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    • 52. 发明授权
    • Robot control apparatus with function for robot backward operation
    • 具有机器人反向运转功能的机器人控制装置
    • US06285921B1
    • 2001-09-04
    • US09011963
    • 1998-02-20
    • Takayuki ItoTetsuya KosakaTakeaki Aramaki
    • Takayuki ItoTetsuya KosakaTakeaki Aramaki
    • G05B1900
    • G05B19/408G05B2219/34332G05B2219/36558
    • A robot control apparatus having an expanded and improved backward operation function. During forward operation according to an operation program, command types, line numbers, robot positions, I/O signal states before execution of related commands, and values before execution of computation commands are stored in a history table. In the backward operation, the data written in the history table is read backward, command type discrimination is made, and backward operation processing is executed in accordance with the result of discrimination. For backward operation dedicated commands, a separately taught backward operation dedicated command is read and executed. If, however, the read command is a command to output a signal to a cooperative device, the signal output command is executed after completion of the robot motion to the stored position. For I/O commands, I/O signals are automatically inverted or are individually set after the motion to the stored position is completed.
    • 具有扩展且改进的向后操作功能的机器人控制装置。 在根据操作程序的正向操作期间,命令类型,行号,机器人位置,执行相关命令之前的I / O信号状态以及执行计算命令之前的值被存储在历史表中。 在向后操作中,写入历史表中的数据被反向读取,进行命令类型鉴别,并且根据鉴别结果执行后向操作处理。 对于后向操作专用命令,读取并执行单独教导的反向操作专用命令。 然而,如果读取命令是向合作装置输出信号的命令,则在完成机器人运动之后执行信号输出命令到存储位置。 对于I / O命令,I / O信号自动反转或在存储位置的运动完成后单独设置。
    • 53. 发明授权
    • Zoom lens system
    • 变焦镜头系统
    • US06268966B1
    • 2001-07-31
    • US09465782
    • 1999-12-17
    • Shinichiro IshiiTakayuki Ito
    • Shinichiro IshiiTakayuki Ito
    • G02B1514
    • G02B15/161
    • The zoom lens system includes a positive first lens group and a negative second lens group that are arranged from an object side. The lens groups move along an optical axis to change the distance therebetween for zooming. The first lens group includes a negative first lens unit and a positive second lens unit that are arranged from the object side and each of the first and second units of the first lens group includes at least one negative lens. The zoom lens system of the present invention satisfies the following conditions (1), (2), (3) and (4); −3.1
    • 变焦透镜系统包括从物体侧布置的正的第一透镜组和负的第二透镜组。 透镜组沿着光轴移动以改变它们之间的距离用于变焦。 第一透镜组包括从物体侧布置的负第一透镜单元和正第二透镜单元,并且第一透镜组的第一和第二单元中的每一个包括至少一个负透镜。 本发明的变焦透镜系统满足以下条件(1),(2),(3)和(4);其中整个系统的焦距是最长的,f1a是第一透镜单元的焦距; f1b 是第二透镜单元的焦距; n1an是第一透镜单元中的负透镜的折射率; 而nbn是第二透镜单元中的负透镜的折射率。
    • 57. 发明授权
    • Method for teaching welding torch orientation
    • 焊枪方向教学方法
    • US5845053A
    • 1998-12-01
    • US548146
    • 1995-10-25
    • Atsushi WatanabeTakayuki ItoTatsuo Karakama
    • Atsushi WatanabeTakayuki ItoTatsuo Karakama
    • B23K9/12B23K9/127B25J9/22G05B19/42G06F15/18
    • B23K9/12B23K9/16B23K9/32G05B19/427G05B2219/45104Y02P90/265
    • First, an operator sequentially teaches the start point A, the end point F and junction points B, C, D, E on the welding path by moving the torch head by jog feed without paying attention to the torch orientation. Next, a reference plane to define the orientation of the torch is specified, and an inclination angle and a forward angle representing the torch orientation be inputted into a robot controller. On the basis of these inputted angle data and the taught data, a basic welding orientation is automatically calculated. Further auxiliary points are set around the junction points B through E each forming corner parts connecting straight lines; tool vectors which may give a smooth torch orientation change through the corner parts are automatically calculated for the auxiliary points and the junction points; and on the basis of the results, a welding program is produced. Among elements which determine the torch orientation, an element relating to the rotation around the torch axis reflects the state at the time of teaching of points A to E.
    • 首先,操作者通过点动进给来移动割炬头,而不注意割炬方向,顺序地教导焊接路径上的起点A,终点F和结点B,C,D,E。 接下来,指定用于限定割炬定向的参考平面,并且将表示割炬方位的倾斜角度和向前角度输入到机器人控制器中。 基于这些输入的角度数据和教导的数据,自动计算基本的焊接取向。 另外辅助点设置在连接点B至E周围,每个连接点形成连接直线的拐角部分; 自动计算辅助点和连接点的刀具向量,可以给出通过拐角部分平滑的手电筒取向变化; 并根据结果,生产焊接程序。 在确定割炬方向的元件中,与割炬轴线周围的旋转有关的元件反映了点A到E的教学时的状态。
    • 58. 发明授权
    • Method and system for displaying vector data as stream lines in a space
represented by tetrahedral cells
    • 在由四面体细胞表示的空间中显示矢量数据作为流线的方法和系统
    • US5764872A
    • 1998-06-09
    • US495766
    • 1995-06-27
    • Koji KoyamadaTakayuki Ito
    • Koji KoyamadaTakayuki Ito
    • G06F17/50G06T7/00G06T11/20G06T17/20G06T17/00
    • G06T17/20
    • A method and apparatus for displaying stream lines in a space are disclosed. First, the space is divided into a plurality of tetrahedral cells. Position data of each vertex of the tetrahedral cells and vector data at each position are collected. A critical point for each tetrahedral cell is then computed. The critical point is within the tetrahedral cell and for which the vector data becomes zero. Using the collected position and vector data, a Jacobian matrix J is calculated when such a critical point is found, and eigenvalues of the Jacobian matrix J are also calculated. Next, the starting point of a stream line within a tetrahedral cell is calculated for each of the eigenvalues by moving a microscopic distance from the critical point. Finally, a stream line is calculated from the starting point, and the stream line is displayed.
    • 公开了一种用于在空间中显示流线的方法和装置。 首先,空间被分成多个四面体单元。 收集每个位置的四面体单元和矢量数据的每个顶点的位置数据。 然后计算每个四面体单元的临界点。 临界点在四面体单元内,向量数据变为零。 使用收集的位置和向量数据,当发现这样的临界点时计算雅可比矩阵J,并且还计算雅可比矩阵J的特征值。 接下来,通过从临界点移动微观距离,为每个特征值计算四面体单元内的流线的起始点。 最后,从起始点计算流线,并显示流线。