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11. 发明申请

US20050055132A1 Robot collaboration control system 有权
标题翻译：机器人协调控制系统
公开(公告)号：US20050055132A1
公开(公告)日：2005-03-10
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： B25J9/16 , B25J9/18 , B25J9/22 , B25J13/00 , G06F19/00
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

12. 发明授权

US06069338A Method and apparatus for controlling spot welding robot 失效
标题翻译：点焊机器人控制方法及装置
公开(公告)号：US06069338A
公开(公告)日：2000-05-30
申请号：US307790
申请日：1999-05-10
申请人： Masatoshi Sano , Naoyuki Matsumoto
发明人： Masatoshi Sano , Naoyuki Matsumoto
IPC分类号： B23K11/24 , B23K11/11 , B23K11/31 , G05B19/18 , G05B19/404 , B23K37/02
CPC分类号： B23K11/314
摘要： The disclosed spot welding robot controlling method and apparatus is able to carry out an operation for pressurizing a spot welding gun without a dead time of a spot welding robot which has the spot welding gun driven by a fluid pressure. The control method includes the steps of measuring a gun closing time, measuring an axial coincidence time, calculating a time difference between the time point of the command position axial coincidence and the output time point of the pressurization command in an actual welding operation using the gun closing time and the axial coincidence time, and outputting the pressurization command to the spot welding gun at a time point which is derived by subtracting the time difference from the time point of the command position axial coincidence in the actual welding operation.
摘要翻译：所公开的点焊机器人控制方法和装置能够进行点焊装置的加压操作，而没有由流体压力驱动的点焊枪的点焊机器人的死区时间。控制方法包括以下步骤：在使用枪的实际焊接操作中测量枪关闭时间，测量轴向重合时间，计算指令位置轴向一致的时间点与加压命令的输出时间点之间的时间差关闭时间和轴向一致时间，并且在通过从实际焊接操作中的指令位置轴向一致的时间点减去时间差而导出的时间点，向点焊枪输出加压指令。

13. 发明授权

US5953493A Method of generating a motion command for a robot 失效
标题翻译：生成机器人运动指令的方法
公开(公告)号：US5953493A
公开(公告)日：1999-09-14
申请号：US864891
申请日：1997-05-29
申请人： Masatoshi Sano
发明人： Masatoshi Sano
IPC分类号： B25J9/10 , B23K11/24 , B25J9/12 , B25J9/16 , B25J9/18 , B25J9/22 , G05B19/416 , G05D19/02 , G05B15/00 , G05B19/04
CPC分类号： B25J9/1664 , G05B19/416 , G05B2219/40517 , G05B2219/40519 , G05B2219/45104 , G05B2219/45135
摘要： A method of generating a motion command for a robot, comprises providing a constant velocity region between an acceleration region when starting and a deceleration region when stopping for every repetitive period when moving the robot throughout a predetermined distance while periodically repeating the start/stop throughout a shorter distance than the predetermined distance.
摘要翻译：一种生成机器人的运动指令的方法，包括：当在整个预定距离上移动机器人时，在每个重复周期停止时，在启动时的加速区域和减速区域之间提供恒定速度区域，同时周期性地重复开始/停止距离比预定距离短。

14. 发明授权

US4772334A Process for producing highly pure rhamnose from gum arabic 失效
标题翻译：从阿拉伯胶生产高纯鼠李糖的方法
公开(公告)号：US4772334A
公开(公告)日：1988-09-20
申请号：US887867
申请日：1986-07-18
申请人： Masayoshi Hatanaka , Eizi Yokoyama , Masatoshi Sano , Satoru Kumazawa , Tsutomu Takagi
发明人： Masayoshi Hatanaka , Eizi Yokoyama , Masatoshi Sano , Satoru Kumazawa , Tsutomu Takagi
IPC分类号： C07H3/08 , C13K13/00 , C13K1/04
CPC分类号： C13K13/00
摘要： Disclosed herein is a process for producing highly pure rhamnose from gum arabic, which the process comprises after partially hydrolyzing gum arabic in an aqueous solution of a mineral acid, neutralyzing and condensing the liquid hydrolyzate, thereby obtaining an aqueous solution containing from 40 to 70% by weight of organic substances, adding a polar organic solvent in an amount of from 5 to 20 times by volume of the amount of the aqueous solution, thereby precipitating an insolubilized substance, removing the insolubilized substance from a mixture of the aqueous solution and the polar organic solvent, removing the polar organic solvent from the mixture, thereby obtaining an aqueous solution containing monosaccharides formed by the hydrolysis of gum arabic, and subjecting the thus obtained aqueous solution to strongly cationic ion-exchanging resin-chromatography and then to a method of adsorption and separation by using activated carbon, thereby obtaining the highly pure rhamnose from the aqueous solution.
摘要翻译：本文公开了一种由阿拉伯胶生产高纯度鼠李糖的方法，该方法包括在无机酸水溶液中部分水解阿拉伯树胶，中和并冷凝液体水解产物，由此得到含40-70％的有机物质，加入极性有机溶剂的量为水溶液的5至20倍体积，从而沉淀不溶物质，从水溶液和极性物质的混合物中除去不溶物质有机溶剂，从混合物中除去极性有机溶剂，从而得到含有通过阿拉伯树胶水解形成的单糖的水溶液，将得到的水溶液进行强阳离子离子交换树脂色谱法，然后进行吸附并通过使用活性炭分离，从而获得高纯度的鼠李糖在水溶液中。

15. 发明申请

US20120033058A1 Stereoscopic Video Display Apparatus and Display Method 审中-公开
标题翻译：立体视频显示装置及显示方法
公开(公告)号：US20120033058A1
公开(公告)日：2012-02-09
申请号：US13051844
申请日：2011-03-18
申请人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
发明人： Himio Yamauchi , Masatoshi Sano , Ritsuo Yoshida , Michihiro Fukushima , Masahiro Yamada
IPC分类号： H04N13/04
CPC分类号： H04N13/351 , H04N13/305 , H04N13/31 , H04N13/324 , H04N13/354
摘要： In one embodiment, a stereoscopic video display apparatus is configured to divide each of frames displaying a stereoscopic video into two subframes; assign one pixel from among the plurality of parallax images to each row in each subframe; display parallax images of a first group from among the plurality of parallax images in odd-numbered rows and displaying parallax images of a remaining second group from among the plurality of parallax images in even-numbered rows, when displaying one of the first and second subframes; and display parallax images of the second group in odd-numbered rows and displaying parallax images of the first group in even-numbered rows when displaying the other of the first and second subframes.
摘要翻译：在一个实施例中，立体视频显示装置被配置为将显示立体视频的每个帧分成两个子帧; 从多个视差图像中分配一个像素到每个子帧中的每一行; 在奇数行的多个视差图像中显示第一组的视差图像，并且当显示第一和第二子帧中的一个时，显示偶数行中的多个视差图像中剩余的第二组的视差图像 ; 并显示奇数行中的第二组的视差图像，并且当显示第一和第二子帧中的另一个时，显示偶数行中的第一组的视差图像。

16. 发明授权

US07558646B2 Cooperative control system of robots 有权
标题翻译：机器人协同控制系统
公开(公告)号：US07558646B2
公开(公告)日：2009-07-07
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： G05B19/042
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

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