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1. 发明授权

US08554369B2 Machining system and method 有权
标题翻译：加工系统及方法
公开(公告)号：US08554369B2
公开(公告)日：2013-10-08
申请号：US13026551
申请日：2011-02-14
申请人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
发明人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
IPC分类号： G06F19/00 , G05B19/418 , B25J9/00
CPC分类号： G05B19/4182 , B25J9/0093 , B25J9/1697 , G05B2219/39102 , G05B2219/39387 , G05B2219/40554 , Y02P90/083
摘要： According to the present invention, even during and immediately before a machining operation by a machining apparatus, it is possible to improve positioning control accuracy thereof and, as a result, machining accuracy thereof. A robot 11 equipped with a machining tool 12 performs a moving operation to a target position 41 of a machining target workpiece 2 and a machining operation on the machining target. A robot moving mechanism 14 moves the robot 11 in parallel with the workpiece 2 that is being conveyed by a conveyance carriage 18. A robot control device 17 controls movement of the robot moving mechanism 14 using a detection result of a synchronizing sensor 15 and carries out positioning control of the robot 11 using the detection result of a visual sensor 13 or a synchronizing sensor 15.
摘要翻译：根据本发明，即使在加工装置的加工操作之前和之前，也可以提高其定位控制精度，结果是提高其加工精度。配备有加工工具12的机器人11对加工对象工件2的目标位置41进行移动操作，并对加工对象进行加工操作。机器人移动机构14使机器人11与由输送台车18输送的工件2平行移动。机器人控制装置17使用同步传感器15的检测结果来控制机器人移动机构14的移动，并进行使用视觉传感器13或同步传感器15的检测结果进行机器人11的定位控制。

2. 发明申请

US20110208347A1 MACHINING SYSTEM AND METHOD 有权
标题翻译：加工系统与方法
公开(公告)号：US20110208347A1
公开(公告)日：2011-08-25
申请号：US13026551
申请日：2011-02-14
申请人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
发明人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
IPC分类号： G06F19/00
CPC分类号： G05B19/4182 , B25J9/0093 , B25J9/1697 , G05B2219/39102 , G05B2219/39387 , G05B2219/40554 , Y02P90/083
摘要： According to the present invention, even during and immediately before a machining operation by a machining apparatus, it is possible to improve positioning control accuracy thereof and, as a result, machining accuracy thereof. A robot 11 equipped with a machining tool 12 performs a moving operation to a target position 41 of a machining target workpiece 2 and a machining operation on the machining target. A robot moving mechanism 14 moves the robot 11 in parallel with the workpiece 2 that is being conveyed by a conveyance carriage 18. A robot control device 17 controls movement of the robot moving mechanism 14 using a detection result of a synchronizing sensor 15 and carries out positioning control of the robot 11 using the detection result of a visual sensor 13 or a synchronizing sensor 15.
摘要翻译：根据本发明，即使在加工装置的加工操作之前和之前，也可以提高其定位控制精度，结果是提高其加工精度。配备有加工工具12的机器人11对加工对象工件2的目标位置41进行移动操作，并对加工对象进行加工操作。机器人移动机构14使机器人11与由输送台车18输送的工件2平行移动。机器人控制装置17使用同步传感器15的检测结果来控制机器人移动机构14的移动，并进行使用视觉传感器13或同步传感器15的检测结果进行机器人11的定位控制。

3. 发明申请

US20110106311A1 INFORMATION PROCESSING METHOD, APPARATUS, AND COMPUTER READABLE MEDIUM 失效
标题翻译：信息处理方法，装置和计算机可读介质
公开(公告)号：US20110106311A1
公开(公告)日：2011-05-05
申请号：US12913078
申请日：2010-10-27
申请人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
发明人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
IPC分类号： G05B19/04
CPC分类号： B25J9/163 , B25J9/1697 , G05B2219/39338 , G05B2219/39391 , Y10S901/03
摘要： An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling to cause a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object (Step S1). When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled (Steps S3 and S4). When the switching condition is fulfilled, the apparatus executes visual servo control (Step S5).
摘要翻译：一种装置执行使配备有照相机的机器人手臂向上移动到物体的移动控制，从而能够使操纵器作为控制系统快速，准确且稳定地移动到对象。具体而言，当没有检测到物体时，设备执行教学重放控制，以使得操纵器基于物体的位置沿着路径移动到预先设定的目标位置（步骤S1）。当检测到物体时，该装置将比目标位置更靠近物体的位置定义为新的目标位置，将新路径设置到新的目标位置，执行教学重放控制以使机械手沿着新的路径移动直到满足切换移动控制的切换条件（步骤S3和S4）。当满足切换条件时，设备执行视觉伺服控制（步骤S5）。

4. 发明授权

US08600552B2 Information processing method, apparatus, and computer readable medium 失效
公开(公告)号：US08600552B2
公开(公告)日：2013-12-03
申请号：US12913078
申请日：2010-10-27
申请人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
发明人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
IPC分类号： G05B19/18 , G06F19/00
CPC分类号： B25J9/163 , B25J9/1697 , G05B2219/39338 , G05B2219/39391 , Y10S901/03
摘要： An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object. When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled. When the switching condition is fulfilled, the apparatus executes visual servo control.

5. 发明申请

US20110301758A1 METHOD OF CONTROLLING ROBOT ARM 审中-公开
标题翻译：控制机器人ARM的方法
公开(公告)号：US20110301758A1
公开(公告)日：2011-12-08
申请号：US13132763
申请日：2009-10-07
申请人： Ryo Nakajima , Gentoku Fujii
发明人： Ryo Nakajima , Gentoku Fujii
IPC分类号： B25J13/06
CPC分类号： B25J9/1641 , B25J9/1633
摘要： [SUMMARY][OBJECT]Provide a method for controlling a robot arm which retrains the vibration of the arm during a switch of operating method from teaching play back control to feedback control.[SOLUTION]Operate robot arm by the control method comprising the following steps and the vibration of the robot arm is restrained at the time of the control change, by using a non-contact type impedance control method;A step to move a robot arm along a course decided beforehand, the step is performed with teaching play hack control, the teaching play back control is carried out by the instruction of a program which is stored in the control department of a control unit.A step to recognize the presence or absence of the work by a work recognition means which is provided to the arm.A step to move the robot arm to follow the work changing the program of the control department at the same time to recognize the work, the program is changed to feedback control of the non-contact type impedance control method from teaching play back control.
摘要翻译：发明内容提供一种用于控制机器人手臂的方法，其在操作方法的切换期间从教学回放控制到反馈控制再训练臂的振动。 [解决方案]通过包括以下步骤的控制方法来操作机器人手臂，并且通过使用非接触式阻抗控制方法在控制变化时抑制机器人手臂的振动; 通过预先决定的步骤来移动机器人手臂的步骤，通过教学游戏黑客控制进行该步骤，通过存储在控制单元的控制部中的程序的指令进行教学回放控制。通过提供给手臂的工作识别装置来识别工作的存在或不存在的步骤。移动机器人手臂跟随工作改变控制部门的程序同时识别工作的一个步骤，该程序从教学回放控制改变为非接触式阻抗控制方法的反馈控制。

6. 发明授权

US08122578B2 Method and apparatus of integrating work 有权
标题翻译：整合工作的方法和装置
公开(公告)号：US08122578B2
公开(公告)日：2012-02-28
申请号：US11581571
申请日：2006-10-17
申请人： Seiji Isotani , Kenichi Ohno , Yoshito Otake , Ryo Nakajima
发明人： Seiji Isotani , Kenichi Ohno , Yoshito Otake , Ryo Nakajima
IPC分类号： B23Q17/00
CPC分类号： B62D65/06 , Y10T29/49776
摘要： An apparatus 30 for coupling a first member 15 and a second member 17 by a clip and a screw is constituted by member moving means 131L, 131R for moving the second member 17 relative to the first member 15, reaction force detecting means 132L, 132R provided to the member moving means 131L, 131R for detecting a press reaction force generated when the second member 17 is matched to the first member 15, clip fitting determining means 135L, 135R for determining whether the clip is correctly fitted to a clip hole by reading the reaction force detected by the reaction force detecting means 132L, 132R, and screw fastening means 149 for fastening the screw when acceptable information is provided by the clip fitting determining means 135L, 135R.
摘要翻译：用于通过夹子和螺钉联接第一构件15和第二构件17的装置30由用于使第二构件17相对于第一构件15移动的构件移动装置131L，131R构成，反作用力检测装置132L，132R设置到用于检测当第二构件17与第一构件15匹配时产生的压力反作用力的构件移动装置131L，131R，用于通过读取夹子来确定夹子是否正确地装配到夹子孔的夹具装配确定装置135L，135R 反作用力检测装置132L，132R检测出的反作用力和用于在由夹具装配确定装置135L，135R提供可接受的信息时紧固螺钉的螺钉紧固装置149。

7. 发明申请

US20070087609A1 Method and apparatus of integrating work 有权
标题翻译：整合工作的方法和装置
公开(公告)号：US20070087609A1
公开(公告)日：2007-04-19
申请号：US11581571
申请日：2006-10-17
申请人： Seiji Isotani , Kenichi Ohno , Yoshito Otake , Ryo Nakajima
发明人： Seiji Isotani , Kenichi Ohno , Yoshito Otake , Ryo Nakajima
IPC分类号： H01R13/62
CPC分类号： B62D65/06 , Y10T29/49776
摘要： An apparatus 30 for coupling a first member 15 and a second member 17 by a clip and a screw is constituted by member moving means 131L, 131R for moving the second member 17 relative to the first member 15, reaction force detecting means 132L, 132R provided to the member moving means 131L, 131R for detecting a press reaction force generated when the second member 17 is matched to the first member 15, clip fitting determining means 135L, 135R for determining whether the clip is correctly fitted to a clip hole by reading the reaction force detected by the reaction force detecting means 132L, 132R, and screw fastening means 149 for fastening the screw when acceptable information is provided by the clip fitting determining means 135L, 135R.
摘要翻译：用于通过夹子和螺钉联接第一构件15和第二构件17的装置30由用于使第二构件17相对于第一构件15移动的构件移动装置131L，131R构成，反作用力检测装置132L 132 R，用于检测当第二构件17与第一构件15匹配时产生的压力反作用力的构件移动装置131L，131R，用于确定夹子是否正确的夹子装配确定装置135L，135R 通过读取由反作用力检测装置132L，132R检测到的反作用力和通过夹具装配确定装置135L，135R提供可接受信息时的螺钉紧固的螺钉固定装置149而装配到夹孔。

8. 发明授权

US09057133B2 Processing solution for forming hexavalent chromium free, black conversion film on zinc or zinc alloy plating layers, and method for forming hexavalent chromium free, black conversion film on zinc or zinc alloy plating layers 有权
标题翻译：用于在锌或锌合金镀层上形成六价铬，黑色转换膜的加工溶液，以及在锌或锌合金镀层上形成六价铬黑色转化膜的方法
公开(公告)号：US09057133B2
公开(公告)日：2015-06-16
申请号：US12401202
申请日：2009-03-10
申请人： Manabu Inoue , Ryo Nakajima , Kimitaka Watanabe , Toyoji Watanabe , Fumie Watanabe , Yutaka Watanabe , Takeshi Watanabe
发明人： Manabu Inoue , Ryo Nakajima , Kazuhiro Watanabe , Kimitaka Watanabe
IPC分类号： C23C22/33 , C23C22/17 , C23C22/53 , C23C22/47
CPC分类号： C23C22/17 , C23C22/47 , C23C22/53 , C23C2222/10
摘要： It is an object of the present invention to provide a processing solution used for forming a hexavalent chromium free, black conversion film, which is applied onto the surface of zinc or zinc alloy plating layers, and which has corrosion resistance identical to or higher than that achieved by the conventional hexavalent chromium-containing conversion film.
摘要翻译：本发明的目的是提供一种用于形成六价铬无黑变换膜的处理溶液，其被施加到锌或锌合金镀层的表面上，并且具有与之相同或更高的耐腐蚀性通过常规的六价含铬转化膜实现。

9. 发明授权

US09027160B2 Access management system and access management method 有权
标题翻译：访问管理系统和访问管理方法
公开(公告)号：US09027160B2
公开(公告)日：2015-05-05
申请号：US13393044
申请日：2010-07-07
申请人： Kumiko Yamaguchi , Masaharu Nakatsuchi , Tetsuhiro Tanno , Mao Asai , Ryo Nakajima
发明人： Kumiko Yamaguchi , Masaharu Nakatsuchi , Tetsuhiro Tanno , Mao Asai , Ryo Nakajima
IPC分类号： G06F21/24 , H04W12/10 , G06F21/34 , H04M1/67 , H04M1/725 , H04W4/00 , H04W28/04 , H04W74/00
CPC分类号： H04W12/10 , G06F21/34 , H04M1/67 , H04M1/72525 , H04W4/00 , H04W12/08 , H04W28/04 , H04W74/00
摘要： A secure element (SE) unit 102 holding service data used by an application is provided in a UIM card 100. Thus, when the user identify module (UIM) card 100 is transferred between portable terminals, service data and accompanying information of the application can be moved together with the UIM card 100 to another portable terminal. In addition, an access management unit 400 included in a portable terminal 200 compares UIM information of a UIM information storage unit 103 with UIM information, held by an authority information holding unit 205, of a UIM card of which use authority is possessed by an application. If they do not agree, access to service data stored in the SE unit 102 is restricted.
摘要翻译：在UIM卡100中设置保存应用使用的服务数据的安全元件（SE）单元102.因此，当用户识别模块（UIM）卡100在便携式终端之间传送时，服务数据和应用的附带信息可以与UIM卡100一起移动到另一便携式终端。此外，便携式终端200中包括的访问管理单元400将UIM信息存储单元103的UIM信息与由权限信息保存单元205保持的UIM信息相比较，其中应用程序所拥有的使用权限的UIM卡。如果不同意，则存储在SE单元102中的服务数据的访问受到限制。

10. 发明申请

US20070112458A1 Assist transportation method and its device 审中-公开
标题翻译：协助运输方式及其装置
公开(公告)号：US20070112458A1
公开(公告)日：2007-05-17
申请号：US10562219
申请日：2004-05-25
申请人： Toshiyuki Kondo , Ryo Nakajima , Shin Yoshida , Tetsuya Ozawa , Yoshiharu Sakai
发明人： Toshiyuki Kondo , Ryo Nakajima , Shin Yoshida , Tetsuya Ozawa , Yoshiharu Sakai
IPC分类号： B25J13/08
CPC分类号： B66C13/18 , B25J9/026 , B25J13/085 , B62D65/18
摘要： To provide an assist transportation device capable of properly communicating a reaction force to a worker due to contact without damaging any product and obstacle even if the product contacts the obstacle under work. The assist transportation device for reducing a load applied to the worker when the worker operates transportation means to transport an instrument panel P includes instrument panel holding means 27 for holding the instrument panel P, floating mechanism 30 set to the connection portion between the instrument panel holding means 27 and the transportation means, displacement sensor 61 for detecting the displacement value of the floating mechanism 30, and position instruction computing portion 62 for computing the displacement value detected by the displacement sensor 61 to calculate a reaction force, in which the reaction force is transferred to the worker operating the transportation means.
摘要翻译：为了提供一种辅助运输装置，即使产品与工作中的障碍物接触，能够由于接触而正确地向工作者传达反作用力而不损害任何产品和障碍物。当工作人员操作运送仪器面板P的运送装置时，用于减少施加到工作人员的负荷的辅助运送装置包括用于保持仪表板P的仪表板保持装置27，设置在仪表板保持装置装置27和运送装置，用于检测浮动机构30的位移值的位移传感器61和位置指令计算部62，用于计算由位移传感器61检测的位移值，以计算反作用力为转移到经营运输工具的工人。

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