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81. 发明授权

US5204598A Method and apparatus for stopping an industrial robot 失效
标题翻译：用于停止工业机器人的方法和装置
公开(公告)号：US5204598A
公开(公告)日：1993-04-20
申请号：US773593
申请日：1991-11-21
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Tamotsu Sakai
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Tamotsu Sakai
IPC分类号： B25J13/08 , B25J9/06 , B25J9/16 , B25J9/18 , B25J19/06
CPC分类号： B25J19/06 , B25J9/1674 , B25J9/1676 , G05B2219/45083 , G05B2219/49142
摘要： An industrial robot having a plurality of axes drivable by respective servomotors is stopped in operation after detecting a collision of the industrial robot with foreign matter. The monitoring of a position error of a servomotor for the axis with respect to which the collision is detected is stopped (S11), and the speed command for that axis is set to "0" (S12). A reverse torque is generated (S13) to decelerate and stop the servomotor. After elapse of a predetermined period of time (S14), the monitoring of a position error is resumed (S15). If the position error exceeds a predetermined value (S31), then an alarm is activated (S32). Then, currents supplied to all the servomotors are cut off (S33), thus stopping the operation of the robot in a short period of time.
摘要翻译： PCT No.PCT / JP91 / 00353 Sec。 371日期1991年11月21日 102（e）日期1991年11月21日PCT 1991年3月13日PCT公布。出版物WO91 / 14544 日期为1991年10月3日。在检测到工业机器人与异物的碰撞后，停止具有由各个伺服电动机驱动的多个轴的工业机器人。检测到相对于检测到碰撞的轴的伺服电机的位置误差的停止（S11），将该轴的速度指令设定为“0”（S12）。产生逆转矩（S13），使伺服电机减速停止。在经过预定时间段（S14）之后，恢复对位置误差的监视（S15）。如果位置误差超过预定值（S31），则报警被激活（S32）。然后，切断供给所有伺服电动机的电流（S33），从而在短时间内停止机器人的动作。

82. 发明授权

US5185512A Laser robot with heat eliminating means 失效
标题翻译：具有热消除手段的激光机器人
公开(公告)号：US5185512A
公开(公告)日：1993-02-09
申请号：US720821
申请日：1991-07-15
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
IPC分类号： B23K26/08 , B23K26/10 , B23K26/42 , B25J19/00
CPC分类号： B23K26/0884 , B23K26/703 , B25J19/00 , B25J19/0054
摘要： A heat eliminator intercepts a heat transmission in a laser robot which has a robot base (12), a robot arm (16) joined for swing motion to a robot swivel post (14) set upright on the robot base (12), a laser beam projecting unit (20) attached to an extreme end of the robot arm (16), and a drive motor (Mv) for driving the robot arm (16) for a swing motion through a precision transmission mechanism (30, 32, 34) inserted between the robot swivel post and the robot arm, from the drive motor to the precision transmission mechanism. The heat eliminator is provided with a bracket member (26) arranged between the precision transmission mechanism (30, 32, 34) and the drive motor (Mv) with one end in contact with the end surface of the drive motor on the side of the output shaft thereof and the other end in contact with the precision transmission mechanism, and an annular cooling water passage (50) formed in the bracket member (26). Cooling water is supplied into the annular cooling water passage (50) formed in the bracket member (26) from a cooling water source (70) for supplying cooling water to the laser beam conduit lines of the robot arm (16) to cool the bracket member (26) to absorb heat generated by the drive motor (Mv) by the bracket member (26), so that the heat transmission to the precision transmission mechanism (30, 32, 34) is intercepted.
摘要翻译： PCT No.PCT / JP90 / 01627 Sec。 371日期1991年7月15日 102（e）日期1991年7月15日PCT 1990年12月12日PCT PCT。公开号WO91 / 08858 日期：1991年6月27日。一种除热器拦截了具有机器人基座（12）的机器人基座（12），机器人手臂（16），用于摆动运动的机器人旋转支架（14）上的热传递。基座（12），安装在机器人手臂（16）的前端的激光束投影单元（20），以及用于通过精密传动机构驱动机器人手臂（16）进行摆动的驱动马达（Mv）（30,32,34），其从所述驱动马达到所述精密传动机构插入所述机器人旋转柱和所述机器人手臂之间。除热器设置有布置在精密传动机构（30,32,34）和驱动马达（Mv）之间的托架构件（26），其一端与驱动马达的端面相接触输出轴，另一端与精密传动机构接触，以及形成在支架构件（26）中的环形冷却水通道（50）。冷却水从用于向机器人手臂（16）的激光束导管供给冷却水的冷却水源（70）供给到形成在支架构件（26）中的环形冷却水通道（50）中，以冷却支架构件（26），用于吸收由支架构件（26）由驱动电动机（Mv）产生的热量，使得对精密传动机构（30,32,34）的传热被截断。

83. 发明授权

US5147796A Alkaline pullulanase Y having .alpha.-amylase activity 失效
标题翻译： ALKALINE PULLULANASE Y HAVING（ALPHA） - 酰胺酶活性
公开(公告)号：US5147796A
公开(公告)日：1992-09-15
申请号：US825314
申请日：1992-01-27
申请人： Katsutoshi Ara , Katsuhisa Saeki , Kazuaki Igarashi , Susumu Ito
发明人： Katsutoshi Ara , Katsuhisa Saeki , Kazuaki Igarashi , Susumu Ito
IPC分类号： C12N9/44
CPC分类号： C12N9/2417 , C12N9/2457 , C12Y302/01041 , Y10S435/832
摘要： An isolated alkaline pullulanase Y having .alpha.-amylase activity; a microorganism producing the alkaline pullulanase Y; and a process for producing the alkaline pullulanase Y are disclosed. The alkaline pullulanase Y having .alpha.-amylase activity has its optimum pH at higher alkaline range than conventional alkaline pullulanases and exhibits excellent stability in a wide pH range. Further, the alkaline pullulanase Y has strong resistance to almost all detergent components such as surfactants, chelating agents, proteases for detergents, and the like. Thus the alkaline pullulanase Y can advantageously be used as a detergent component.
摘要翻译：具有α-淀粉酶活性的分离的碱性支链淀粉酶Y; 产生碱性支链淀粉酶Y的微生物; 并公开了制备碱性支链淀粉酶Y的方法。具有α-淀粉酶活性的碱性支链淀粉酶Y具有比常规碱性支链淀粉酶更高的碱性范围的最佳pH，并且在宽pH范围内表现出优异的稳定性。此外，碱性支链淀粉酶Y对几乎所有的洗涤剂组分如表面活性剂，螯合剂，用于洗涤剂的蛋白酶等都具有很强的抗性。因此，碱性支链淀粉酶Y可以有利地用作洗涤剂组分。

84. 发明授权

US5147795A Alkaline pullulanase from Bacillus sp. FERM P-10887 失效
标题翻译：来自BACILLUS SP的ALKALINE PULLULANASE FERM P-10887
公开(公告)号：US5147795A
公开(公告)日：1992-09-15
申请号：US575434
申请日：1990-08-30
申请人： Katsutoshi Ara , Kazuaki Igarashi , Katsuhisa Saeki , Susumu Ito
发明人： Katsutoshi Ara , Kazuaki Igarashi , Katsuhisa Saeki , Susumu Ito
IPC分类号： C12N9/44
CPC分类号： C12Y302/01041 , C12N9/2457 , Y10S435/832
摘要： A novel alkaline pullulanase; a microorganism producing the alkaline pullulanase; and a process for producing the alkaline pullulanase are disclosed. The alkaline pullulanase of the present invention has a higher optimum pH range (pH 9.5-11) than conventional alkaline pullulanases and shows excellent stability in a wider pH range. It has also an optimum temperature of higher than 50.degree. C. and is thermally stable up to 40.degree. C. The alkaline pullulanase has also strong reistance to almost all detergent components such as surfactants, chelating agents, proteases for detergents, and the like. The alkaline pullulanase can advantageously be used as a detergent component. Also, it can be utilized for producing many kinds of oligosaccharides and also together with .alpha.-amylase for producing various monosaccharides.

85. 发明授权

US5140129A Multi-articulated arm type industrial laser robot 失效
标题翻译：多功能ARM型工业激光机器人
公开(公告)号：US5140129A
公开(公告)日：1992-08-18
申请号：US668498
申请日：1991-03-18
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B23K26/08 , B23K26/10 , B25J19/00
CPC分类号： B23K26/0884 , B25J19/0037
摘要： A laser beam passage (10) arranged outside a robot unit of a multi-articulated arm type industrial laser robot has a base (71), a swivel body (72), a first robot arm (74) supported for swing motion, a second robot arm (76) pivotally joined to the first robot arm (74), and a robot wrist (80) attached to an front end of the second robot arm (76) and provided with a laser beam emitting head (79) to connect a laser oscillator (12) to a laser beam receiving unit (77) provided on a rear end of the second robot arm (76). The laser beam passage means (10) has a first laser beam shifting system (20) routing a laser beam emitted by the laser oscillator (12) to an extremity thereof, and having a plurality of rotary joints (R.sub.1, R.sub.2), one telescopic linear-motion joint (S.sub.1), a plurality of laser beam conduits (24, 26) and built-in laser beam reflecting mirrors (25, 27); and a second laser beam shifting system (30) routing the laser beam from the extremity of the first laser beam shifting system (20) toward the laser beam receiving unit (77) attached to the rear end of the second robot arm (76), and having a plurality of rotary joints (R.sub.4 to R.sub.6), a plurality of laser beam conduits (32, 35, 37) and built-in laser beam reflecting mirrors (34, 36).
摘要翻译： PCT No.PCT / JP90 / 00920 Sec。 371日期1991年3月18日 102（e）1991年3月18日PCT PCT 1990年7月17日PCT公布。公开号WO91 / 01194 日本专利公报2001年2月7日。一种设置在多关节臂式工业激光机器人的机器人单元外侧的激光束通路（10）具有基座（71），旋转体（72），第一机器人手臂（74）支撑摆动运动的第二机器人臂（76）和枢轴连接到第一机器人手臂（74）的第二机器人手臂（76）和安装在第二机器人手臂（76）前端的机械手腕（80）头部（79）将激光振荡器（12）连接到设置在第二机器人臂（76）的后端上的激光束接收单元（77）。激光束通道装置（10）具有将由激光振荡器（12）发射的激光束路由到其末端的第一激光束移动系统（20），并且具有多个旋转接头（R1，R2），一个伸缩线性运动接头（S1），多个激光束导管（24,26）和内置的激光束反射镜（25,27）; 以及将激光束从第一激光束移动系统（20）的末端引导到附接到第二机器人臂（76）的后端的激光束接收单元（77）的第二激光束移动系统（30）并具有多个旋转接头（R4〜R6），多个激光束导管（32,35,37）和内置激光束反射镜（34,36）。

86. 发明授权

US5132887A Multi-articulation type robot for laser operation 失效
标题翻译：用于激光操作的多功能型机器人
公开(公告)号：US5132887A
公开(公告)日：1992-07-21
申请号：US499339
申请日：1990-06-15
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
IPC分类号： B25J17/00 , B23K26/08 , B23K26/10 , B25J17/02 , B25J18/04 , B25J19/00
CPC分类号： B23K26/0884 , B25J17/0283 , B25J18/04 , B25J19/0037
摘要： A multi-articulation type robot for a laser operation by emitting a beam of laser into a desired position in a three-dimensional space, and provided with a first hollow robot arm (16) swingably pivoted to an upper end of a robot swivel body (14) mounted on a robot base (12), a second hollow robot arm (18) swingably pivoted to a front end of the first robot arm (16) and rotatable about a central axis of the second robot arm per se, and a robot wrist (20) mounted on a front end of the second robot arm (18) and provided with a laser beam collecting unit (22) having a laser beam emitting outlet (22a), the robot wrist (20) being provided with motion transmitting mechanisms for converting first and second rotative inputs transmitted by a first and second hollow rotatable drive shafts (30a and 30b) arranged inside the second robot arm (18) into motions by which the laser beam collecting unit (22) is rotated about an axis orthogonal to an axis along which a laser beam is emitted, and to move the unit (22) forward and back along the axis of the laser emission.

87. 发明授权

US5105136A Structure of shaft supporter in industrial robot 失效
标题翻译：工业机器人轴支架结构
公开(公告)号：US5105136A
公开(公告)日：1992-04-14
申请号：US465115
申请日：1990-02-20
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
IPC分类号： B25J9/04 , B25J9/00 , B25J9/02 , B25J18/02
CPC分类号： B25J9/0009 , B25J18/02 , Y10T74/18856 , Y10T74/19181
摘要： A gear box (30) housing a reduction gear unit (24) and supporting a drive motor (22), and a elongated screw shaft (12) is fitted over a base plate (14) so that an area of a shaft supporter (10) projected in a plane perpendicular to a longitudinal direction of the elongated screw shaft is reduced, which supporter supports both ends of the elongaged screw shaft (12) for moving a movable element such as an arm of an industrial robot in a predetermined direction. Furthermore, a circular boss portion (32b) provided at the lower face of the gear box (30) and a hole (14a) provided at the base plate (14) are used for positioning the gear box on the base plate (14), and the positioning in a height direction is achieved by positioning elements (40) having a predetermined height dimension when the gear box (30) is attached to the base plate (14).
摘要翻译： PCT No.PCT / JP89 / 00619 Sec。 371日期1990年2月20日 102（e）1990年2月20日PCT PCT。 WO89 / 12531 PCT出版物日期：1989年12月28日。一个容纳减速齿轮单元（24）并支撑驱动马达（22）的齿轮箱（30）和细长的螺杆轴（12），装在基板（14）上，在垂直于细长螺杆轴的纵向的平面中突出的轴支撑件（10）的面积减小，该支撑件支撑延伸螺纹轴（12）的两端，用于移动诸如工业的臂的可移动元件机器人沿预定方向。此外，设置在齿轮箱（30）的下表面处的圆形凸台部分（32b）和设置在基板（14）上的孔（14a）用于将齿轮箱定位在基板（14）上，并且当齿轮箱（30）附接到基板（14）时，通过定位具有预定高度尺寸的元件（40）来实现高度方向上的定位。

88. 发明授权

US5050157A Friction reducing piezoelectric feed guide mechanism 失效
标题翻译：减压压电式给料机构
公开(公告)号：US5050157A
公开(公告)日：1991-09-17
申请号：US272825
申请日：1988-11-18
申请人： Masafumi Miura , Susumu Ito
发明人： Masafumi Miura , Susumu Ito
IPC分类号： B41J19/20 , B65G54/02 , F16C32/00 , F16C32/04 , G11B7/085 , G11B21/02
CPC分类号： G11B7/08582
摘要： A feed guide mechanism for guiding a reciprocating movable member with a guide member having tabular elastic members forming a guide surface for guiding the reciprocal movement of the movable member on one surface thereof. A piezoelectric member with alternately polarized portions are attached to an opposite surface of the guide member. The piezoelectric member undergoes a polarization so that application of an alternating current produces a standing wave to urge the movable member upward and reduce friction.
摘要翻译：一种用于引导往复运动件的导向机构，该导向件具有形成导向表面的平板状弹性件，用于引导可动件在其一个表面上的往复运动。具有交替极化部分的压电元件附着在引导件的相对表面上。压电元件经历极化，使得施加交流电产生驻波，以向上推动可移动元件并减少摩擦。

89. 发明授权

US4980875A Magneto-optical disk with perpendicular magnetic anisotropy film and high corrosion-resistant film 失效
标题翻译：具有垂直磁各向异性薄膜和高耐腐蚀薄膜的磁光盘
公开(公告)号：US4980875A
公开(公告)日：1990-12-25
申请号：US264381
申请日：1988-10-31
申请人： Nobuyuki Ishiwata , Chizuko Wakabayashi , Takayuki Matsumoto , Toshiyuki Okumura , Junichi Homma , Susumu Ito
发明人： Nobuyuki Ishiwata , Chizuko Wakabayashi , Takayuki Matsumoto , Toshiyuki Okumura , Junichi Homma , Susumu Ito
IPC分类号： G11B11/10 , G11B11/105
CPC分类号： G11B11/10584 , G11B11/10586
摘要： A Magneto-Optical disk having a transparent substrate, a Magneto-Optical film formed on the transparent substrate and a high corrosion-resistant film laminated on the Magneto-Optical film. The Magneto-Optical film is made of a perpendicular magnetic anisotropy material, the corrosion-resistant film is made of a metal or metal alloy. A foundation protecting layer may be formed on the transparent substrate with the Magneto-Optical film and the corrosion resistant film formed thereon. The Magneto-Optical film may be a plurality of films laminated alternately with a plurality of corrosion-resistant films.
摘要翻译：具有透明基板的磁光盘，形成在透明基板上的磁光膜和层叠在磁光膜上的高耐腐蚀膜。磁光膜由垂直磁各向异性材料制成，耐腐蚀膜由金属或金属合金制成。可以在透明基板上形成基础保护层，其上形成有磁光膜和耐腐蚀膜。磁光膜可以是与多个耐腐蚀膜交替层叠的多个膜。

90. 发明授权

US4892800A Photosensitive member having a photoconductive layer comprising a carbonic film for use in electrophotography 失效
标题翻译：具有光电导层的感光构件，其包含用于电子照相术的碳膜
公开(公告)号：US4892800A
公开(公告)日：1990-01-09
申请号：US98314
申请日：1987-09-18
申请人： Masao Sugata , Tatsuo Takeuchi , Hiroshi Satomura , Yoshihiro Oguchi , Akio Maruyama , Keishi Saito , Tohru Den , Susumu Ito , Keiji Hirabayashi , Keiko Ikoma , Noriko Kurihara , Kuniji Osabe
发明人： Masao Sugata , Tatsuo Takeuchi , Hiroshi Satomura , Yoshihiro Oguchi , Akio Maruyama , Keishi Saito , Tohru Den , Susumu Ito , Keiji Hirabayashi , Keiko Ikoma , Noriko Kurihara , Kuniji Osabe
IPC分类号： G03G5/082
CPC分类号： G03G5/08285
摘要： An improved photosensitive member for use in electrophotography which is characterized by having a substrate and a photoconductive layer comprising a carbonic film, the nucleus of which matrix being carbon atom, which contains 30 atomic % or less of hydrogen atom and at least one selected from the elements of Group III and Group V of the Periodic Table, and which has an optical band gap of more than 1.5 eV and an electrical conductivity of 10.sup.-11 .OMEGA..sup.-1 cm.sup.-1 or less.It is always and substantially stable regardless of the changes in use environments and it enables to make highly resolved images with a clear half-tone which are highly dense and quality at high speed.
摘要翻译：一种用于电子照相术的改进的感光构件，其特征在于具有基底和包含碳膜的光电导层，所述基底为碳原子，其中含有30原子％以下的氢原子的基团和选自元素周期表第III族和第V族，其光学带隙大于1.5eV，电导率为10-11ΩEG-1cm-1或更小。无论使用环境如何变化，都能始终保持稳定的稳定性，并且能够以高密度和高质量的清晰的半色调制作出高分辨率的图像。

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