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1. 发明授权

US4095481A Joint mechanism of manipulator 失效
标题翻译：机械手联合机构
公开(公告)号：US4095481A
公开(公告)日：1978-06-20
申请号：US746628
申请日：1976-12-01
申请人： Masuo Kasai , Kanji Kato , Yasuhide Matsumura , Kiyoo Takeyasu , Raiji Shimomura
发明人： Masuo Kasai , Kanji Kato , Yasuhide Matsumura , Kiyoo Takeyasu , Raiji Shimomura
IPC分类号： B25J9/06 , B25J9/04 , B25J9/10 , B25J9/18 , G01B21/00 , B25J3/02
CPC分类号： B25J9/1065 , B25J9/04 , B25J9/046 , Y10S414/13 , Y10T74/20
摘要： A joint mechanism of a manipulator, according to the present invention, consists of a first joint having its rotating shaft aligned with the Z-axis in the X-Y-Z Cartesian coordinate system established at a desired position in a working space, a second joint connected to the rotating shaft of the first joint and having its rotating shaft positioned within the X-Y coordinate plane, a third joint, connected to the rotating shaft of the second joint and having its rotating shaft aligned with the vector passing through the origin of the Cartesian coordinate system, and an arm assembly connected to the rotating shaft of the third joint and comprising a link mechanism which is driven so that a wrist connected to said arm assembly may be always moved on the prolongation line of the vector, to thereby provide a simplified joint mechanism of a manipulator having a redundant degree of freedom of the posture completely independent to the position of the wrist.
摘要翻译：根据本发明的机械手的关节机构包括第一接头，其第一接头具有在XYZ笛卡尔坐标系中建立的工作空间中所需位置处的与Z轴对准的旋转轴，第二接头连接到第一接头的旋转轴，其旋转轴位于XY坐标平面内，第三接头，连接到第二接头的旋转轴，并且其旋转轴与通过笛卡尔坐标系的原点的矢量对齐，以及臂组件，其连接到所述第三关节的旋转轴，并且包括连杆机构，所述连杆机构被驱动，使得连接到所述臂组件的腕部可以总是在所述矢量的延长线上移动，从而提供简化的关节机构具有完全独立于手腕位置的姿势的冗余自由度的操纵器。

2. 发明授权

US5005434A Autosampler with a means for detecting air bubble in specimen 失效
标题翻译：自动进样器，用于检测样品中的气泡
公开(公告)号：US5005434A
公开(公告)日：1991-04-09
申请号：US390720
申请日：1989-08-08
申请人： Yoshio Watanabe , Mamoru Taki , Junkichi Miura , Masao Kamahori , Hiroyuki Miyagi , Yasuhide Matsumura , Masafumi Kanetomo
发明人： Yoshio Watanabe , Mamoru Taki , Junkichi Miura , Masao Kamahori , Hiroyuki Miyagi , Yasuhide Matsumura , Masafumi Kanetomo
IPC分类号： G01N35/10 , G01N1/00 , G01N1/14 , G01N15/00 , G01N30/16 , G01N30/24 , G01N30/34
CPC分类号： G01N35/1097 , G01N1/14 , G01N2015/0011 , G01N2021/4735 , G01N2201/08 , G01N30/34
摘要： An autosampler consists of a needle to draw specimen from a specimen container into a passage therein; a block having a passage that follows the passge in the needle; a suction mechanism for drawing in the specimen by suction through the passages in the needle and the block; a discharge mechanism for discarding the specimen drawn in by the suction mechanism; and a detecting device for detecting air bubble in the specimen, the detecting device being embedded in the block in such a manner as to face the passage in the block. The detecting device detects the air bubbles in the specimen according to changes in physical or chemical properties of the specimen passing through the passage in the block. The discharge mechanism is activated by the detecting device to discharge air-mixed specimen. When even a small amount of air is drawn into the passage from the specimen container, in which only a small amount of specimen is contained, the air specimen can reliably be distinguished from normal specimen by this autosampler. Therefore the reliability of the system using the autosampler can be significantly improved.
摘要翻译：自动进样器由将样本从样本容器拉入其中的通道的针头组成; 具有跟随针头中的传递的通道的块; 抽吸机构，用于通过抽吸通过针和块中的通道抽吸样品; 用于废弃由抽吸机构吸入的试样的排出机构; 以及用于检测样本中的气泡的检测装置，所述检测装置以面对块中的通道的方式嵌入块中。检测装置根据通过块体中的通道的试样的物理或化学特性的变化来检测样品中的气泡。排出机构由检测装置启动，以排出空气混合样品。即使少量的空气从容纳少量试样的试样容器的通道中吸入，也可以通过该自动进样器将空气样本与正常试样区分开。因此，可以显着提高使用自动进样器的系统的可靠性。

3. 发明授权

US4934781A Light deflecting system with rotating mirror 失效
标题翻译：具有旋转镜的光偏转系统
公开(公告)号：US4934781A
公开(公告)日：1990-06-19
申请号：US304554
申请日：1989-02-01
申请人： Shigeo Kato , Susumu Saito , Yasuhide Matsumura , Gyozo Toda
发明人： Shigeo Kato , Susumu Saito , Yasuhide Matsumura , Gyozo Toda
IPC分类号： F16C17/02 , F16C27/02 , G02B26/12 , H02K5/16 , H02K7/09
CPC分类号： F16C27/02 , F16C17/028 , G02B26/121 , H02K5/1672 , H02K7/09
摘要： The rotating mirror light deflecting system employs a non-circular dynamic gas bearing providing dynamic pressure to radially support the shaft. The bearing is provided internally with a multiplicity of grooves or embankments whereby dynamic gas pressure is increased to enhance rigidity. The bearing radially moves as a whole with damping according to a movement of the shaft, thus permitting nondestructive movement of the shaft and absorption of the resonant energy of the shaft. The shaft and the bearing will not come in contact with each other, and oscillation energy of the shaft is absorbed or dissipated by an external viscous or hysteresis resistance of the bearing therefore resonance oscillation is attenuated on the instant it occurs. Since the resonance point is high due to bearing surface rigidity, whirling is hard to arise, however, if whirling does arise, then the bearing and the shaft move together to attenuate oscillation energy of the shaft, therefore oscillation and whirling is put down immediately.
摘要翻译：旋转镜光偏转系统使用提供动态压力的非圆形动态气体轴承来径向支撑轴。轴承内部设置有多个槽或堤，从而增加动态气体压力以增强刚度。根据轴的运动，轴承整体上具有阻尼的径向运动，从而允许轴的非破坏性运动和轴的共振能量的吸收。轴和轴承不会彼此接触，并且轴的振动能量被轴承的外部粘性或磁滞阻力吸收或消散，因此谐振振荡在其发生的瞬间被衰减。由于共振点由于轴承表面的刚度而高，因此很难产生旋转，但如果发生旋转，则轴承和轴一起移动，以减弱轴的振荡能量，因此立即放下振动和旋转。

4. 发明授权

US4542712A Apparatus for molecular beam epitaxy 失效
标题翻译：分子束外延装置
公开(公告)号：US4542712A
公开(公告)日：1985-09-24
申请号：US623370
申请日：1984-06-22
申请人： Kazuo Sato , Sumio Yamaguchi , Shigeo Kato , Yasuhide Matsumura , Muneo Mizumoto , Sumio Okuno , Naoyuki Tamura
发明人： Kazuo Sato , Sumio Yamaguchi , Shigeo Kato , Yasuhide Matsumura , Muneo Mizumoto , Sumio Okuno , Naoyuki Tamura
IPC分类号： C30B23/02 , C30B35/00 , H01L21/203
CPC分类号： C30B35/005 , C30B23/02 , Y10S414/137 , Y10S414/139
摘要： An apparatus for molecular beam epitaxy according to the present invention is so constructed that a substrate is introduced into a vacuum vessel with a substrate surface for epitaxial growth facing in the direction of gravity, and that the substrate is conveyed to and transferred into vacuum chambers for performing processes necessary for the epitaxial growth, with the substrate surface maintained in the direction of gravity and without directly touching the substrate surface.
摘要翻译：根据本发明的用于分子束外延的装置被构造成使得将衬底引入真空容器中，其中外延生长的衬底表面朝向重力方向，并且衬底被输送并转移到真空室中执行外延生长所需的工艺，其中衬底表面保持在重力方向并且不直接接触衬底表面。

5. 发明授权

US4179783A Holding apparatus with elastic mechanism 失效
标题翻译：具有弹性机构的保持装置
公开(公告)号：US4179783A
公开(公告)日：1979-12-25
申请号：US834897
申请日：1977-09-20
申请人： Tadao Inoyama , Yasuhide Matsumura , Yukio Nagano
发明人： Tadao Inoyama , Yasuhide Matsumura , Yukio Nagano
IPC分类号： B23P19/00 , B25J17/02 , B25B27/14
CPC分类号： B23P19/102 , B23P19/12 , B25J17/0208 , Y10T29/53978
摘要： A holding apparatus coupled to a drive shaft provides a holding mechanism. An elastic mechanism coupling the holding mechanism to the drive shaft and detectors for detecting a deflection of the holding mechanism with respect to the drive shaft. The holding mechanism holds a first member which is assembled to a second member and is controlled in response to a representative signal generated by the detectors. The elastic mechanism comprises two independent springs, one of which supports elastically the holding mechanism in the axial direction of the shaft and the other of which supports elastically the holding mechanism in the direction perpendicular to the axial direction thereof, whereby the holding mechanism is movably coupled with the drive shaft.
摘要翻译：联接到驱动轴的保持装置提供保持机构。将保持机构联接到驱动轴的弹性机构和用于检测保持机构相对于驱动轴的偏转的检测器。保持机构保持组装到第二构件的第一构件，并且响应于由检测器产生的代表性信号而被控制。弹性机构包括两个独立的弹簧，其中一个弹簧沿着轴的轴向弹性地支撑保持机构，另一个弹簧沿与其轴向方向垂直的方向弹性地支撑保持机构，由此保持机构可移动地联接与驱动轴。

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