a speed command device for outputting a speed command signal for the industrial robot and a servo control device which outputs to a servo motor of each of a plurality of axes of rotation of the industrial robot, in response to the speed command signal, an electric current corresponding to the speed command signal. The servo control performs feedback control of the industrial robot, in response to a signal from an encoder of each of the axes of rotation of the industrial robot, so as to actuate the servo motor at a speed designated by the speed command signal. The speed command device includes a comparison member for comparing an actual speed of the industrial robot calculated from a pulse train of a signal returning from the encoder with the speed designated by the speed command signal. When a difference between the actual speed of the industrial robot and the speed designated by the speed command signal exceeds a predetermined permissible value, the comparison member performs an abnormality eliminating process of the industrial robot.
    • 一种用于工业机器人的控制单元,包括:用于输出用于工业机器人的速度指令信号的速度指令装置;以及伺服控制装置,该伺服控制装置响应于工业机器人的多个轴线的旋转轴向伺服电动机输出 速度指令信号,与速度指令信号对应的电流。 伺服控制器响应于来自工业机器人的每个旋转轴的编码器的信号执行工业机器人的反馈控制,以便以速度指令信号指定的速度致动伺服电动机。 速度指令装置包括比较构件,用于将从编码器返回的信号的脉冲序列计算的工业机器人的实际速度与由速度指令信号指定的速度进行比较。 当工业机器人的实际速度与由速度指令信号指定的速度之间的差超过预定的允许值时,比较部件执行工业机器人的异常消除处理。