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11. 发明授权

US4916636A System for controlling acceleration and deceleration of horizontally articulated robot 失效
标题翻译：用于控制水平关节机器人的加速和减速的系统
公开(公告)号：US4916636A
公开(公告)日：1990-04-10
申请号：US49860
申请日：1987-06-11
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B25J9/16 , B25J9/18 , B25J13/00 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/43061
摘要： A system for controlling acceleration and deceleration of a horizontally articulated robot computes the distance from the center of rotation of the robot (A) having a plurality of arms (3, 5) angularly movable in horizontal planes to a reference position such as a wrist (51) at the distal end of the arms (3, 5), and establishes an acceleration for the movement of the distal end of the arms (3, 5). A servomotor for angularly moving the arms (3,5) can effectively be utilized and the arms (3, 5) can quickly and smoothly be moved.

12. 发明授权

US4565400A Double hand for an industrial robot 失效
标题翻译：双手为工业机器人
公开(公告)号：US4565400A
公开(公告)日：1986-01-21
申请号：US605027
申请日：1984-04-10
申请人： Seiichiro Nakashima , Nobutoshi Torii , Akihiro Terada
发明人： Seiichiro Nakashima , Nobutoshi Torii , Akihiro Terada
IPC分类号： B25J15/08 , B23Q7/04 , B25J15/00 , B25J15/02 , B25J15/04
CPC分类号： B25J15/04 , B25J15/0052 , B25J15/0213
摘要： A double hand for an industrial robot comprises a hand body, two sets of work clamping units and two sets of actuators to drive the work clamping units, respectively, for opening and closing motions. The hand body has a rear end attachable to the free end of the robot wrist of an industrial robot, a front end and opposite sides extending between the front end and the rear end. Each work clamping unit has a pair of gripping fingers and the pairs of gripping fingers of the two sets of work gripping units are supported pivotally at the roots thereof on the opposite sides of the hand body for turning motion. The paired gripping fingers are turned about the respective roots thereof in opposite directions by the associated actuator.
摘要翻译： PCT No.PCT / JP83 / 00262 Sec。 371日期1984年4月10日 102（e）日期1984年4月10日PCT提交1983年8月11日PCT公布。出版物WO84 / 00713 1984年3月1日。工业机器人的双手包括手柄，两套夹紧装置和两套执行器，用于分别驱动夹紧装置，用于打开和关闭运动。手柄具有可连接到工业机器人的机器人手腕的自由端的后端，前端和在前端和后端之间延伸的相对侧。每个工件夹紧单元具有一对夹持指状物，并且两组夹紧单元的夹持爪对在其根部处可旋转地支撑在手柄的相对侧上，用于转动。成对的夹持爪通过相关联的致动器在相反的方向围绕其相应的根部转动。

13. 发明申请

US20120001605A1 DIFFERENTIAL AMPLIFIER CIRCUIT AND SERIES REGULATOR 有权
标题翻译：差分放大器电路和系列调节器
公开(公告)号：US20120001605A1
公开(公告)日：2012-01-05
申请号：US13175512
申请日：2011-07-01
申请人： Kohei Sakurai , Akihiro Terada , Yoichi Takano
发明人： Kohei Sakurai , Akihiro Terada , Yoichi Takano
IPC分类号： G05F1/00 , H03F3/45
CPC分类号： H03F3/45183 , G05F1/565 , H03F3/347 , H03F2203/45528 , H03F2203/45674
摘要： A differential amplifier circuit including: a differential input stage including a pair of differential MOS transistors, a pair of load elements, and a first constant-current source; an output stage including an output MOS transistor and a second constant-current source; a constant-current MOS transistor provided in parallel to one of the first and second constant-current sources; and a boost current controlling MOS transistor in which a potential of a connection node of the output MOS transistor and the second constant-current source is applied to a gate terminal thereof; wherein the boost current controlling MOS transistor is turned on when a voltage inputted to a gate terminal of one of the pair of differential MOS transistors changes, and a current of the constant-current MOS transistor is added to one of the first and second constant-current sources and is allowed to flow.
摘要翻译：一种差分放大电路，包括：差分输入级，包括一对差分MOS晶体管，一对负载元件和第一恒定电流源; 输出级，包括输出MOS晶体管和第二恒流源; 与第一和第二恒流源中的一个平行设置的恒流MOS晶体管; 以及升压电流控制MOS晶体管，其中输出MOS晶体管和第二恒流源的连接节点的电位被施加到其栅极端子; 其中当输入到所述一对差分MOS晶体管中的一个的栅极端子的电压改变时，所述升压电流控制MOS晶体管导通，并且所述恒流MOS晶体管的电流被添加到所述第一和第二恒定电流控制MOS晶体管中的一个，当前来源并被允许流动。

14. 发明授权

US07203075B2 Screen mask 失效
标题翻译：屏幕面具
公开(公告)号：US07203075B2
公开(公告)日：2007-04-10
申请号：US11496370
申请日：2006-07-31
申请人： Akihiro Terada , Keisuke Yamashita
发明人： Akihiro Terada , Keisuke Yamashita
IPC分类号： H05K1/11 , H05K1/14
CPC分类号： H05K3/3452 , H01L21/4867 , H01L23/49838 , H01L23/4985 , H01L24/45 , H01L24/48 , H01L24/73 , H01L2224/16237 , H01L2224/32225 , H01L2224/45144 , H01L2224/48091 , H01L2224/48227 , H01L2224/48465 , H01L2224/73265 , H01L2924/01078 , H01L2924/01079 , H01L2924/12041 , H01L2924/14 , H01L2924/15173 , H01L2924/15183 , H01L2924/15311 , H05K1/0393 , H05K3/1225 , H05K2203/0594 , H01L2924/00014 , H01L2924/00 , H01L2924/00012
摘要： A film carrier tape for mounting electronic parts comprises an insulating film, a wiring pattern formed on a surface of the insulating film, and a solder resist layer formed by moving a squeegee using a screen mask of a prescribed pattern that is formed in such a manner that connecting terminal portions of the wiring pattern should be exposed. The edge of the solder resist layer is formed almost in parallel or almost at right angles to the moving direction of the squeegee used in the application of the solder resist. The solder resist layer can be formed by the use of a screen mask for solder resist coating in which the edge of the screen that is unmasked to apply the solder resist is formed almost in parallel or almost at right angles to the moving direction of the squeegee used in the application of the solder resist. According to the present invention, the fraction defective of the solder resist coating can be decreased.
摘要翻译：用于安装电子部件的胶片载带包括绝缘膜，形成在绝缘膜的表面上的布线图案和通过使用以这种方式形成的规定图案的屏幕掩模移动刮板而形成的阻焊层应该将布线图案的连接端子部分露出。阻焊层的边缘几乎与用于焊料抗蚀剂的涂布刮板的移动方向平行或几乎成直角地形成。可以通过使用用于阻焊涂层的屏蔽掩模来形成阻焊层，其中未屏蔽以施加阻焊剂的屏幕的边缘几乎与刮板的移动方向平行或几乎成直角地形成用于阻焊剂的应用。根据本发明，能够降低阻焊层的有缺陷的部分。

15. 发明授权

US06763284B2 Robot teaching apparatus 有权
标题翻译：机器人教学仪器
公开(公告)号：US06763284B2
公开(公告)日：2004-07-13
申请号：US10001991
申请日：2001-12-05
申请人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
IPC分类号： G05B1900
CPC分类号： B25J9/1697 , G05B19/4202 , G05B2219/35506 , G05B2219/36415 , G05B2219/37288 , G05B2219/37571 , G05B2219/37572 , G05B2219/40005
摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.
摘要翻译：使用相机拍摄参考对象的图像并进行显示。测量起点由图像位置指示装置指向。使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。使用这些位置创建机器人的移动路径作为工作机器人的教导点。

16. 发明授权

US5644245A Probe apparatus for inspecting electrical characteristics of a microelectronic element 失效
标题翻译：用于检查微电子元件的电气特性的探针装置
公开(公告)号：US5644245A
公开(公告)日：1997-07-01
申请号：US347138
申请日：1994-11-23
申请人： Satoshi Saitoh , Akihiro Terada
发明人： Satoshi Saitoh , Akihiro Terada
IPC分类号： G01R1/067 , G01R31/28 , G01R31/02
CPC分类号： G01R31/2891 , G01R1/06794 , G01R31/2887
摘要： A probe apparatus for inspecting electrical characteristics of a microelectronic element formed on a substrate and having a plurality of pads including a probe card having a plurality of probe needles, an image pick-up device for picking up images of the pads and the probe needles, a registration device which previously stores pad position information indicating pad positions of at least specified of the pads and needle position information indicating needle positions of at least specified of the plurality of probe needles, the needle positions being obtained by an actual measurement based on the images picked up by the image pick-up device, and a control processor for executing a task for detecting imaginary needle marks formed on the pads by imaginarily bringing the specified probe needles and the pads corresponding thereto into contact with each other, by overlapping the first position information and the pad position information of the microelectronic element, a task for detecting positional deviation information indicating a positional deviation between the needle marks and the pads, and a task for correcting a positional deviation between the pads and the probe needles in accordance with the positional deviation information.
摘要翻译：一种用于检查形成在基板上的微电子元件的电特性并具有多个焊盘的探针装置，所述多个焊盘包括具有多个探针的探针卡，用于拾取焊盘和探针的图像的图像拾取装置，预先存储指示至少指定焊盘的焊盘位置的焊盘位置信息和指示至少指定多个探针的针位置的针位置信息的登记装置，通过基于图像的实际测量获得针位置由图像拾取装置拾取的控制处理器，以及控制处理器，用于通过将指定的探针和与其对应的焊盘相互接触来执行用于检测形成在焊盘上的虚拟针痕的任务，通过将第一位置信息和微电子元件的焊盘位置信息，用于检测的任务指示针标与垫之间的位置偏差的位置偏差信息，以及根据位置偏差信息校正垫与探针之间的位置偏差的任务。

17. 发明授权

US5588328A Gear mechanism improved to remove backlash 失效
标题翻译：齿轮机构改善以消除间隙
公开(公告)号：US5588328A
公开(公告)日：1996-12-31
申请号：US499504
申请日：1995-07-07
申请人： Ryo Nihei , Akihiro Terada , Hidenori Kurebayashi
发明人： Ryo Nihei , Akihiro Terada , Hidenori Kurebayashi
IPC分类号： F16H1/20 , F16H1/22 , F16H55/18 , F16H57/12 , F16H1/00
CPC分类号： F16H1/22 , F16H57/12 , F16H2057/121 , Y10T74/19172 , Y10T74/19623 , Y10T74/19684
摘要： A gear mechanism comprises a housing, an input gear of helical gear supported by the housing for rotation in first and second rotational directions and adapted to be connected to a rotational power source, an output gear of a helical gear supported by the housing for rotation, a first gear train for transmitting the rotational power from the input gear to the output gear when the input gear rotates in the first rotational direction, a second gear train for transmitting the rotational power from the input gear to the output gear when the input gear rotates in the second rotational direction.
摘要翻译：齿轮机构包括壳体，由所述壳体支撑的斜齿轮的输入齿轮，用于在第一和第二旋转方向上旋转并且适于连接到旋转动力源，由所述壳体支撑以旋转的斜齿轮的输出齿轮，当所述输入齿轮沿所述第一旋转方向旋转时，将所述旋转动力从所述输入齿轮传递到所述输出齿轮的第一齿轮系，当所述输入齿轮旋转时将所述旋转动力从所述输入齿轮传递到所述输出齿轮的第二齿轮系在第二旋转方向上。

18. 发明授权

US5466909A Laser robot with approach time from origin to a starting position minimized 失效
标题翻译：激光机器人从原点到起始位置的接近时间最小化
公开(公告)号：US5466909A
公开(公告)日：1995-11-14
申请号：US284431
申请日：1994-08-10
申请人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki
发明人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki
IPC分类号： B23K26/08 , B23K26/00 , B23K26/02 , B23K26/10 , B25J9/10 , G05B19/416
CPC分类号： B23K26/0884 , B23K26/02 , G05B19/4166 , G05B2219/43152 , G05B2219/45165 , G05B2219/50117
摘要： In carrying out precision laser-beam machining by using a laser-beam machining head driven by an additional motion-axis means 8 of a laser robot unit 1, a CPU accommodated in a robot controller 10 calculates time A+B necessary for a laser beam projecting nozzle to travel a distance between a position corresponding to a position of origin OR of a machining locus and a position corresponding to a starting point E on the machining locus at a quick-feed speed, and time C necessary for the laser beam projecting nozzle to travel the same distance in a laser-beam machining mode not including quick-feed operation, compares the times A+B and C, and provides feed motors MA and MB accommodated in the additional motion-axis means 8 with an automatic quick-feed command, when the time A+B is shorter than the time C to thereby enhance an efficiency of the laser machining operation.
摘要翻译： PCT No.PCT / JP93 / 01798 Sec。 371日期：1994年8月10日 102（e）日期1994年8月10日PCT提交1993年12月10日PCT公布。第WO94 / 13425号公报日期：1994年6月23日。在通过使用由激光机器人单元1的附加运动轴装置8驱动的激光束加工头进行精密激光束加工的情况下，容纳在机器人控制器10中的CPU计算时间A 激光束投影喷嘴在加速轨迹上与加工轨迹相对应的位置相对应的位置与加工轨迹上的起始点E之间的距离以快速进给速度运行所需的+ B，时间C 激光束投影喷嘴在不包括快速进给操作的激光束加工模式中行进相同距离所必需的，比较时间A + B和C，并且提供容纳在附加运动轴装置中的进给马达MA和MB 如图8所示，当A + B时间比时间C短时，自动快进指令，从而提高激光加工操作的效率。

19. 发明授权

US4984175A Method of directly teaching a horizontal arm type multi-articulated robot and an apparatus for carrying out same 失效
标题翻译：直接教导水平臂式多关节机器人的方法及其执行装置
公开(公告)号：US4984175A
公开(公告)日：1991-01-08
申请号：US347965
申请日：1989-02-10
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J9/04 , B25J9/12 , B25J9/22 , G05B19/423
CPC分类号： B25J9/044 , B25J9/042 , B25J9/12 , G05B19/423 , G05B2219/36422 , G05B2219/36429
摘要： An articulated industrial robot has an articulated horizontal arm assembly which includes horizontal arms (20), a vertically movable shaft (20) mounted on the extremity of the horizontal arm assembly, and a motor for driving the vertically movable shaft. When directly teaching motions to the vertically movable shaft through a direct teaching operation by an operator, the current control unit of a motor control unit for driving the motor for driving the vertically movable shaft is disconnected from a signal line connected to a robot control unit, and a torque calculating circuit is provided for deciding a motor torque corresponding to the sum of the weight of the vertically movable shaft and the respective variable weights of an end effector attached to the lower end of the vertically movable shaft. A workpiece held by the end effector is connected to the current control unit to compensate the load torque of the vertically movable shaft with the torque of the motor so that the operator is able to carry out the direct teaching operation while substantially no load is imposed on the operator.

20. 发明授权

US09007045B2 Output device which supplies a current with improved transient response characteristic and reduced current consumption 有权
标题翻译：输出装置，其提供具有改善的瞬态响应特性和降低的电流消耗的电流
公开(公告)号：US09007045B2
公开(公告)日：2015-04-14
申请号：US12793828
申请日：2010-06-04
申请人： Akihiro Terada , Yoichi Takano , Shinichiro Maki
发明人： Akihiro Terada , Yoichi Takano , Shinichiro Maki
IPC分类号： G05F1/565 , G05F1/575
CPC分类号： G05F1/575
摘要： An output device includes an output transistor that outputs an output current, a first driver that drives the output transistor so that a feedback voltage of an output voltage of the output transistor is in agreement with a reference voltage, an RC circuit that has a capacitor connected to the ground and a resistor connected in series to the capacitor, and a second driver that drives the output transistor to increase the output current when a potential difference between ends of the resistor, generated by the feedback voltage supplied between ends of the RC circuit, is increased by a decrease of the output voltage.
摘要翻译：输出装置包括输出输出电流的输出晶体管，驱动输出晶体管的第一驱动器，使得输出晶体管的输出电压的反馈电压与参考电压一致;连接电容器的RC电路以及第二驱动器，其驱动输出晶体管，以在由RC电路的端部之间提供的反馈电压产生的电阻器的端部之间的电位差提高输出电流，通过输出电压的降低而增加。

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