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1. 发明授权

US5001635A Vehicle 失效
标题翻译：车辆
公开(公告)号：US5001635A
公开(公告)日：1991-03-19
申请号：US290159
申请日：1988-12-27
申请人： Fumio Yasutomi , Daizo Takaoka , Naoto Tojo , Yoshiya Yamaue , Makoto Yamada , Kazuyoshi Tsukamoto
发明人： Fumio Yasutomi , Daizo Takaoka , Naoto Tojo , Yoshiya Yamaue , Makoto Yamada , Kazuyoshi Tsukamoto
IPC分类号： A47L11/40 , G05D1/02
CPC分类号： A47L11/4011 , A47L11/4061 , G05D1/0255 , G05D1/0272 , G05D1/0274 , A47L2201/04 , G05D2201/0203
摘要： A vehicle which is capable of recognizing shapes in a predetermined area, comprising: a plurality of ultrasonic sensors, an encoder, map drawing means for sequentially and continuously drawing a map of the prescribed area determined by information received from the encoder and ultrasonic sensors, memory means for storing the map drawn by the map drawing means and control means for instructing rectilinear movement, starting stopping and turning of the vehicle so as to move in a serpentine fashion, wherein the ultrasonic sensors, encoder and map drawing means are operated by the control means, the memory means writes and stores a history of its own movements in the area and as information is received remembers detected information from the encoder, and a change of direction of the vehicle which is instructed by the control means is determined by information on the map as well as the areas through which the vehicle has previously passed.
摘要翻译：一种能够识别预定区域中的形状的车辆，包括：多个超声波传感器，编码器，地图绘制装置，用于连续和连续地绘制由从编码器接收的信息和超声波传感器确定的规定区域的映射，存储器用于存储由地图绘制装置绘制的地图和用于指示直线运动，开始车辆停止和转动以便以蛇形方式移动的控制装置的装置，其中超声波传感器，编码器和地图绘制装置由控制器意味着，存储装置在该区域中写入并存储其自身运动的历史，并且当接收到的信息记录来自编码器的检测到的信息时，由控制装置指示的车辆的方向改变由关于地图以及车辆以前通过的地区。

2. 发明授权

US5980211A Circuit arrangement for driving a reciprocating piston in a cylinder of a linear compressor for generating compressed gas with a linear motor 失效
标题翻译：用于驱动线性压缩机的气缸中的往复活塞用于利用线性电动机产生压缩气体的电路装置
公开(公告)号：US5980211A
公开(公告)日：1999-11-09
申请号：US840463
申请日：1997-04-18
申请人： Naoto Tojo , Shinichi Matsumura , Takafumi Nakayama , Daizo Takaoka
发明人： Naoto Tojo , Shinichi Matsumura , Takafumi Nakayama , Daizo Takaoka
IPC分类号： F04B35/04 , F04B49/06 , F04B49/00
CPC分类号： F04B49/065 , F04B35/045
摘要： In a linear compressor driving apparatus, a position instructing portion (31) outputs a position instruction value Pref of a piston in accordance with an equation A*sin .omega.t. A position control portion (33) calculates a speed instruction value Vref by multiplying difference between position instruction value Pref and position present value Pnow by a constant Gv. A speed control portion (35) calculates a current instruction value Iref by multiplying a difference between speed instruction value Vref and speed present value Vnow by a constant Gi. A current control portion (37) controls a power source (3) so that current present value Inow becomes equal to the current instruction value Iref. Phase control portion (38) adjusts .omega. and Gi so as to eliminate phase difference between speed present value Vnow and current instruction value Iref. Since thrust of linear motor can be directly and appropriately controlled in accordance with the load condition, high efficiency is obtained.
摘要翻译：在线性压缩机驱动装置中，位置指示部（31）根据等式A *sinωt输出活塞的位置指示值Pref。位置控制部分33通过将位置指令值Pref和位置存在值Pnow之间的差乘以常数Gv来计算速度指令值Vref。速度控制部分35通过将速度指令值Vref与速度当前值Vnow之间的差乘以常数Gi来计算当前指令值Iref。电流控制部分（37）控制电源（3），使得当前的当前值Inow变得等于当前指令值Iref。相位控制部分（38）调整ω和Gi，以消除速度当前值Vnow和当前指令值Iref之间的相位差。由于线性电动机的推力可以根据负载条件直接适当地控制，因此可以获得高效率。

3. 发明授权

US07047105B2 Robot controlled by wireless signals 失效
标题翻译：机器人由无线信号控制
公开(公告)号：US07047105B2
公开(公告)日：2006-05-16
申请号：US10076782
申请日：2002-02-15
申请人： Kazushige Kakutani , Shin Miyaji , Naoto Tojo , Shinya Kataoka , Seiji Murakami , Tomoyoshi Tokumaru , Hideaki Aoki
发明人： Kazushige Kakutani , Shin Miyaji , Naoto Tojo , Shinya Kataoka , Seiji Murakami , Tomoyoshi Tokumaru , Hideaki Aoki
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A user communicates with a companion with his or her portable telephone attached to a telephone attachment pocket of a robot. The robot acts in accordance with a voice signal which is outputted from the portable telephone, thereby behaving as if it were speaking to the user. The robot outputs a voice in response to the user's voice which is picked up by a microphone, thereby behaving as if it were listening to the user. Owing to this robot or a robot system using the same, the user feels less odd in his or her communication using the portable telephone.
摘要翻译：用户与附属于机器人的电话附件口袋的便携式电话与伴侣通信。机器人根据从便携式电话输出的语音信号进行动作，从而表现得像对用户说话一样。机器人响应于由麦克风拾取的用户的声音输出语音，从而表现得像在听用户一样。由于该机器人或使用该机器人的机器人系统，所以用户在使用便携式电话的通信中感觉不太奇怪。

4. 发明申请

US20050212475A1 Actuator, motor unit and controller unit 失效
标题翻译：执行器，电机单元和控制器单元
公开(公告)号：US20050212475A1
公开(公告)日：2005-09-29
申请号：US11066500
申请日：2005-02-28
申请人： Kazushige Kakutani , Shinya Kataoka , Naoto Tojo
发明人： Kazushige Kakutani , Shinya Kataoka , Naoto Tojo
IPC分类号： H02K11/00 , H02K3/52 , H02P7/68
CPC分类号： H02K3/522
摘要： An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.
摘要翻译：一种致动器，其允许控制器通常应用于多个模型，而不需要复杂的控制参数的设置操作，并且具有优异的成本效益，可重用性和可扩展性。此外，提供构成致动器的马达单元和控制器单元。电机单元配有电机，电机驱动电路和参数存储器，用于存储控制电机所需的特性参数。适于可拆卸到电动机单元的控制器单元设置有电动机控制电路和通信控制电路。当控制器单元连接到电机单元时，存储在参数存储器中的特性参数通过通信连接器加载，用于设置电机控制电路的控制参数。

5. 发明授权

US6071103A Member having sliding contact surface, compressor and rotary compressor 失效
标题翻译：会员具有滑动接触面，压缩机和旋转式压缩机
公开(公告)号：US6071103A
公开(公告)日：2000-06-06
申请号：US895999
申请日：1997-07-17
申请人： Hitoshi Hirano , Keiichi Kuramoto , Yoichi Domoto , Naoto Tojo
发明人： Hitoshi Hirano , Keiichi Kuramoto , Yoichi Domoto , Naoto Tojo
IPC分类号： F04C29/00 , C23C16/26 , C23C16/27 , C23C16/50 , C23C16/511 , F01C21/08 , F04C18/356 , B32B9/00
CPC分类号： F01C21/0809 , Y10T428/12458 , Y10T428/12625 , Y10T428/30
摘要： A member is disclosed which includes a hard carbon film provided through an interlayer or directly on a main body such as a vane. A mixed layer is formed within the main body or interlayer adjacent to an outer surface of the main body or interlayer. The mixed layer contains carbon and a constituent element of either the main body or the interlayer. The mixed layer has a carbon content gradient in its thickness direction so that a carbon content in a thickness portion thereof closer to an outer surface of the mixed layer is higher than in a thickness portion thereof remoter from the outer surface of the mixed layer.
摘要翻译：公开了一种构件，其包括通过中间层或直接设置在诸如叶片的主体上的硬碳膜。在与本体或中间层的外表面相邻的主体或中间层内形成混合层。混合层含有碳和主体或中间层的构成元素。混合层在其厚度方向上具有碳含量梯度，使得其与混合层的外表面更接近的厚度部分中的碳含量比从混合层的外表面偏离的厚度部分的碳含量高。

6. 发明授权

US07347100B2 Force detection device 失效
标题翻译：力检测装置
公开(公告)号：US07347100B2
公开(公告)日：2008-03-25
申请号：US11435806
申请日：2006-05-18
申请人： Seiji Murakami , Naoto Tojo
发明人： Seiji Murakami , Naoto Tojo
IPC分类号： G01N3/08
CPC分类号： G01L5/22 , B62B3/1476 , B62B5/0073
摘要： A force detection device of the present invention includes a handle to be given an operation force by an operator, disposed on a support reciprocatably in a first axis direction along a forward/backward direction of the truck and a second axis direction orthogonal thereto. A pair of force detection parts capable of detecting only a force in the first axis direction is disposed on the support in a spaced-apart relationship in the second axis direction. A force propagation body intervenes between both force detection parts and the handle. A part of the force propagation body passes through the inside of a gripped part of the handle. The force propagation body is coupled to the handle by a coupling axis extending in a third axis direction orthogonal to the first axis and second axis so as to be capable of relative rotation about the coupling axis.
摘要翻译：本发明的力检测装置包括：手柄，其由操作者赋予操作力，沿着卡车的前后方向沿第一轴方向可往复运动的支撑件和与其正交的第二轴方向。能够仅在第一轴方向上检测力的一对力检测部件沿第二轴方向以间隔开的关系设置在支撑件上。力传播体介于两个力检测部和手柄之间。力传播体的一部分穿过手柄的夹持部分的内部。力传播体通过在与第一轴线和第二轴线正交的第三轴线方向上延伸的耦合轴线联接到手柄，以便能够围绕耦合轴线相对旋转。

7. 发明授权

US07166981B2 Actuator, motor unit and controller unit 失效
标题翻译：执行器，电机单元和控制器单元
公开(公告)号：US07166981B2
公开(公告)日：2007-01-23
申请号：US11066500
申请日：2005-02-28
申请人： Kazushige Kakutani , Shinya Kataoka , Naoto Tojo
发明人： Kazushige Kakutani , Shinya Kataoka , Naoto Tojo
IPC分类号： H02P7/68
CPC分类号： H02K3/522
摘要： An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.
摘要翻译：一种致动器，其允许控制器通常应用于多个模型，而不需要复杂的控制参数的设置操作，并且具有优异的成本效益，可重用性和可扩展性。此外，提供构成致动器的马达单元和控制器单元。电机单元配有电机，电机驱动电路和参数存储器，用于存储控制电机所需的特性参数。适于可拆卸到电动机单元的控制器单元设置有电动机控制电路和通信控制电路。当控制器单元连接到电机单元时，存储在参数存储器中的特性参数通过通信连接器加载，用于设置电机控制电路的控制参数。

8. 发明授权

US06859684B2 Method of controlling table angle of transport robot 失效
标题翻译：控制运输机器人台角度的方法
公开(公告)号：US06859684B2
公开(公告)日：2005-02-22
申请号：US10462701
申请日：2003-06-17
申请人： Kazushige Kakutani , Shin Miyaji , Naoto Tojo
发明人： Kazushige Kakutani , Shin Miyaji , Naoto Tojo
IPC分类号： G05D1/02 , B25J9/16 , G05D3/00 , G05D3/12 , G05B15/00 , G05B19/00
CPC分类号： B25J9/1679 , G05B2219/40042
摘要： A table angle controlling method capable of effectively preventing an article placed on a table (20), from falling off by tilting the table so that the synthetic vector of horizontal acceleration and gravitational acceleration which act on the table acts on the table perpendicular thereto. The method has the steps of measuring the synthetic vector of horizontal acceleration and gravitational acting on the table (20) or a carriage (11) with the movement of the carriage (11), and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto. Alternatively the method has the steps of estimating acceleration acting on the table from a speed command value input to drive device for the carriage (11) for moving the carriage, calculating the synthetic vector of the estimated horizontal acceleration and gravitational acceleration, and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto.
摘要翻译：一种桌面角度控制方法，其能够有效地防止放置在桌子（20）上的物品通过倾斜桌子而脱落，使得作用在桌子上的水平加速度和重力加速度的合成矢量作用在与其垂直的桌子上。该方法具有以下步骤：随着托架（11）的运动，测量作用于台（20）或滑架（11）的水平加速度和重力的合成矢量，并且倾斜台，使得所获得的合成矢量作用在垂直于其的桌子。或者，该方法具有以下步骤：从输入到用于移动滑架的托架（11）的驱动装置的速度指令值估计加速度，计算推定的水平加速度和重力加速度的合成矢量，以及倾斜该表使得所获得的合成载体作用在与其垂直的工作台上。

9. 发明申请

US20060272406A1 Force detection device 失效
标题翻译：力检测装置
公开(公告)号：US20060272406A1
公开(公告)日：2006-12-07
申请号：US11435806
申请日：2006-05-18
申请人： Seiji Murakami , Naoto Tojo
发明人： Seiji Murakami , Naoto Tojo
IPC分类号： A61B5/22
CPC分类号： G01L5/22 , B62B3/1476 , B62B5/0073
摘要： A force detection device of the present invention includes a handle to be given an operation force by an operator, disposed on a support reciprocatably in a first axis direction along a forward/backward direction of the truck and a second axis direction orthogonal thereto. A pair of force detection parts capable of detecting only a force in the first axis direction is disposed on the support in a spaced-apart relationship in the second axis direction. A force propagation body intervenes between both force detection parts and the handle. A part of the force propagation body passes through the inside of a gripped part of the handle. The force propagation body is coupled to the handle by a coupling axis extending in a third axis direction orthogonal to the first axis and second axis so as to be capable of relative rotation about the coupling axis.
摘要翻译：本发明的力检测装置包括：手柄，其由操作者赋予操作力，沿着卡车的前后方向沿第一轴方向可往复运动的支撑件和与其正交的第二轴方向。能够仅在第一轴方向上检测力的一对力检测部件沿第二轴方向以间隔开的关系设置在支撑件上。力传播体介于两个力检测部和手柄之间。力传播体的一部分穿过手柄的夹持部分的内部。力传播体通过在与第一轴线和第二轴线正交的第三轴线方向上延伸的耦合轴线联接到手柄，以便能够围绕耦合轴线相对旋转。

10. 发明申请

US20060243058A1 Force detection device 失效
标题翻译：力检测装置
公开(公告)号：US20060243058A1
公开(公告)日：2006-11-02
申请号：US11411104
申请日：2006-04-26
申请人： Seiji Murakami , Naoto Tojo
发明人： Seiji Murakami , Naoto Tojo
IPC分类号： G01N3/08
CPC分类号： G01L5/22 , B62B5/0026 , B62B5/0073
摘要： A force detection device of the present invention is for detecting an operation force of an operator applied in a uniaxial direction, and includes a force receiving part for receiving the operation force, a force detection part placed on a support for detecting the uniaxial force, a force propagation body disposed reciprocatably along the uniaxial direction on the support for propagating the operation force received by the force receiving part to the force detection part, a guide provided on the support for guiding reciprocation of the force propagation body, a preload receiving part pivoted to the force propagation body and capable of swinging within a plane along the uniaxial direction, and a pair of coil springs coupled to both sides of the preload receiving part with a pivot axis thereof held therebetween for giving a preload to the force detection part.
摘要翻译：本发明的力检测装置用于检测在单轴方向上施加的操作者的操作力，并且包括用于接收操作力的受力部，设置在用于检测单轴力的支撑件上的力检测部，所述力传播体在所述支撑体上沿着所述单轴方向往复运动地设置，用于将受力部接收的操作力传递到所述力检测部，所述引导件设置在所述支撑件上，用于引导所述力传播体的往复运动;枢转到力传播体，并且能够沿着单轴方向在平面内摆动;以及一对螺旋弹簧，其联接到预压接收部的两侧，其枢转轴线保持在其间，用于向力检测部提供预加载。

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