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    • 23. 发明申请
    • INDICATED POSITION DETECTING APPARATUS AND INDICATED POSITION DETECTING METHOD
    • 指示位置检测装置和指示位置检测方法
    • US20110090761A1
    • 2011-04-21
    • US12902333
    • 2010-10-12
    • Toshiharu NishinoTetsushi YoshidaKunpei KobayashiMakoto Iwasaki
    • Toshiharu NishinoTetsushi YoshidaKunpei KobayashiMakoto Iwasaki
    • G01S3/80
    • G06F3/0433G06F3/043
    • An indicated position detecting apparatus includes a display module having a display screen, and a plurality of microphones to detect a contact sound to the display screen. The plurality of microphones are arranged at an outer peripheral portion of the display screen to be apart from each other. A time difference acquisition unit acquires arrival time differences of the contact sound between two microphones in each of two combinations of the plurality of microphones. A positional information acquisition unit derives two hyperbolas corresponding to the arrival time differences acquired by the time difference acquisition unit, each hyperbola having focal points at the two microphones in each of the two combinations of the plurality of microphones, and acquires an intersection of the two derived hyperbolas as information of a position where the contact sound is generated.
    • 指示位置检测装置包括具有显示屏的显示模块和用于检测与显示屏幕的接触声音的多个麦克风。 多个麦克风被布置在显示屏的外周部分以彼此分开。 时差获取单元获取多个麦克风的两个组合中的每一个中的两个麦克风之间的接触声音的到达时间差。 位置信息获取单元导出对应于由时差获取单元获取的到达时间差的两个双曲线,每个双曲线在多个麦克风的两个组合中的每一个中的两个麦克风处具有焦点,并且获取两个 导出的双曲线作为产生接触声音的位置的信息。
    • 25. 发明申请
    • Operating apparatus
    • 操作装置
    • US20090224717A1
    • 2009-09-10
    • US12379939
    • 2009-03-04
    • Hiroshi SawaragiKeisuke NagiriTakayoshi KawaiNobuyuki MatsuiMakoto Iwasaki
    • Hiroshi SawaragiKeisuke NagiriTakayoshi KawaiNobuyuki MatsuiMakoto Iwasaki
    • G05B11/42
    • G05B5/01
    • An operating apparatus including a main body, a movable member, a drive unit having a drive source, and a control unit controlling the drive source to control the position of the movable member relative to the main body. The control unit including a position control system and an acceleration control system. The position control system including a position command portion, a first feedforward compensator outputting a first operation command to the drive source, a second feedforward compensator, a positional-information acquiring device obtaining information related to the position of the movable member, and a first feedback compensator outputting a second operation command to the drive source. The acceleration control system including an acceleration-information acquiring device obtaining information related to an acceleration of the main body, a third feedforward compensator, a second feedback compensator outputting a third operation command to the drive source.
    • 一种操作装置,包括主体,可动构件,具有驱动源的驱动单元,以及控制驱动源以控制可动构件相对于主体的位置的控制单元。 控制单元包括位置控制系统和加速度控制系统。 位置控制系统包括位置指令部分,向驱动源输出第一操作命令的第一前馈补偿器,第二前馈补偿器,获取与可移动部件的位置相关的信息的位置信息获取装置和第一反馈 补偿器向驱动源输出第二操作命令。 该加速控制系统包括获取与主体的加速度有关的信息的加速度信息获取装置,第三前馈补偿器,向驱动源输出第三操作命令的第二反馈补偿器。
    • 27. 发明申请
    • Gas Generator
    • 燃气发电机
    • US20080156216A1
    • 2008-07-03
    • US10591007
    • 2005-03-01
    • Masahiro YoshidaShigeru MaedaMakoto IwasakiRyoi Kodama
    • Masahiro YoshidaShigeru MaedaMakoto IwasakiRyoi Kodama
    • F42C19/12F42C11/00
    • C06D5/06B60R21/2644B60R2021/26029C06C9/00F42B3/124
    • A gas generator including a plug (24) having a header part (45) and two or more electrode pins (22, 23), a thin-film bridge (25) having electrode pads (41, 42), and a squib (10) in which upon supply of electric current to the thin-film bridge (25) via the electrode pins (22, 23), the thin-film bridge (25) is activated to ignite ignition materials (26, 27), wherein the thin-film bridge (25) is arranged into a hollow (32) prepared at the plug (24) in such a manner that the thin-film bridge (25) is kept approximately on a level with the head (35) of the electrode pins (22, 23) and the header part (45) of the plug (24), the thin-film bridge (25) is connected by wire bonding to the electrode pins (22, 23) at the electrode pad parts (41, 42), and at least either of the electrode pad (41) or (42) of the thin-film bridge (25) is connected by the wire bonding to a metal part of the header part (45) of the plug (24).
    • 一种气体发生器,包括具有头部部分(45)和两个或更多个电极引脚(22,23)的插头(24),具有电极焊盘(41,42)和点火器(10)的薄膜桥接器 ),其中当经由所述电极引脚(22,23)向所述薄膜桥(25)供应电流时,所述薄膜桥(25)被激活以点燃点火材料(26,27),其中所述薄 - 薄膜桥(25)被布置成在插头(24)处制备的中空(32)中,使得薄膜桥(25)保持与电极引脚的头部(35)大致平齐 (22,23)和插头(24)的插头部分(45)之间,薄膜桥接器(25)通过引线接合连接到电极脚部分(41,42)处的电极引脚(22,23) ),并且薄膜桥(25)的电极焊盘(41)或(42)中的至少一个通过引线接合连接到插头(24)的集管部分(45)的金属部分。
    • 29. 发明授权
    • Method for controlling positioning of actuator comprising wave gear device
    • 用于控制包括波齿轮装置的致动器定位的方法
    • US08427094B2
    • 2013-04-23
    • US13080756
    • 2011-04-06
    • Yoshifumi OkitsuYuki KatoKozo SasakiMakoto Iwasaki
    • Yoshifumi OkitsuYuki KatoKozo SasakiMakoto Iwasaki
    • G05D23/275
    • G05D3/10G05B2219/41427G05B2219/41432
    • A method for controlling positioning of an actuator having a wave gear device uses an exact linearization technique to compensate effects relative to positioning control of a load shaft caused by the non-linear spring characteristics of the wave gear device. A plant model is constructed from the actuator, and linearized using the exact linearization technique; measurements are taken of non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model τg(θtw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the model and motor position of the model when a load acceleration command is a command value are entered into a processor arranged as a semi-closed loop control system for controlling positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.
    • 用于控制具有波形齿轮装置的致动器的定位的方法使用精确的线性化技术来补偿由波形齿轮装置的非线性弹簧特性引起的相对于负载轴的定位控制的影响。 从执行器构建工厂模型,并使用精确的线性化技术进行线性化; 测量波形齿轮装置相对于负载转矩的非线性弹性变形; 使用常数定义为零的三次多项式来定义非线性弹簧模型taug(thetatw),以允许重新创建测量结果; 当负载加速指令为指令值时,输入到模型中的模型和电机位置的当前输入被输入到布置为用于控制负载轴的定位的半闭环控制系统的处理器中作为前馈电流 指令和前馈电机位置指令。
    • 30. 发明授权
    • Method for compensating for angular transmission error of wave gear device
    • 波轮装置角度传播误差补偿方法
    • US08296089B2
    • 2012-10-23
    • US12865297
    • 2010-03-08
    • Kozo SasakiYoshifumi OkitsuToshio YajimaMakoto Iwasaki
    • Kozo SasakiYoshifumi OkitsuToshio YajimaMakoto Iwasaki
    • G01C17/38
    • G05B19/404F16H49/001G05B2219/41117G05B2219/41143G05B2219/42155G05B2219/49292H02P23/14
    • A positioning system (1) provided with an actuator (2) having a wave gear device (4) is driven and controlled by a semi-closed loop control for controlling the load position of a load device (5) based on the motor position of a motor shaft (31) of a motor (3). In a method for compensating for an angular transmission error by compensating for a motor shaft synchronous component θSync that occurs in synchrony with the motor position and is a relative rotation-synchronous component that includes an angular transmission error component of the wave gear device (4), the positioning system (1) is represented as a two-inertia model, and the motor shaft synchronous component θSync is represented as an oscillation source for producing a twisting action between the two inertia bodies in the two-inertia model. A motor current command iref is corrected by a compensation current command icomp calculated so as to allow the effect of the motor shaft synchronous component θSync on the load position to be compensated in this case, and a motor position command r is corrected by a motor position correction signal θcomp calculated in order to compensate for the effect of the motor shaft synchronous component θSync.
    • 设置有具有波齿轮装置(4)的致动器(2)的定位系统(1)通过半闭环控制来驱动和控制,用于基于电动机位置控制负载装置(5)的负载位置 马达(3)的马达轴(31)。 在通过补偿电动机轴同步分量来补偿角度传播误差的方法中,与电动机位置同步地发生同步,是相对旋转同步分量,其包括波齿轮装置的角度传递误差分量( 如图4所示,定位系统(1)表示为双惯量模型,电机轴同步部件和同步部件被表示为用于在双惯量模型中的两个惯性体之间产生扭转作用的振荡源。 通过计算出的补偿电流指令icomp校正电动机电流指令iref,以便允许电动机轴同步分量的影响;在这种情况下,在负载位置上的同步被补偿,并且电动机位置指令r由 电机位置校正信号和电压; comp计算,以补偿电机轴同步元件的影响;同步。