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1. 发明授权

US08315735B2 Production system having cooperating process area between human and robot 有权
标题翻译：生产系统具有人与机器人之间的协作处理区域
公开(公告)号：US08315735B2
公开(公告)日：2012-11-20
申请号：US12694201
申请日：2010-01-26
申请人： Ryo Nihei , Shinsuke Sakakibara , Kazunori Ban , Masahiro Morioka , Satoshi Adachi , Shouta Takizawa
发明人： Ryo Nihei , Shinsuke Sakakibara , Kazunori Ban , Masahiro Morioka , Satoshi Adachi , Shouta Takizawa
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , F16P1/00 , G05B2219/40203
摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
摘要翻译：人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。机器人位于工作台的一侧，操作者位于工作台的另一侧。操作员的可达区域受工作台的限制。工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人入境禁区。

2. 发明授权

US08812157B2 Robot system having error detection function of robot and control method thereof 有权
标题翻译：具有机器人检错功能的机器人系统及其控制方法
公开(公告)号：US08812157B2
公开(公告)日：2014-08-19
申请号：US13437178
申请日：2012-04-02
申请人： Masahiro Morioka , Satoshi Adachi
发明人： Masahiro Morioka , Satoshi Adachi
IPC分类号： G05B19/04 , B25J9/16 , G05B19/418
CPC分类号： B25J9/1674
摘要： When an error occurs in robot system, a difference between first and second detection values of two sensors or first and second sensors occurs due to differences in position and responsibility. When this difference exceeds a predetermined threshold, control section detects that a difference has occurred in robot system. The first and second detection values of two sensors or first and second sensors are compared, and therefore, reliability of the detection values can be secured. Further, the abnormal state can be determined through the difference between the first and second detection values, and therefore, errors resulting from problems such as variations in gears and speed reducers due to temperature changes of the operational state and disposition environment of the robot can be avoided.
摘要翻译：当机器人系统发生错误时，由于位置和责任的差异，两个传感器或第一和第二传感器的第一和第二检测值之间的差异发生。当该差超过预定阈值时，控制部检测出机器人系统发生差异。比较两个传感器或第一和第二传感器的第一和第二检测值，因此可以确保检测值的可靠性。此外，可以通过第一和第二检测值之间的差异来确定异常状态，因此，由于机器人的操作状态和配置环境的温度变化引起的齿轮和减速器的变化等问题，可以是避免。

3. 发明授权

US08109170B2 Umbilical member motion limiting device and robot having the device 有权
标题翻译：具有该装置的脐构件运动限制装置和机器人
公开(公告)号：US08109170B2
公开(公告)日：2012-02-07
申请号：US12505969
申请日：2009-07-20
申请人： Munehiro Jinushi , Masahiro Morioka , Satoshi Adachi
发明人： Munehiro Jinushi , Masahiro Morioka , Satoshi Adachi
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00 , B66C23/00
CPC分类号： B25J19/0025 , H02G11/00 , Y10S414/131 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335
摘要： An umbilical member motion limiting device is provided on a robot which has a forearm, a wrist portion, an operating tool attached to the end of the wrist portion, and the umbilical member connected to the operating tool through the forearm, for limiting the motion of the umbilical member corresponding to the motion of the robot. The motion limiting device comprises a swing portion attached to the wrist portion so as to swing around a swing axis and a limiting portion arranged on the swing portion for limiting the motion of the umbilical member. Thus, the motion limiting device can minimize interference due to surplus length of the umbilical member and avoid contact of the umbilical member with external equipment.
摘要翻译：脐部件运动限制装置设置在机器人上，该机器人具有前臂，腕部，连接到腕部的端部的操作工具，以及通过前臂连接到操作工具的脐带构件，用于限制脐带部件对应于机器人的运动。运动限制装置包括：摆动部分，其围绕摆动轴线旋转安装到腕部;以及限制部分，其布置在摆动部分上，用于限制脐带部件的运动。因此，运动限制装置可以最小化由于脐带构件的多余长度引起的干扰，并避免脐带构件与外部设备的接触。

4. 发明申请

US20120043831A1 HUMAN-ROBOT INTERACTIVE SYSTEM 有权
标题翻译：人机交互系统
公开(公告)号：US20120043831A1
公开(公告)日：2012-02-23
申请号：US13185667
申请日：2011-07-19
申请人： Shinsuke SAKAKIBARA , Masahiro Morioka , Satoshi Adachi
发明人： Shinsuke SAKAKIBARA , Masahiro Morioka , Satoshi Adachi
IPC分类号： H02H11/00
CPC分类号： B25J19/06 , B25J9/1674 , B25J13/085 , B25J21/00 , G05B2219/40198 , G05B2219/40202
摘要： A human-robot interactive system wherein a robot and a human share an area for performing interactive work, characterized by being provided with a force sensor which is set at an end effector attached to a front end of the robot or which is set at the robot and stopping the robot or controlling operation of the robot so that a detected value of the force sensor becomes smaller when the detected value of the force sensor exceeds a predetermined value, by the robot including a first robot portion which is positioned further from the human than a set position of the force sensor and a second robot portion which is positioned closer to the human than the set position of the force sensor, and, furthermore, by the robot system being provided with a limiter which limits a work area of the human so as to prevent contact by the human with the first robot portion of the robot during operation even when the robot most approaches the human. Due to this, safety of the human can be ensured even in an environment where the human could contact the robot.
摘要翻译：一种人 - 机器人交互系统，其中机器人和人共享用于执行交互式工作的区域，其特征在于设置有力传感器，所述力传感器被设置在附接到所述机器人的前端的终端执行器或设置在所述机器人并且当机器人的检测值超过预定值时，通过机器人包括第一机器人部分，其位于距人更远的位置处，机器人的停止或机器人的操作控制使得力传感器的检测值变小力传感器的设定位置和位于比力传感器的设定位置更靠近人的第二机器人部分，此外，由机器人系统设置限制器来限制人的工作区域为了防止在操作期间人机器人与机器人的第一机器人部分接触，即使当机器人最接近人时。因此，即使在人类可以接触机器人的环境中，也可以确保人的安全性。

5. 发明申请

US20100038495A1 UMBILICAL MEMBER MOTION LIMITING DEVICE AND ROBOT HAVING THE DEVICE 有权
标题翻译： U ICAL。。。。。。。。。。。。。。。。。。
公开(公告)号：US20100038495A1
公开(公告)日：2010-02-18
申请号：US12505969
申请日：2009-07-20
申请人： Munehiro Jinushi , Masahiro Morioka , Satoshi Adachi
发明人： Munehiro Jinushi , Masahiro Morioka , Satoshi Adachi
IPC分类号： F16L3/22 , F16L3/08
CPC分类号： B25J19/0025 , H02G11/00 , Y10S414/131 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335
摘要： An umbilical member motion limiting device is provided on a robot which has a forearm, a wrist portion, an operating tool attached to the end of the wrist portion, and the umbilical member connected to the operating tool through the forearm, for limiting the motion of the umbilical member corresponding to the motion of the robot. The motion limiting device comprises a swing portion attached to the wrist portion so as to swing around a swing axis and a limiting portion arranged on the swing portion for limiting the motion of the umbilical member. Thus, the motion limiting device can minimize interference due to surplus length of the umbilical member and avoid contact of the umbilical member with external equipment.
摘要翻译：脐部件运动限制装置设置在机器人上，该机器人具有前臂，腕部，连接到腕部的端部的操作工具，以及通过前臂连接到操作工具的脐带构件，用于限制脐带部件对应于机器人的运动。运动限制装置包括：摆动部分，其围绕摆动轴线旋转安装到腕部;以及限制部分，其布置在摆动部分上，用于限制脐带部件的运动。因此，运动限制装置可以最小化由于脐带构件的多余长度引起的干扰，并避免脐带构件与外部设备的接触。

6. 发明授权

US08788093B2 Human robot interactive system 有权
标题翻译：人机交互系统
公开(公告)号：US08788093B2
公开(公告)日：2014-07-22
申请号：US13185667
申请日：2011-07-19
申请人： Shinsuke Sakakibara , Masahiro Morioka , Satoshi Adachi
发明人： Shinsuke Sakakibara , Masahiro Morioka , Satoshi Adachi
IPC分类号： G06F19/00 , G05B19/04 , G05B19/18 , H02H11/00
CPC分类号： B25J19/06 , B25J9/1674 , B25J13/085 , B25J21/00 , G05B2219/40198 , G05B2219/40202
摘要： A human-robot interactive system in which a robot and a human share an area for performing interactive work, the human-robot interactive system including a force sensor which is set at an end effector attached to a front end of the robot or which is set at the robot and, when a detected value of the force sensor exceeds a predetermined value, is configured to stop the robot or controlling operation of the robot so that a detected value of the force sensor becomes smaller, the system further including a limiter which limits a work area of said human so as to prevent contact by the human with the first robot portion of the robot that is positioned further from the human than a set position of the force sensor during operation even when the robot approaches the human.
摘要翻译：一种人机交互系统，其中机器人和人共享用于进行交互工作的区域，所述人 - 机器人交互系统包括力传感器，所述力传感器被设置在附接到所述机器人的前端的末端执行器或被设置在机器人处，并且当力传感器的检测值超过预定值时，被配置为停止机器人或控制机器人的操作，使得力传感器的检测值变小，该系统还包括限制器所述人的工作区域，以便即使在机器人接近人的情况下，也可以防止操作人员与机器人远离人的第一机器人部分接触，而不是在操作过程中力传感器的设定位置。

7. 发明授权

US08174456B2 Control system and method for reducing directional error of antenna with biaxial gimbal structure 有权
标题翻译：采用双轴万向节结构降低天线方向误差的控制系统和方法
公开(公告)号：US08174456B2
公开(公告)日：2012-05-08
申请号：US12746450
申请日：2008-12-04
申请人： Go Omori , Tomoyuki Matsuyama , Hitoshi Maeno , Satoshi Adachi
发明人： Go Omori , Tomoyuki Matsuyama , Hitoshi Maeno , Satoshi Adachi
IPC分类号： H01Q3/00
CPC分类号： H01Q3/08 , G01S3/42 , G01S3/44 , H01Q1/125
摘要： An antenna pointing control apparatus and method that reduce a pointing error of an antenna having a two-axis gimbal structure. An antenna installed on a ship hull is controlled to point toward a satellite by an antenna pointing control apparatus having a two-axis mechanism. Movement of the ship hull are recognized every prescribed cycle time, a satellite bearing is measured, and a pointing error of a directional antenna with respect to a satellite is detected. If it is determined that the satellite will not pass within a prescribed region A about an extension line of an azimuth angle (AZ) axis of the ship's hull, then a two-axis control is executed. However, if the satellite will pass within the prescribed region A, then a virtual three-axis control is executed.
摘要翻译：一种减少具有双轴万向架结构的天线的指向误差的天线指向控制装置和方法。通过具有双轴机构的天线指示控制装置控制安装在船体上的天线指向卫星。在每个规定的周期时间识别船体的运动，测量卫星轴承，并且检测定向天线相对于卫星的指向误差。如果确定卫星不会在关于船体的方位角（AZ）轴的延伸线的规定区域A内通过，则执行两轴控制。然而，如果卫星在规定区域A内通过，则执行虚拟三轴控制。

8. 发明申请

US20060279469A1 Antenna, and wireless module, wireless unit and wireless apparatus having the antenna 有权
标题翻译：天线和无线模块，具有天线的无线单元和无线设备
公开(公告)号：US20060279469A1
公开(公告)日：2006-12-14
申请号：US11448128
申请日：2006-06-07
申请人： Satoshi Adachi , Makoto Katagishi , Ikuo Murata , Masumi Iwamura , Ken Takei , Takahiro Sugiyama , Yohei Shirakawa
发明人： Satoshi Adachi , Makoto Katagishi , Ikuo Murata , Masumi Iwamura , Ken Takei , Takahiro Sugiyama , Yohei Shirakawa
IPC分类号： H01Q1/24
CPC分类号： H01Q1/38 , H01Q1/22 , H01Q1/243 , H01Q9/145 , H04B1/0458 , H04B1/18
摘要： In an antenna that has high sensitivity to frequencies of narrow bands and over a wide band and that can be small-sized, and in a wireless module, wireless unit and wireless apparatus using this antenna, the antenna is comprised of a transmission line, and variable capacitance means connected to this transmission line, and the variable capacitance means controls the resonant frequency.
摘要翻译：在对窄带和宽带的频率具有高灵敏度并且可以是小尺寸的天线中，并且在无线模块中使用该天线的无线单元和无线装置的天线中，天线由传输线组成，并且可变电容装置连接到该传输线，并且可变电容装置控制谐振频率。

9. 发明授权

US07001885B2 Method for removing multimers of human serum albumin 有权
公开(公告)号：US07001885B2
公开(公告)日：2006-02-21
申请号：US10175382
申请日：2002-06-20
申请人： Satoshi Adachi , Hiroshi Mizokami , Yoshitaka Tajima , Yoshinobu Miyatsu , Toshinobu Nouchi , Yoshitaka Ushio
发明人： Satoshi Adachi , Hiroshi Mizokami , Yoshitaka Tajima , Yoshinobu Miyatsu , Toshinobu Nouchi , Yoshitaka Ushio
IPC分类号： A61K38/00
CPC分类号： C07K14/765 , C07K1/18
摘要： Multimers of human serum albumin are removed from a solution of human serum albumin containing the multimers by bringing the human serum albumin solution into contact with an anion-exchanger equilibrated with a buffer containing a salt in a concentration ranging from 10 to 150 mM and having a pH value ranging from 5 to 9.5.

10. 发明授权

US07945232B2 Multiband wireless device and semiconductor integrated circuit 失效
标题翻译：多频无线设备和半导体集成电路
公开(公告)号：US07945232B2
公开(公告)日：2011-05-17
申请号：US11769151
申请日：2007-06-27
申请人： Yoshikazu Sugiyama , Satoshi Adachi , Yusaku Katsube , Masazumi Tone , Taku Takaki
发明人： Yoshikazu Sugiyama , Satoshi Adachi , Yusaku Katsube , Masazumi Tone , Taku Takaki
IPC分类号： H04B1/28
CPC分类号： H03F3/195 , H03F1/22 , H03F1/565 , H03F3/24 , H03F2200/108 , H03F2200/111 , H03F2200/294 , H03F2200/381 , H03F2200/387 , H03F2200/391 , H03F2200/451 , H03F2200/519 , H03F2200/75
摘要： When switching over from a portable telephone system of 800 MHz band to a UWB communication system of 9 GHz band, depending upon a signal for changing over a high pass filter and a low pass filter, a reactance element, which is determined to be matching with a load Z of the high pass filter, is connected to an output terminal of a transmitting power amplifier. With this, it is possible to achieve a multi-band or multi-mode wireless receiver of using a frequency band from 800 MHz to 10 GHz, without an enlargement of a circuit scale and an increase of costs.
摘要翻译：当从800MHz频带的便携式电话系统切换到9GHz频带的UWB通信系统时，根据用于切换高通滤波器和低通滤波器的信号，确定为匹配的电抗元件高通滤波器的负载Z连接到发射功率放大器的输出端。由此，可以实现使用800MHz至10GHz的频带的多频带或多模式无线接收机，而不会扩大电路规模并增加成本。

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