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1. 发明授权

US07878088B2 Sealing device for joint section of robot and articulated robot having the same 有权
标题翻译：具有相同功能的机器人和铰接式机器人接头部分的密封装置
公开(公告)号：US07878088B2
公开(公告)日：2011-02-01
申请号：US11896008
申请日：2007-08-29
申请人： Toshinari Tamura , Hidenori Kurebayashi , Atsushi Aizawa , Yasuyoshi Tanaka , Katsumi Fujimoto
发明人： Toshinari Tamura , Hidenori Kurebayashi , Atsushi Aizawa , Yasuyoshi Tanaka , Katsumi Fujimoto
IPC分类号： B25J17/00 , F16J15/34
CPC分类号： B25J19/0075 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A sealing device provided to a joint section of a robot. The sealing device includes overlapped seal portions having a multi-stage configuration, provided for a driving mechanism incorporated into the joint section. The overlapped seal portions include a first seal portion including a first contact seal element sealing a first inter-member gap defined adjacent to a lubricant retaining section provided in the driving mechanism; and a second seal portion arranged outside the first seal portion and including a second contact seal element sealing a second inter-member gap defined in a circumferential wall of the joint section, the circumferential wall defining an accommodation space for accommodating the driving mechanism.
摘要翻译：设置在机器人的接合部的密封装置。密封装置包括具有多级结构的重叠的密封部分，其被设置为结合到接头部分中的驱动机构。重叠的密封部分包括第一密封部分，其包括密封与设置在驱动机构中的润滑剂保持部分相邻限定的第一部件间隙的第一接触密封元件; 以及第二密封部，其布置在所述第一密封部的外侧，并且包括密封限定在所述接合部的周壁中的第二构件间隙的第二接触密封元件，所述周壁限定用于容纳所述驱动机构的容纳空间。

2. 发明申请

US20080258402A1 Sealing device for joint section of robot and articulated robot having the same 有权
标题翻译：具有相同功能的机器人和铰接式机器人接头部分的密封装置
公开(公告)号：US20080258402A1
公开(公告)日：2008-10-23
申请号：US11896008
申请日：2007-08-29
申请人： Toshinari Tamura , Hidenori Kurebayashi , Atsushi Aizawa , Yasuyoshi Tanaka , Katsumi Fujimoto
发明人： Toshinari Tamura , Hidenori Kurebayashi , Atsushi Aizawa , Yasuyoshi Tanaka , Katsumi Fujimoto
IPC分类号： F16J15/16 , B25J17/00
CPC分类号： B25J19/0075 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A sealing device provided to a joint section of a robot. The sealing device includes overlapped seal portions having a multi-stage configuration, provided for a driving mechanism incorporated into the joint section. The overlapped seal portions include a first seal portion including a first contact seal element sealing a first inter-member gap defined adjacent to a lubricant retaining section provided in the driving mechanism; and a second seal portion arranged outside the first seal portion and including a second contact seal element sealing a second inter-member gap defined in a circumferential wall of the joint section, the circumferential wall defining an accommodation space for accommodating the driving mechanism.
摘要翻译：设置在机器人的接合部的密封装置。密封装置包括具有多级结构的重叠的密封部分，其被设置为结合到接头部分中的驱动机构。重叠的密封部分包括第一密封部分，其包括密封与设置在驱动机构中的润滑剂保持部分相邻限定的第一部件间隙的第一接触密封元件; 以及第二密封部，其布置在所述第一密封部的外侧，并且包括密封限定在所述接合部的周壁中的第二构件间隙的第二接触密封元件，所述周壁限定用于容纳所述驱动机构的容纳空间。

3. 发明授权

US07673536B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07673536B2
公开(公告)日：2010-03-09
申请号：US11889476
申请日：2007-08-14
申请人： Toshinari Tamura , Hidenori Kurebayashi , Yasuyoshi Tanaka
发明人： Toshinari Tamura , Hidenori Kurebayashi , Yasuyoshi Tanaka
IPC分类号： B25J17/00
CPC分类号： B25J9/046 , B25J9/104 , Y10T74/20305
摘要： An industrial robot (10) comprising three power transmission units (21, 22, 23) arranged concentrically and three drive means for driving the three power transmission units, respectively, is disclosed. The drive means for at least one of the three power transmission units includes two motors (31, 34). Also, all of the three power transmission units and the three drive means are desirably built into the base (15) of the industrial robot. This configuration makes it possible to have high-duty operation with a comparatively compact structure.
摘要翻译：公开了一种工业机器人（10），其包括同心设置的三个电力传输单元（21,22,23）和分别驱动三个电力传输单元的三个驱动装置。用于三个动力传递单元中的至少一个的驱动装置包括两个马达（31,34）。此外，三个动力传递单元和三个驱动装置中的所有三个驱动装置都希望内置在工业机器人的基座（15）中。这种结构使得可以以比较紧凑的结构进行高功率操作。

4. 发明申请

US20080056858A1 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US20080056858A1
公开(公告)日：2008-03-06
申请号：US11889476
申请日：2007-08-14
申请人： Toshinari Tamura , Hidenori Kurebayashi , Yasuyoshi Tanaka
发明人： Toshinari Tamura , Hidenori Kurebayashi , Yasuyoshi Tanaka
IPC分类号： B65H29/02
CPC分类号： B25J9/046 , B25J9/104 , Y10T74/20305
摘要： An industrial robot (10) comprising three power transmission units (21, 22, 23) arranged concentrically and three drive means for driving the three power transmission units, respectively, is disclosed. The drive means for at least one of the three power transmission units includes two motors (31, 34). Also, all of the three power transmission units and the three drive means are desirably built into the base (15) of the industrial robot. This configuration makes it possible to have high-duty operation with a comparatively compact structure.
摘要翻译：公开了一种工业机器人（10），其包括同心设置的三个电力传输单元（21,22,23）和分别驱动三个电力传输单元的三个驱动装置。用于三个动力传递单元中的至少一个的驱动装置包括两个马达（31,34）。此外，三个动力传递单元和三个驱动装置中的所有三个驱动装置都希望内置在工业机器人的基座（15）中。这种结构使得可以以比较紧凑的结构进行高功率操作。

5. 发明授权

US07486816B2 Three-dimensional measurement apparatus 失效
标题翻译：三维测量装置
公开(公告)号：US07486816B2
公开(公告)日：2009-02-03
申请号：US10962542
申请日：2004-10-13
申请人： Atsushi Aizawa , Toshinari Tamura
发明人： Atsushi Aizawa , Toshinari Tamura
IPC分类号： G06K9/00 , G01C3/14 , G02B27/22 , G06T15/00
CPC分类号： G01B11/25 , G06T7/521
摘要： A three-dimensional measurement apparatus of a slit light (or pseudo slit light) projection type that is adapted to prevent deterioration of measurement accuracy and to be easily miniaturized. Detected positions C1, C2 are adopted that are determined so as to correspond to scanning lines on each of which a number of brightened pixels falls within an allowable range are detected. The allowable range varies from Nav × amin to Nav × amax or from Nav−β to Nav +γ, where Nav is an average of the numbers of brightened pixels detected on scanning lines for each of which at least one pixel is determined, and amin, amax, β, and γ are minimum proper ratio, maximum proper ratio, subtract number of pixels, and add number of pixels, respectively, which are set in advance as parameters.
摘要翻译：狭缝光（或伪狭缝光）投射型的三维测量装置，其适于防止测量精度的劣化并且容易地小型化。检测出的位置C1，C2被确定为与扫描线对应，其中检测到多个增亮像素落在可允许范围内的扫描线。允许范围从Nav x amin到Nav x amax或Nav-beta到Nav + gamma不等，其中Nav是在扫描线上检测到的每个至少一个像素所确定的增亮像素数的平均值，而betamin ，betamax，β和gamma分别是作为参数预先设定的最小适当比例，最大适当比例，减去像素数量和相加像素数。

6. 发明申请

US20050103148A1 Cable distribution and support equipment for sensor in robot system 审中-公开
标题翻译：机器人系统中传感器的电缆分配和支持设备
公开(公告)号：US20050103148A1
公开(公告)日：2005-05-19
申请号：US10989431
申请日：2004-11-17
申请人： Toshihiko Inoue , Toshinari Tamura , Atsushi Aizawa
发明人： Toshihiko Inoue , Toshinari Tamura , Atsushi Aizawa
IPC分类号： B25J19/00 , B25J19/02 , B25J17/00
CPC分类号： B25J19/021 , B25J19/0029 , Y10T74/20311
摘要： Cable distribution and support equipment for a sensor, in a robot system including a robot and the sensor attached to the wrist region of the robot, to lay a sensor cable connected to the sensor in the robot. The cable distribution and support equipment includes a sensor cable comprised of a signal cable and a power cable; an umbilical member comprised of at least one of a control cable of a drive motor of a wrist axis of a robot, a control cable of a hand attached to the robot and a pneumatic-mechanism driving compressed-air hose; and a protective tube through which the sensor cable and the umbilical member are passed. The protective tube is configured to be laid through a cavity formed in a hollow forearm of the robot. The signal cable may be comprised of an image signal cable and a control signal cable, provided for a visual sensor. Alternatively, the signal cable may be comprised of a detection-data transmission signal cable of a strain gauge provided for a force sensor.
摘要翻译：用于传感器的电缆分配和支持设备，在包括机器人的机器人系统和附接到机器人的手腕区域的传感器的机器人系统中，布置连接到机器人中的传感器的传感器电缆。电缆分配和支持设备包括由信号电缆和电力电缆组成的传感器电缆; 脐部构件，其由机器人的手腕轴的驱动马达的控制缆索，附接到机器人的手的控制缆索和驱动压缩空气软管的气动机构中的至少一个构成; 以及传感器电缆和脐带部件通过的保护管。保护管构造成通过形成在机器人的空心前臂中的空腔铺设。信号电缆可以由为视觉传感器提供的图像信号电缆和控制信号电缆组成。或者，信号电缆可以由为力传感器提供的应变仪的检测数据传输信号电缆组成。

7. 发明申请

US20050084149A1 Three-dimensional measurement apparatus 失效
标题翻译：三维测量装置
公开(公告)号：US20050084149A1
公开(公告)日：2005-04-21
申请号：US10962542
申请日：2004-10-13
申请人： Atsushi Aizawa , Toshinari Tamura
发明人： Atsushi Aizawa , Toshinari Tamura
IPC分类号： G01B11/24 , G01B11/25 , G06T1/00 , G01B11/14
CPC分类号： G01B11/25 , G06T7/521
摘要： A three-dimensional measurement apparatus of a slit light (or pseudo slit light) projection type that is adapted to prevent deterioration of measurement accuracy and to be easily miniaturized. When there is a disturbance in a region A in a distribution of pixels whose detected luminances exceed a threshold, a detected position C3 determined from a weighted average of luminances of pixels selected under a threshold condition along a scanning line traversing a bright portion image and liable to be deviated from a correct detected position line B-B is excluded from data to be used for the three-dimensional measurement, whereas detected positions C1, C2 are adopted that are determined so as to correspond to scanning lines on each of which pixels whose number falls within an allowable range are detected. The allowable range varies from Nav×αmin to Nav×αmax or from Nav−β to Nav+γ, where Nav is an average of the numbers of pixels detected on scanning lines for each of which at least one pixel is determined, and αmin, αmax, β, and γ are minimum proper ratio, maximum proper ratio, subtract number of pixels, and add number of pixels, respectively, which are set in advance as parameters.
摘要翻译：狭缝光（或伪狭缝光）投射型的三维测量装置，其适于防止测量精度的劣化并且容易地小型化。当检测到的亮度超过阈值的像素分布中的区域A中存在干扰时，根据沿着穿过亮部图像的扫描线在阈值条件下选择的像素的亮度的加权平均值的加权平均值确定的检测位置C 3，以及容易偏离正确的检测位置线BB被排除在用于三维测量的数据之外，而采用被确定为与每个像素上的扫描线对应的检测位置C 1，C 2 检测其数量在允许范围内。允许范围从Navxalphamin到Navxalphamax或Nav-beta到Nav + gamma，其中Nav是扫描线上检测到的每个至少一个像素的像素数的平均值，alphamin，alphamax，beta，并且伽马分别是作为参数预先设置的最小适当比率，最大适当比率，相减的像素数量和相加的像素数。

8. 发明授权

US5412096A Hydrochloride salts of heterocyclic spiro compounds 失效
标题翻译：杂环螺环化合物的盐酸盐
公开(公告)号：US5412096A
公开(公告)日：1995-05-02
申请号：US230625
申请日：1994-05-24
申请人： Shin-ichi Tsukamoto , Hitoshi Nagaoka , Shinji Usuda , Masatomi Harada , Toshinari Tamura
发明人： Shin-ichi Tsukamoto , Hitoshi Nagaoka , Shinji Usuda , Masatomi Harada , Toshinari Tamura
IPC分类号： C07D211/48 , C07D471/10 , C07D491/10 , C07D491/107 , C07D491/20 , C07D491/22 , C07D495/10 , C07D495/20 , C07D495/22 , C07D497/20 , C07D497/22 , C07D405/02
CPC分类号： C07D471/10 , C07D211/48 , C07D491/10 , C07D495/10
摘要： Hydrochloride salts of heterocyclic spiro compounds are provided and can be represented by the following general formula: ##STR1## wherein A represents piperidine or N alkyl piperidine or N alkylene attached to a non adjacent piperidine ring carbon, X is S or O, Y is carbonyl, thiocarbonyl, methylene, R.sup.5 methylene, ##STR2## alk in which R.sup.1 to R.sub.3,R.sub.6,R.sub.7 are H or alkyl, R.sub.4 is H, alkyl, COOH, or ester, or --C alkyl, R.sub.5 is halo, OH,SH, O alkyl, S alkyl, O acyl or S acyl, and Z, and Z.sub.2 are O or S. The above compounds act upon muscarinic acetylcholine receptors, thereby activating the acetylcholine nervous functions in the central nervous system.
摘要翻译：提供了杂环螺环化合物的盐酸盐，并且可以由以下通式表示：其中A表示哌啶或N烷基哌啶或连接于非相邻哌啶环碳的N亚烷基，X为S或O，Y为羰基，其中R 1至R 3，R 6，R 7为H或烷基，R 4为H，烷基，COOH或酯或-C烷基，R 5为卤素，OH，SH， O烷基，S烷基，O酰基或S酰基，Z和Z2是O或S.上述化合物作用于毒蕈碱性乙酰胆碱受体，从而激活中枢神经系统中的乙酰胆碱神经功能。

9. 发明授权

US5041549A Heterocyclic spiro compounds and methods for preparing the same 失效
公开(公告)号：US5041549A
公开(公告)日：1991-08-20
申请号：US470093
申请日：1990-01-25
申请人： Shin-ichi Tsukamoto , Hitoshi Nagaoka , Shinji Usuda , Masatomi Harada , Toshinari Tamura
发明人： Shin-ichi Tsukamoto , Hitoshi Nagaoka , Shinji Usuda , Masatomi Harada , Toshinari Tamura
IPC分类号： C07D491/107 , A61K31/435 , A61K31/55 , A61P25/02 , A61P25/28 , C07D211/48 , C07D405/06 , C07D453/00 , C07D471/10 , C07D487/10 , C07D491/10 , C07D491/20 , C07D491/22 , C07D495/10 , C07D495/20 , C07D495/22 , C07D497/20 , C07D497/22
CPC分类号： C07D471/10 , C07D211/48 , C07D491/10 , C07D495/10
摘要： Heterocyclic spiro compounds represented by the following general formula and salts thereof: ##STR1## wherein A represents piperidine or N alkyl piperidine or N alkylene attached to a non adjacent piperidine ring carbon, X is S or O, Y is carbonyl, thiocarbonyl, methylene, R.sup.5 methylene, ##STR2## in which R.sup.1 to R.sub.3, R.sub.6, R.sub.7 are H or alkyl, R.sub.4 is H, alkyl, --COOH, or ester, or ##STR3## R.sub.5 is halo, OH, SH, O alkyl, S alkyl, O acyl or S acyl, and Z.sub.1 and Z.sub.2 are O or S.The above compounds act upon muscarinic acetylcholine receptors, thereby activating the acetylcholine nervous functions in the central nervous system.

10. 发明授权

US4379158A Antisecretory imidazole amidine compounds, composition and method of use 失效
标题翻译：咪唑咪唑类化合物，组成及使用方法
公开(公告)号：US4379158A
公开(公告)日：1983-04-05
申请号：US193742
申请日：1980-10-03
申请人： Yasufumi Hirata , Isao Yanagisawa , Toshinari Tamura , Masaaki Takeda
发明人： Yasufumi Hirata , Isao Yanagisawa , Toshinari Tamura , Masaaki Takeda
IPC分类号： C07D213/32 , C07D213/68 , C07D213/86 , C07D233/54 , C07D233/64 , C07D277/26 , C07D277/30 , C07D307/52 , A61K31/615 , C07D401/12
CPC分类号： C07D213/86 , C07D213/32 , C07D213/68 , C07D233/64 , C07D277/26 , C07D307/52
摘要： Novel heterocyclic compounds shown by the formula ##STR1## wherein Het represents a 5-membered or 6-membered heterocyclic group which may have substituent(s); Z represents a sulfur atom or oxygen atom; X represents an oxygen atom or the unsubstituted or substituted imino group shown by N--R.sub.1 (wherein R.sub.1 is a hydrogen atom, a lower alkyl group, a cyano group, an unsubstituted or alkyl substituted carbamoyl group, an unsubstituted or lower alkyl substituted thiocarbamoyl group, or a lower alkanoylamino group); Y represents a hydrogen atom, a lower alkyl group which may have substituent(s), a cycloalkyl group of 3-6 carbon atoms, a lower alkenyl group, a lower alkynyl group, an aryl group which may have substituent(s), an aralkyl group which may have substituent(s), a hydroxyl group, a cyano group, a carbamoyl group, an amidino group, an alkanoyl group which may have been substituted by halogen atom(s), an alkanoylamino group, an arylcarbonylamino group, an alkylamino group, an arylamino group, an arylsulfamoyl group, a lower alkoxycarbamoyl group, or an oxamoylamino group; and m and n represent an integer of 1-3; when X is N--R.sub.1, said X and Y may combine with each other to form a 5-membered or 6-membered heterocyclic ring containing 2-3 nitrogen atoms which may have substituent(s), and the pharmacologically acceptable acid addition salts thereof.The compounds of this invention are useful as gastric acid secretion inhibitors.
摘要翻译：式中，Het表示可具有取代基的5元或6元杂环基的新型杂环化合物。 Z表示硫原子或氧原子; X表示氧原子或由N-R 1表示的未取代或取代的亚氨基（其中R 1为氢原子，低级烷基，氰基，未取代或烷基取代的氨基甲酰基，未取代或低级烷基取代的硫代氨基甲酰基，或低级烷酰氨基）; Y表示氢原子，可具有取代基的低级烷基，3-6个碳原子的环烷基，低级烯基，低级炔基，可具有取代基的芳基，可以具有取代基的芳烷基，羟基，氰基，氨基甲酰基，脒基，可被卤素原子取代的烷酰基，烷酰基氨基，芳基羰基氨基，烷基氨基，芳基氨基，芳基氨磺酰基，低级烷氧基氨基甲酰基或氨甲酰基氨基; m和n表示1-3的整数; 当X是N-R1时，所述X和Y可以彼此结合形成含有2-3个可具有取代基的氮原子的5元或6元杂环，其药理学上可接受的酸加成盐。本发明的化合物可用作胃酸分泌抑制剂。

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