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1. 发明授权

US09612727B2 Task changing apparatus, task changing method, and task changing program 有权
公开(公告)号：US09612727B2
公开(公告)日：2017-04-04
申请号：US14185483
申请日：2014-02-20
申请人： Fuminori Saito , Kunimatsu Hashimoto
发明人： Fuminori Saito , Kunimatsu Hashimoto
IPC分类号： G06F3/048 , G06F3/0484 , B25J9/16
CPC分类号： G06F3/0484 , B25J9/1661 , G05B2219/40095 , G05B2219/40099
摘要： A task changing apparatus changes a task program executed by a robot. The task changing apparatus includes: a storage unit that stores a task program including a plurality of hierarchical levels arranged in a tree-like structure representing a plurality of pieces of task information executed by the robot and lower-order task information associated with the task information; a display control unit that causes the task information to be displayed on a display screen of a display unit so as to allow setting of the task information, the task information being associated with each other for each hierarchical level of the task program stored in the storage unit; and a change unit that changes the task program for the robot based on a series of pieces of task information set on the display screen of the display unit.

2. 发明申请

US20220065210A1 DROPLET EJECTOR 有权
公开(公告)号：US20220065210A1
公开(公告)日：2022-03-03
申请号：US17420744
申请日：2019-12-26
申请人： Tokihiro Ikeda , Fuminori Saito
发明人： Fuminori Saito , Tokihiro Ikeda , Shinji Tamura
IPC分类号： F02M69/04 , F02M27/04 , F02M51/08
摘要： In a droplet ejector equipped with an ejection port for ejecting minute droplets of a liquid, the ejection port 61 or the ejector and a conductor 10 such as a vehicle body are made electrically conductive to increase the electrostatic capacity of the ejection port 61 or the ejector and to suppress enlargement of the potential difference between the ejection port 61 and the liquid caused by flow electrification of the liquid. When the potential difference is large, a coulomb force acts between the electrified droplets and the electrostatically-charged ejection port, causing problems such as delayed or insufficient droplet discharge, but such problems are solved by increasing the electrostatic capacity of the ejection port 61 or the ejector.

3. 发明授权

US08442686B2 Articulated arm robot, control method and control program 有权
标题翻译：铰接臂机器人，控制方法和控制程序
公开(公告)号：US08442686B2
公开(公告)日：2013-05-14
申请号：US13643278
申请日：2011-01-31
申请人： Fuminori Saito , Toru Isobe
发明人： Fuminori Saito , Toru Isobe
IPC分类号： G05B15/00 , G05B19/00 , G05B19/18
CPC分类号： B25J9/06 , B25J3/00 , B25J9/042 , B25J9/047
摘要： An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.
摘要翻译：铰接臂机器人包括能够向上和向下延伸和收缩的支撑部分，第一臂部分，其一端通过第一关节连接到支撑部分，以可绕偏转轴线旋转，并且具有可围绕辊轴线旋转的第二关节在两端之间，第二臂部分，其一端通过第三关节连接到第一臂部分的另一端，以便围绕偏转轴线或俯仰轴线旋转;端部执行器部分，其连接到第二臂的另一端部分通过第四关节可围绕偏转轴或俯仰轴线旋转，以及分别使第一至第四关节旋转并且支撑部分延伸和收缩的驱动器，以及控制器，其执行驱动器的驱动控制第一至第四关节通过在第一，第二和第三臂部分仅在水平面旋转的SCARA模式和第二和第三臂部分仅在垂直方向旋转的垂直模式之间切换臂校平面。

4. 发明授权

US06587752B1 Robot operation teaching method and apparatus 失效
标题翻译：机器人操作教学方法与装置
公开(公告)号：US06587752B1
公开(公告)日：2003-07-01
申请号：US10154961
申请日：2002-05-28
申请人： Fuminori Saito
发明人： Fuminori Saito
IPC分类号： G05B1500
CPC分类号： B25J9/1671 , G05B19/425 , G05B2219/39449 , G05B2219/40097 , G05B2219/40125 , G05B2219/40323 , G05B2219/40503
摘要： A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.
摘要翻译：机器人操作教学方法和装置包括：三维测量系统，其可以测量对应于在相机图像上指定的点的空间坐标，能够显示来自相机的空间图像的显示器或由相应于空间图像。具有至少两个自由度的指示装置用于通过在模型空间中准备对应于实际空间图像的简单几何元素来定义工作轨迹。通过使用参数建模提前提供几何元素的定义，可以通过修改与定义相关联的几个元素分配和参数中的某些几何元素来适应其他任务。

5. 发明授权

US08583717B2 Signal processing circuit 有权
标题翻译：信号处理电路
公开(公告)号：US08583717B2
公开(公告)日：2013-11-12
申请号：US13003738
申请日：2009-09-24
申请人： Kohei Teramoto , Masaru Kimura , Tsuyoshi Nakada , Fuminori Saito
发明人： Kohei Teramoto , Masaru Kimura , Tsuyoshi Nakada , Fuminori Saito
IPC分类号： G06F17/10
CPC分类号： H03H21/0012 , H03H17/0264 , H03H17/0294 , H03H17/04 , H03H17/06 , H03H2017/0483
摘要： A signal processing circuit has two types of filters: an IIR filter 11 and an FIR filter 12 having an equivalent transfer function at all times. In an adjustment mode in which the signal processing circuit is adjusted to have an arbitrary transfer function, the signal processing circuit makes a configuration setting to use the IIR filter 11. When completing the adjustment or in a signal processing mode, the signal processing circuit makes a configuration setting change to switch to the FIR filter 12 having the equivalent transfer function.
摘要翻译：信号处理电路具有两种类型的滤波器：总是具有等效传递函数的IIR滤波器11和FIR滤波器12。在信号处理电路被调整为具有任意传递函数的调整模式中，信号处理电路进行配置设置以使用IIR滤波器11.当完成调整或信号处理模式时，信号处理电路配置设置改变以切换到具有等效传送功能的FIR滤波器12。

6. 发明申请

US20130041509A1 ARTICULATED ARM ROBOT, CONTROL METHOD AND CONTROL PROGRAM 有权
标题翻译： ARTICULATED ARM ROBOT，CONTROL METHOD AND CONTROL PROGRAM
公开(公告)号：US20130041509A1
公开(公告)日：2013-02-14
申请号：US13643278
申请日：2011-01-31
申请人： Fuminori Saito , Toru Isobe
发明人： Fuminori Saito , Toru Isobe
IPC分类号： G06F19/00
CPC分类号： B25J9/06 , B25J3/00 , B25J9/042 , B25J9/047
摘要： An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.
摘要翻译：铰接臂机器人包括能够向上和向下延伸和收缩的支撑部分，第一臂部分，其一端通过第一关节连接到支撑部分，以可绕偏转轴线旋转，并且具有可围绕辊轴线旋转的第二关节在两端之间，第二臂部分，其一端通过第三关节连接到第一臂部分的另一端，以便围绕偏转轴线或俯仰轴线旋转;端部执行器部分，其连接到第二臂的另一端部分通过第四关节可围绕偏转轴或俯仰轴线旋转，以及分别使第一至第四关节旋转并且支撑部分延伸和收缩的驱动器，以及控制器，其执行驱动器的驱动控制第一至第四关节通过在第一，第二和第三臂部分仅在水平面旋转的SCARA模式和第二和第三臂部分仅在垂直方向旋转的垂直模式之间切换臂校平面。

7. 发明授权

US08355816B2 Action teaching system and action teaching method 有权
标题翻译：行动教学体系与行动教学方法
公开(公告)号：US08355816B2
公开(公告)日：2013-01-15
申请号：US12921291
申请日：2009-02-03
申请人： Fuminori Saito
发明人： Fuminori Saito
IPC分类号： G05B19/18
CPC分类号： B25J9/1612 , B25J9/1697 , G05B2219/39484 , G05B2219/39543
摘要： To make it possible to teach a grasping action for a work object whose shape and 3D position are unknown to a robot by an intuitive and simple input operation by an operator. a captured image of the working space is displayed on a display device; (b) an operation in which a recognition area including a part of a work object to be grasped by a hand is specified in two dimensions on an image of the work object displayed on the display device is received; (c) an operation in which a primitive shape model to be applied to the part to be grasped is specified from among a plurality of primitive shape models; (d) a parameter group to specify the shape, position, and posture of the primitive shape model is determined by fitting the specified primitive shape model onto 3D position data of a space corresponding to the recognition area; (e) a grasping pattern applicable to grasping of the work object is selected by searching a database in which grasping patterns applicable by a hand to primitive shape models are stored.
摘要翻译：为了能够通过操作者的直观且简单的输入操作来教导对于机器人的形状和3D位置未知的工件的抓取动作。在显示装置上显示工作空间的拍摄图像; （b）接收在显示装置上显示的工作对象的图像上二维地指定包括要掌握的工作对象的一部分的识别区域的操作; （c）从多个原始形状模型中指定要应用于要抓握的部分的原始形状模型的操作; （d）通过将指定的原始形状模型拟合到对应于识别区域的空间的3D位置数据来确定用于指定原始形状模型的形状，位置和姿态的参数组; （e）通过搜索存储有由手适用的抓握模式的数据库来选择适用于抓取工作对象的抓取模式。

8. 发明申请

US20110010009A1 ACTION TEACHING SYSTEM AND ACTION TEACHING METHOD 有权
标题翻译：行动教学系统与行动教学方法
公开(公告)号：US20110010009A1
公开(公告)日：2011-01-13
申请号：US12921291
申请日：2009-02-03
申请人： Fuminori Saito
发明人： Fuminori Saito
IPC分类号： G05B19/04 , G06F17/50
CPC分类号： B25J9/1612 , B25J9/1697 , G05B2219/39484 , G05B2219/39543
摘要： To make it possible to teach a grasping action for a work object whose shape and 3D position are unknown to a robot by an intuitive and simple input operation by an operator. a captured image of the working space is displayed on a display device; (b) an operation in which a recognition area including a part of a work object to be grasped by a hand is specified in two dimensions on an image of the work object displayed on the display device is received; (c) an operation in which a primitive shape model to be applied to the part to be grasped is specified from among a plurality of primitive shape models; (d) a parameter group to specify the shape, position, and posture of the primitive shape model is determined by fitting the specified primitive shape model onto 3D position data of a space corresponding to the recognition area; (e) a grasping pattern applicable to grasping of the work object is selected by searching a database in which grasping patterns applicable by a hand to primitive shape models are stored.
摘要翻译：为了能够通过操作者的直观且简单的输入操作来教导对于机器人的形状和3D位置未知的工件的抓取动作。在显示装置上显示工作空间的拍摄图像; （b）接收在显示装置上显示的工作对象的图像上二维地指定包括要掌握的工作对象的一部分的识别区域的操作; （c）从多个原始形状模型中指定要应用于要抓握的部分的原始形状模型的操作; （d）通过将指定的原始形状模型拟合到对应于识别区域的空间的3D位置数据来确定用于指定原始形状模型的形状，位置和姿态的参数组; （e）通过搜索存储有由手适用的抓握模式的数据库来选择适用于抓取工作对象的抓取模式。

9. 发明授权

US06827838B2 Method of separating and collecting 18F in 18O water 失效
标题翻译：在18O水中分离收集18F的方法
公开(公告)号：US06827838B2
公开(公告)日：2004-12-07
申请号：US10203488
申请日：2002-08-09
申请人： Toshio Hyodo , Yoshiko Itoh , Fuminori Saito , Yasuyuki Nagashima , Toshikazu Kurihara , Akira Goto , Masayuki Kase , Yasushige Yano , Katsumi Senoo
发明人： Toshio Hyodo , Yoshiko Itoh , Fuminori Saito , Yasuyuki Nagashima , Toshikazu Kurihara , Akira Goto , Masayuki Kase , Yasushige Yano , Katsumi Senoo
IPC分类号： C25C124
CPC分类号： G21G1/001 , C01B5/02 , G21G2001/0015
摘要： A method of separating and recovering 18F from 18O water at high purity and efficiency while maintaining the purity of the 18O water. By using a solid electrode (1) as an anode and a container (electrodeposition vessel) (2) made of platinum as a cathode, 18F in a solution (4) is electrodeposited on the solid electrode surface by applying a voltage. Then, by using the solid electrode (1) on which 18F is electrodeposited as a cathode and a container (recovery vessel) (5) holding pure water therein as an anode, 18F is recovered in the pure water by applying a voltage of opposite polarity to that of the electrodeposition. In this process, little 18O water is lost. The initial concentration of the 18O water is maintained even after the electrodeposition of 18F, so that the 18O water can be repeatedly used as an irradiation target for production of 18F.
摘要翻译：从18％O水中以高纯度和高效率分离和回收18 F的方法，同时保持18 W水的纯度。通过使用固体电极（1）和由铂作为阴极的容器（电沉积容器）（2），将溶液（4）中的18 F通过施加电压电沉积在固体电极表面上。然后，通过使用其中电沉积有18 F的固体电极（1）和作为阳极保持纯水的容器（回收容器）（5）），在纯水中回收18 F 施加与电沉积相反的极性电压。在这个过程中，少量的18％的水会丢失。即使在电沉积18 F之后，也保持了18 C的水的初始浓度，因此可以重复使用<18> O水作为生产18 F的照射目标。

10. 发明申请

US20220298994A1 FUEL DROPLET MICRONIZER 有权
公开(公告)号：US20220298994A1
公开(公告)日：2022-09-22
申请号：US17635531
申请日：2020-08-17
申请人： Fuminori Saito , Tokihiro Ikeda
发明人： Fuminori Saito , Tokihiro Ikeda
IPC分类号： F02M27/04 , F02M69/04
摘要： A fuel droplet micronizer serves to enhance and stabilize the power of the engines by effectively pulverizing fuel liquid to micro-droplets against flow electrification. The fuel droplet micronizer is composed of a micronization assistance part 30 formed from filaments, a mesh-like sheet or ribbon-like materials so forth made of metals, semiconductors, ceramics and glasses so on. The micronization assistance part 30 is installed between an ejection port 20 of an carburetor or the ejection apparatus and an intake valve 41 of the engine, whereby the fuel liquid ejected from the ejection port 20 of the carburetor or the ejection apparatus is smashed at the micronization assistance part 30, whereof impact facilitates micronization of fuel droplets by pulverizing and scattering.

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