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1. 发明申请

US20060287769A1 Robot multi-arm control system 有权
标题翻译：机器人多臂控制系统
公开(公告)号：US20060287769A1
公开(公告)日：2006-12-21
申请号：US11381589
申请日：2006-05-04
申请人： Akihiro Yanagita , Jianming Tao , Tien Chang , Ho Wong , H. McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven Nickel , Hadi Akeel
发明人： Akihiro Yanagita , Jianming Tao , Tien Chang , Ho Wong , H. McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven Nickel , Hadi Akeel
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B25J9/1669 , G05B2219/33097 , G05B2219/33144 , G05B2219/33274 , G05B2219/34397 , G05B2219/34398 , G05B2219/39129 , G05B2219/40307
摘要： A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.
摘要翻译：机器人多臂控制系统包括机器人控制器，其通过网络通信以将同步信息从主控制器传送到一个或多个从属控制器，以便协调制造过程。同步处理和运动同步的事件定时时，系统会考虑网络通信延迟。

2. 发明申请

US20050048196A1 Control and system for dispensing fluid material 审中-公开
标题翻译：用于分配流体材料的控制和系统
公开(公告)号：US20050048196A1
公开(公告)日：2005-03-03
申请号：US10738841
申请日：2003-12-17
申请人： Akihiro Yanagita , Raymond Guzowski , Kishore Lankalapalli , Karl Wirth , David Bruce
发明人： Akihiro Yanagita , Raymond Guzowski , Kishore Lankalapalli , Karl Wirth , David Bruce
IPC分类号： B05B12/08 , B05C11/00 , B05C11/10 , B05D1/00
CPC分类号： B05B12/085 , B05C11/1013
摘要： A method for controlling a fluid delivery system that includes a controllable pressure regulating device, a pressure sensor, a flow meter, and a controller. Initial values of a compensation factor and a cracking pressure are established, and a pressure of the fluid at each of a plurality of time increments occurring during periods while the fluid is dispensed is measured. A volume of the fluid dispensed during a first period, an average pressure at the time internals during the first period, and an actual average flow rate during the first period are determined. Then the average pressure value, the average flow rate value, a new compensation factor and a new cracking pressure are used to determine a theoretical flow rate for controlling the pressure regulating device and producing a pressure corresponding to the target flow rate.
摘要翻译：一种用于控制包括可控压力调节装置，压力传感器，流量计和控制器的流体输送系统的方法。确定补偿因子和开启压力的初始值，并且测量在分配流体期间的周期期间发生的多个时间增量中的每一个处的流体的压力。确定在第一时段期间分配的流体的体积，第一时间段内部时的平均压力和第一时段期间的实际平均流量。然后，使用平均压力值，平均流量值，新的补偿系数和新的开启压力来确定用于控制压力调节装置的理论流量并产生对应于目标流量的压力。

3. 发明申请

US20050048195A1 Dispensing system and method of controlling the same 审中-公开
标题翻译：分配系统及其控制方法
公开(公告)号：US20050048195A1
公开(公告)日：2005-03-03
申请号：US10649977
申请日：2003-08-26
申请人： Akihiro Yanagita , Raymond Guzowski , Kishore Lankalapalli , Karl Wirth , David Bruce
发明人： Akihiro Yanagita , Raymond Guzowski , Kishore Lankalapalli , Karl Wirth , David Bruce
IPC分类号： B05B12/08 , B05C11/00 , B05C11/10 , B05D1/00
CPC分类号： B05B12/085 , B05C11/1013
摘要： A method of controlling a dispensing system (14) to dispense a viscous material (10) onto a workpiece (12) at an actual dispensing rate within a minimum deviation of a target dispensing rate is provided. The method includes dispensing the viscous material (10) onto the workpiece (12) during first (T1) and second (T2) time periods and measuring a pressure of the viscous material (10) after each of a plurality of time increments (ti) within the time periods (T1,T2). A theoretical volume of the viscous material (10) dispensed during each of the time periods (T1,T2) is determined based on the pressure measurements (P). An actual volume of the viscous material (10) dispensed during the first (T1) and second (T2) time periods is also measured. The theoretical and actual volumes are then compared to determine first (f1) and second (f2) new values for a compensation factor (f). The first (T1) and second (T2) time periods are consecutive such that the first new value (f1) for the compensation factor (f) compensates the actual dispensing rate in the second time period (T2) for changes in operational characteristics of the viscous material (10) and the dispensing system (14) that occurred in the first time period (T1).
摘要翻译：提供了一种控制分配系统（14）以在目标分配速率的最小偏差内以实际分配速率将粘性材料（10）分配到工件（12）上的方法。该方法包括在第一（T1）和第二（T2）时间段期间将粘性材料（10）分配到工件（12）上，并且在多个时间增量（ti）中的每一个之后测量粘性材料（10）的压力，在时间段（T1，T2）内。基于压力测量（P）确定在每个时间段（T1，T2）期间分配的粘性材料（10）的理论体积。还测量在第一（T1）和第二（T2）时间段期间分配的粘性材料（10）的实际体积。然后将理论和实际体积进行比较，以确定补偿因子（f）的第一（f1）和第二（f2）新值。第一（T1）和第二（T2）时间段是连续的，使得补偿因子（f）的第一新值（f1）补偿第二时间段（T2）中的实际分配速率，用于改变粘性材料（10）和在第一时间段（T1）中发生的分配系统（14）。

4. 发明授权

US06540104B1 Integral pneumatic dispenser and method for controlling same 有权
标题翻译：一体式气动分配器及其控制方法
公开(公告)号：US06540104B1
公开(公告)日：2003-04-01
申请号：US09608762
申请日：2000-06-30
申请人： Akihiro Yanagita , Douglas L. Potts , Raymond J. Guzowski
发明人： Akihiro Yanagita , Douglas L. Potts , Raymond J. Guzowski
IPC分类号： G01F1100
CPC分类号： B05B9/047 , B05B13/0431
摘要： A method is disclosed for providing a steady transition state for an integral pneumatic dispensing system that is related to a robot. The method dispenses a single material using a pneumatic dispensing system having a single output including first and second shotmeters having first and second meters, first and second encoders and first and second pressure transducers. The method includes the step of loading the first shotmeter with the material. Once loaded, a pressure is applied to the material. The material is then dispensed out of the first shotmeter by forcing the material through the single output. Once the material in the first shotmeter is dispensed to a predetermined volume, the method begins to transition the flow of material from the first shotmeter to the second shotmeter. The transition includes the control of the volume being dispensed and the pressure applied to the material. By controlling both the volume and the pressure of the material, the transition between the two shotmeters is smooth allowing for uninterrupted production. In addition, the volume of material being applied can be better monitored reducing the number of times the production has to stop due to inadvertently running out of material.
摘要翻译：公开了一种用于为与机器人相关的整体气动分配系统提供稳定过渡状态的方法。该方法使用具有单个输出的气动分配系统分配单一材料，其包括具有第一和第二仪表的第一和第二测量计，第一和第二编码器以及第一和第二压力换能器。该方法包括用材料装载第一喷射计的步骤。一旦加载，就会对材料施加压力。然后通过强制材料通过单个输出将材料分配到第一喷射计中。一旦将第一喷射计中的材料分配到预定体积，该方法开始将材料从第一喷射计转换到第二喷射计。该过渡包括对被分配的体积的控制和施加到材料上的压力。通过控制材料的体积和压力，两个喷射计之间的过渡是平稳的，允许不间断的生产。此外，可以更好地监控施加的材料的体积，从而减少由于无意中的材料流出而使生产停止的次数。

5. 发明申请

US20190010188A1 METHOD FOR PURIFYING COMPOSITION COMPRISING ANTIBODIES WITH ANIONIC POLYMER 审中-公开
公开(公告)号：US20190010188A1
公开(公告)日：2019-01-10
申请号：US15748736
申请日：2016-07-29
申请人： Seiya ITO , Akihiro Yanagita
发明人： Seiya ITO , Akihiro Yanagita
IPC分类号： C07K1/18 , C07K16/00
摘要： A composition containing an antibody is prepared in such a state that the composition contains an anionic polymer at pH lower than the pI of the antibody, and impurities insolubilized by the anionic polymer are removed. More preferably, the composition is prepared in such a state that the composition contains an anionic polymer at pH lower than or equal to the pI of the antibody minus one, and impurities insolubilized by the anionic polymer are removed.

6. 发明授权

US07860609B2 Robot multi-arm control system 有权
标题翻译：机器人多臂控制系统
公开(公告)号：US07860609B2
公开(公告)日：2010-12-28
申请号：US11381589
申请日：2006-05-04
申请人： Akihiro Yanagita , Jianming Tao , Tien L. Chang , Ho Cheung Wong , H. Dean McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven E. Nickel , Hadi Akeel
发明人： Akihiro Yanagita , Jianming Tao , Tien L. Chang , Ho Cheung Wong , H. Dean McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven E. Nickel , Hadi Akeel
IPC分类号： G06F19/00 , G06F15/16
CPC分类号： B25J9/1682 , B25J9/1669 , G05B2219/33097 , G05B2219/33144 , G05B2219/33274 , G05B2219/34397 , G05B2219/34398 , G05B2219/39129 , G05B2219/40307
摘要： A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.
摘要翻译：机器人多臂控制系统包括机器人控制器，其通过网络通信以将同步信息从主控制器传送到一个或多个从属控制器，以便协调制造过程。同步处理和运动同步的事件定时时，系统会考虑网络通信延迟。

7. 发明授权

US06360143B1 Error recovery methods for controlling robotic systems 有权
标题翻译：用于控制机器人系统的错误恢复方法
公开(公告)号：US06360143B1
公开(公告)日：2002-03-19
申请号：US09844462
申请日：2001-04-27
申请人： Akihiro Yanagita
发明人： Akihiro Yanagita
IPC分类号： G06F1900
CPC分类号： B25J9/1692 , G05B2219/39013 , G05B2219/39017 , G05B2219/40248 , G05B2219/50111
摘要： A method of controlling a dispensing system, having a robot that moves along a motion segment and applies a material to a workpiece, automatically determines a backup distance for the robot after an error has occurred during the dispensing of a first portion of the material. The backup distance is based on an operational speed of the robot. The robot is relocated to a backup position based on this backup distance to ensure that the robot reaches the operational speed at least by a time that the robot reaches a re-application position. The re-application position is at or near where the application of the first portion of the material ended. Therefore, gaps, overlaps, and puddles in the material on the workpiece are prevented.
摘要翻译：一种控制分配系统的方法，其具有沿着运动段移动并将材料施加到工件的机器人，在分配材料的第一部分期间在发生错误之后自动确定机器人的备用距离。备用距离是基于机器人的操作速度。机器人基于该备份距离重新定位到备用位置，以确保机器人至少在机器人达到重新施加位置的时候达到操作速度。重新施加位置处于或接近材料的第一部分的施加结束的地方。因此，防止工件上的材料中的间隙，重叠和水坑。

8. 发明授权

US06726773B1 Integral pneumatic dispenser and method for controlling same 有权
标题翻译：一体式气动分配器及其控制方法
公开(公告)号：US06726773B1
公开(公告)日：2004-04-27
申请号：US10254159
申请日：2002-09-25
申请人： Akihiro Yanagita , Douglas L. Potts , Raymond J. Guzowski
发明人： Akihiro Yanagita , Douglas L. Potts , Raymond J. Guzowski
IPC分类号： B05C502
CPC分类号： B05B9/047 , B05B13/0431
摘要： A method is disclosed for providing a steady transition state for an integral pneumatic dispensing system that is related to a robot. The method dispenses a single material using a pneumatic dispensing system having a single output including first and second shotmeters having first and second meters, first and second encoders and first and second pressure transducers. The method includes the step of loading the first shotmeter with the material. Once loaded, a pressure is applied to the material. The material is then dispensed out of the first shotmeter by forcing the material through the single output. Once the material in the first shotmeter is dispensed to a predetermined volume, the method begins to transition the flow of material from the first shotmeter to the second shotmeter. The transition includes the control of the volume being dispensed and the pressure applied to the material. By controlling both the volume and the pressure of the material, the transition between the two shotmeters is smooth allowing for uninterrupted production. In addition, the volume of material being applied can be better monitored reducing the number of times the production has to stop due to inadvertently running out of material.
摘要翻译：公开了一种用于为与机器人相关的整体气动分配系统提供稳定过渡状态的方法。该方法使用具有单个输出的气动分配系统分配单一材料，其包括具有第一和第二仪表的第一和第二测量计，第一和第二编码器以及第一和第二压力换能器。该方法包括用材料装载第一喷射计的步骤。一旦加载，就会对材料施加压力。然后通过强制材料通过单个输出将材料分配到第一喷射计中。一旦将第一喷射计中的材料分配到预定体积，该方法开始将材料从第一喷射计转换到第二喷射计。该过渡包括对被分配的体积的控制和施加到材料上的压力。通过控制材料的体积和压力，两个喷射计之间的过渡是平稳的，允许不间断的生产。此外，可以更好地监控施加的材料的体积，从而减少由于无意中的材料流出而使生产停止的次数。

9. 发明授权

US5170109A Method of controlling robot in event of a power failure 失效
标题翻译：在电力故障事件中控制机器人的方法
公开(公告)号：US5170109A
公开(公告)日：1992-12-08
申请号：US781169
申请日：1991-10-15
申请人： Akihiro Yanagita , Yoshiki Hashimoto , Hiroji Nishi
发明人： Akihiro Yanagita , Yoshiki Hashimoto , Hiroji Nishi
IPC分类号： B25J19/06 , B25J9/18 , G05B19/4067
CPC分类号： G05B19/4067 , G05B2219/34072 , G05B2219/34365 , G05B2219/45083 , Y10T307/615
摘要： Disclosed is a method of controlling a robot, for restarting the robot by resupplying an electric power in the event of a power failure. When a power failure detection circuit detects that a voltage has dropped or has been cut off, the circuit notifies an operating method (OS) of this (S1) and the OS writes a power failure flag to a non-volatile memory and stops a task being performed (S2). The data of the task being performed is saved in the non-volatile memory. After the electric power has been resupplied (S10), the OS executes a power failure processing for itself, with reference to the power failure flag (S11), initializes hardware (S12), executes a power failure processing routine for each task (S13), and restarts the operation of the robot from the position at which the robot was stopped when the power failure occurred (S14).
摘要翻译： PCT No.PCT / JP91 / 00303 Sec。 371日期1991年10月15日 102（e）日期1991年10月15日PCT 1991年3月1日PCT公布。 WO91 / 13732 PCT出版物日期1991年9月19日。公开是一种控制机器人的方法，用于在电源故障的情况下通过再供电来重新启动机器人。当电源故障检测电路检测到电压已经下降或已经被切断时，电路通知该（S1）的操作方法（OS），并且OS向非易失性存储器写入停电标志并停止任务（S2）。正在执行的任务的数据被保存在非易失性存储器中。在电力被重新供电之后（S10），OS参照电源故障标志（S11）自身执行停电处理，初始化硬件（S12），对每个任务执行停电处理程序（S13）并且在发生停电时从机器人停止的位置重新开始机器人的动作（S14）。

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