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    • 47. 发明授权
    • Object handling apparatus
    • 物品处理装置
    • US07244093B2
    • 2007-07-17
    • US10627722
    • 2003-07-28
    • Atsushi WatanabeKazuhisa OtsukaMasaru OdaTadanori Suzuki
    • Atsushi WatanabeKazuhisa OtsukaMasaru OdaTadanori Suzuki
    • B25J9/16
    • B25J9/1697G05B2219/39533G05B2219/40583
    • An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled.
    • 一种能够可靠地保持物体并将被保持物体从第一位置精确地传送到第二位置的物体处理装置,而不需要用于将物体定位在托盘上的特定夹具。 通过第一视觉传感器检测提供给第一位置的物体的位置,以获得用于补偿所提供物体的位置偏移的补偿量。 该物体由具有位置/方位补偿的机器人手保持,使用补偿量,并且通过第二视觉传感器检测由机器人手相对于机器人手保持的对象的位置/方位。 基于检测到的机器人手上的物体的位置/取向来补偿由机器人手保持的物体的位置/取向与基准位置/取向的位移,使得由机器人手保持的物体被精确地移动 以具有预定的位置/方向被转移到第二位置。 机器人手可以是具有由一个或多个伺服电机驱动的手指的伺服手,从而控制手指在保持物体时的位置和力。
    • 48. 发明申请
    • Operation condition setting system
    • 操作条件设定系统
    • US20070091752A1
    • 2007-04-26
    • US10554241
    • 2005-02-22
    • Atsushi WatanabeJunichi HorigomeMasayoshi NagayaMasatoshi NishinoSusumu SeinoMasahiro Uchida
    • Atsushi WatanabeJunichi HorigomeMasayoshi NagayaMasatoshi NishinoSusumu SeinoMasahiro Uchida
    • G11B7/00
    • G11B7/00456G11B7/0045G11B7/00736G11B2007/0006
    • The present invention makes it possible to set an operating condition enabling the best recording characteristic to be obtained for any kind of recording media, even in the case where the recording medium is combined with any kind of drive devices. According to the present invention, even in the case where a unknown and new kind of recording medium is loaded into the drive device, a piece of first operating condition information for an optical system suitable for a combination of the drive device and the new kind of recording media is read from a specific read only area provided for the recording medium, and an operating condition enabling the best operating characteristic to be obtained is set by using the first operating condition information, as a result of which even in the case where any kind of recording medium and any kind of drive device are combined, the operating condition for enabling the best recording characteristic to be obtained for the recording medium, can be set in the drive device.
    • 本发明即使在记录介质与任何种类的驱动装置组合的情况下,也可以为任何类型的记录介质设置能够获得最佳记录特性的操作条件。 根据本发明,即使在未知和新型的记录介质被装载到驱动装置中的情况下,也可以使用适于驱动装置和新型记录媒体的组合的光学系统的第一操作条件信息 从为记录介质提供的特定的只读区域读取记录介质,并且通过使用第一操作条件信息来设置能够获得最佳操作特性的操作条件,结果即使在任何类型的情况下 的记录介质和任何种类的驱动装置组合,可以在驱动装置中设置用于使记录介质获得最佳记录特性的操作条件。
    • 49. 发明授权
    • Position-orientation recognition device
    • 位置方向识别装置
    • US07171041B2
    • 2007-01-30
    • US09950794
    • 2001-09-13
    • Atsushi WatanabeKatsutoshi TakizawaKazunori Ban
    • Atsushi WatanabeKatsutoshi TakizawaKazunori Ban
    • G06K9/00G06T15/00
    • B25J9/1697G05B2219/39393G05B2219/40053G05B2219/40613
    • Upon reception of a work sensing command from a robot controller, an image processing unit obtains a two-dimensional image of thee whole work pallet including a work, with a CCD camera (a first sensor means). A line of sight is calculated based on the work position on the sensed two-dimensional image. The robot controller determines the destination of movement of the robot such that a crossing line LC of slit beams LB1, LB2 of a laser sensor (a second sensor means) can agree with the calculated line of eight. The image processing unit operates the laser sensor so as to surely irradiate the laser slit beams LB1, LB2 to the target work, permitting the laser sensor to sense the three-dimensional positional and orientation of the target work.
    • 在从机器人控制器接收到作业感测命令时,图像处理单元利用CCD照相机(第一传感器装置)获得包括作品的整个工作托盘的二维图像。 基于感测的二维图像上的工作位置来计算视线。 机器人控制器确定机器人的运动的目的地,使得激光传感器(第二传感器装置)的狭缝梁LB1,LB2的交叉线LC可以与所计算的八条线一致。 图像处理单元操作激光传感器,以确保将激光狭缝束LB1,LB2照射到目标工件上,允许激光传感器感测目标工件的三维位置和取向。
    • 50. 发明授权
    • Valve timing control apparatus
    • 气门正时控制装置
    • US07150251B2
    • 2006-12-19
    • US11133301
    • 2005-05-20
    • Atsushi WatanabeIsao HayaseSeiji SugaTakanori SawadaTomoya Tsukada
    • Atsushi WatanabeIsao HayaseSeiji SugaTakanori SawadaTomoya Tsukada
    • F01L1/34
    • F01L1/3442F01L1/34409
    • The invention intends to improve a response by utilizing a rotational variable torque of a cam shaft. Communication paths respectively communicating an advance hydraulic chamber and a retard hydraulic chamber provided in a second rotary member and a hydraulic connecting passage are provided so as to be communicated, at a time when a control member intending to improve a response by moving a phase angle control slider in an axial direction or a rotational direction in correspondence to an operating state such as an advance, a retard or the like so as to intermittently communicate an advance chamber communication path and a retard chamber communication path with a hydraulic chamber connecting groove only in a section in which a cam shaft variable torque in an operating direction is applied, is controlled in a rotating region, and a relative rotation of a third rotary member and the second rotary member stops.
    • 本发明旨在通过利用凸轮轴的旋转可变扭矩来改善响应。 在设置在第二旋转构件和液压连接通道中的分别连通前进液压室和延迟液压室的通信路径被设置成在通过移动相位角控制来改善响应的控制构件时被连通 滑块相对于诸如前进,延迟等的操作状态沿轴向或旋转方向间歇地连通前进室连通路径和延迟室连通路径,其中液压室连通槽仅在 其中施加有操作方向的凸轮轴可变扭矩的区段被控制在旋转区域中,并且第三旋转构件和第二旋转构件的相对旋转停止。