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21. 发明授权

US6040554A Welding robot control system 失效
标题翻译：焊接机器人控制系统
公开(公告)号：US6040554A
公开(公告)日：2000-03-21
申请号：US43487
申请日：1998-03-19
申请人： Akihiro Terada , Mitsuhiro Okuda
发明人： Akihiro Terada , Mitsuhiro Okuda
IPC分类号： B23K9/095 , B23K9/127 , H01S3/00
CPC分类号： B23K9/1274
摘要： A control system of a welding robot for performing realtime tracking using a laser sensor in which a welding operation in passing a tack welded portion is rationally coped with. An arc welding torch and a laser sensor LS are mounted on a robot hand. A tool center point is set to coincide with an aimed position of a distal end of a welding wire. The tool center point is positioned at an advancing end of a formed bead B and immediately before a tack welded portion A1. The tool center point 4 is also positioned on a welding reference line (P.sub.1 .fwdarw. . . . .fwdarw.P.sub.6). A bright line 5 is formed between points 51 and 52 by a laser beam emitted from the laser sensor LS with a deflection range SC. A detected point SA is positioned at an edge of the tack welded portion A1 on the bright line 5 (there may be found no detected point). A deviation of the detected point SA from the proper welding reference line is determined based on a direction of a robot path immediately before the detected point. In such case, a detection substitutive point Q is determined based on the robot path immediately before the detected point and the TCP is moved toward the determined point. Detection substitutive points following the point Q are successively determined until the tack welded portion A1 has been passed, and the robot follows a path along a series of the detection substitutive points.
摘要翻译： PCT No.PCT / JP97 / 02532 Sec。 371日期：1998年3月19日 102（e）1998年3月19日PCT 1997年7月22日PCT公布。第WO98 / 03294号公报日期1998年1月29日一种用于使用激光传感器进行实时跟踪的焊接机器人的控制系统，其中通过定位焊接部分的焊接操作被合理地应对。电弧焊炬和激光传感器LS安装在机器人手上。将工具中心点设定为与焊丝的远端的目标位置一致。刀具中心点位于形成的胎圈B的前端，并且紧靠着定位焊接部A1之前。刀具中心点4也位于焊接参考线（P1-> ...→P6）上。通过具有偏转范围SC的激光传感器LS发射的激光束，在点51和52之间形成亮线5。检测点SA位于亮线5上的定位焊接部A1的边缘（可能没有发现检测点）。基于在检测点之前的机器人路径的方向，确定检测点SA与正确的焊接基准线的偏差。在这种情况下，基于紧接在检测点之前的机器人路径并且TCP朝向确定的点移动来确定检测替代点Q。依次确定点Q之后的检测取代点，直到粘接部A1通过，并且机器人沿着一系列检测取代点的路径。

22. 发明授权

US5570609A Industrial robot provided with means for setting reference positions for respective axes 失效
标题翻译：工业机器人设有用于设置各个轴的参考位置的装置
公开(公告)号：US5570609A
公开(公告)日：1996-11-05
申请号：US295790
申请日：1995-03-08
申请人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Hikaru Yamashiro
发明人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Hikaru Yamashiro
IPC分类号： B25J17/00 , B25J9/10 , B25J9/16 , B25J19/00
CPC分类号： B25J9/10 , B25J9/1692 , Y10T74/20329
摘要： An articulated industrial robot provided with a reference position setting means which includes two positioning contact parts 22 and 24, and the reference position setting means is provided for each joint 16 of a robot unit 10 in such a manner that the positioning contact parts 22 and 24 are brought into contact with each other so as to perform determination of a geometrical reference position for each joint drive source after the replacement of a defective drive motor or a defective reduction gear of the joint drive source. The determined geometrical reference position regarding each of the joint axes are stored in the robot controller to thereby achieve a single-axis mastering,and thus the reference position setting means simplifies single-axis mastering with respect to each joint axis of the robot unit without being subject to any spatial restrictions.
摘要翻译： PCT No.PCT / JP94 / 00040 Sec。 371日期：1995年3月8日 102（e）1995年3月8日PCT PCT 1994年1月13日PCT公布。第WO94 / 15761号公报日期1994年7月21日具有基准位置设定装置的关节式工业机器人包括两个定位接触部分22和24，并且以机器人单元10的每个接头16设置基准位置设定装置，接触部22和24彼此接触，以便在更换有缺陷的驱动马达或关节驱动源的有缺陷的减速齿轮之后，确定每个关节驱动源的几何参考位置。关于每个关节轴的确定的几何参考位置被存储在机器人控制器中，从而实现单轴母盘制作，因此基准位置设置装置简化了相对于机器人单元的每个关节轴线的单轴母盘制作，而不是受到任何空间限制。

23. 发明授权

US5563520A Probe system 失效
标题翻译：探测系统
公开(公告)号：US5563520A
公开(公告)日：1996-10-08
申请号：US588652
申请日：1996-01-19
申请人： Akihiro Terada
发明人： Akihiro Terada
IPC分类号： B65G47/90 , B65G49/07 , G01R31/26 , H01L21/00 , H01L21/66 , H01L21/677 , H01L21/68 , G01R31/02
CPC分类号： H01L21/67282 , H01L22/20 , Y10S414/141
摘要： A probe system has a wafer storing section for storing a semiconductor wafer as an object to be measured, a plurality of probe units for electrically measuring the wafer, a marking unit for marking a defective portion of the wafer, a repair unit for repairing the defective portion of the wafer, a baking unit for baking and drying the marked wafer, an inspection unit for detecting and examining the marked portion of the wafer marked by the marking unit, a looped convey path for conveying the wafer along the storing section and the respective units, and a convey mechanism for conveying the wafer along the convey path. Wafer transfer between the wafer storing section and the convey mechanism is performed by a first transfer mechanism, and wafer transfer between the respective units and the convey mechanism is performed by second transfer mechanisms. The probe system also controls the respective units and wafer conveyance. A surrounding member for surrounding the wafer when the wafer is to be conveyed is provided along the convey path, and the interior of the surrounding member is held in an atmosphere of the clean air or a nitrogen gas having a pressure higher than the atmospheric pressure.
摘要翻译：探针系统具有用于存储作为测量对象的半导体晶片的晶片存储部，用于电测量晶片的多个探针单元，用于标记晶片的缺陷部分的标记单元，修复缺陷的修复单元晶片的部分，用于烘烤和干燥标记的晶片的烘焙单元，用于检测和检查由标记单元标记的晶片的标记部分的检查单元，用于沿着存储部分输送晶片的环形输送路径和相应的单元，以及用于沿着输送路径输送晶片的输送机构。通过第一传送机构执行晶片存储部和传送机构之间的晶片传送，并且通过第二传送机构执行各单元与传送机构之间的晶片传送。探针系统还控制各个单元和晶片传送。沿着输送路径设置用于围绕晶片周围的周围构件，并且周围构件的内部保持在清洁空气的气氛中或具有高于大气压力的压力的氮气中。

24. 发明授权

US5549018A Small-locus machining apparatus 失效
标题翻译：小轨迹加工设备
公开(公告)号：US5549018A
公开(公告)日：1996-08-27
申请号：US182068
申请日：1994-01-13
申请人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki
发明人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki
IPC分类号： B25J9/06 , B25J9/10 , G05G15/00
CPC分类号： B25J9/107 , Y10T74/20317
摘要： A small-locus machining apparatus is attached to the distal end of a wrist of a robot but operable independently of a robot body. First and second drives of the apparatus are mounted on a base in such a manner that respective output spindles are parallel with each other. First and second rotational arms are coupled to the output spindles through decelerators, which are directly connected to the drives, allowing rotation in a plane orthogonal to the output spindles. These rotational arms and links interconnecting the rotational arms constitute a link mechanism having, for example, five joints. A tool is attached to this link mechanism, and the rotational amounts of the first and second arms are detected to determine the coordinate position of the tool.
摘要翻译： PCT No.PCT / JP93 / 00584 Sec。 371日期1994年1月13日 102（e）日期1994年1月13日PCT提交1993年4月3日PCT公布。公开号WO93 / 24285 日期：1993年12月9日一种小型轨迹加工装置安装在机器人手腕的远端，但可独立于机器人主体进行操作。装置的第一和第二驱动装置以相应的输出主轴彼此平行的方式安装在基座上。第一和第二旋转臂通过减速器联接到输出主轴，减速器直接连接到驱动器，允许在与输出主轴正交的平面中旋转。互连旋转臂的这些旋转臂和链节构成具有例如五个接头的连杆机构。工具附接到该连杆机构，并且检测第一和第二臂的旋转量以确定工具的坐标位置。

25. 发明授权

US5489758A Height-sensing device for a laser robot 失效
标题翻译：激光机器人的高度感测装置
公开(公告)号：US5489758A
公开(公告)日：1996-02-06
申请号：US295794
申请日：1994-09-14
申请人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki , Hiroshi Takamatsu
发明人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki , Hiroshi Takamatsu
IPC分类号： B23K26/00 , B23K26/04 , B23K26/08 , B23K26/10 , B25J9/10 , B25J19/02 , B23K26/02
CPC分类号： B23K26/0884 , B23K26/046 , B23K26/048 , B25J19/021
摘要： A laser robot having a height sensing device (13) arranged at a position very close to a laser-beam projecting machining head (9) so that the axis of the height-sensing device (13) is parallel to the longitudinal axis of the machining head (9), the three-dimensional distance data representing the positional relationship between the laser projecting nozzle (9a) of the machining head (9) and the measuring end (13a) of the height-sensing device (13) being stored in advance in the robot controller (10), the longitudinal distance between the height-sensing device (13) and a starting point of laser-beam machining being automatically measured from directly above the starting point, and a longitudinal distance between the laser beam projecting nozzle (9a) of the machining head (9) and the machining starting point being corrected on the basis of the three-dimensional distance data and the longitudinal distance measured by the height sensing device (13) to thereby accurately locate the machining head at a position corresponding to the starting point for the laser machining operation.
摘要翻译： PCT No.PCT / JP94 / 00049 Sec。 371日期：1994年9月14日 102（e）1994年9月14日PCT 1994年1月14日PCT PCT。第WO94 / 15748号PCT公开日期：1994年7月21日。一种激光机器人，其具有布置在非常接近激光束投影加工头（9）的位置处的高度感测装置（13），使得高度感测装置（13）的轴线平行相对于加工头（9）的纵轴，表示加工头（9）的激光投射喷嘴（9a）与高度感测装置的测量端（13a）之间的位置关系的三维距离数据（13）被预先存储在机器人控制器（10）中，高度感测装置（13）与激光束加工的起始点之间的纵向距离从起始点的正上方自动测量，并且纵向距离基于三维距离数据和由高度感测装置（13）测量的纵向距离来校正加工头部（9）的激光束突出喷嘴（9a）和加工起始点之间的精确度在与激光加工操作的起始点相对应的位置处加工加工头。

26. 发明授权

US4970448A Method of and apparatus for ascertaining motion abilities of industrial robot 失效
标题翻译：确定工业机器人运动能力的方法和装置
公开(公告)号：US4970448A
公开(公告)日：1990-11-13
申请号：US408512
申请日：1989-08-23
申请人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J19/02 , B25J19/06 , G05B19/18 , G05B19/19 , G05B19/4062
CPC分类号： G05B19/4062 , G05B2219/35402 , G05B2219/37285 , G05B2219/45083
摘要： In an industrial robot employing electric motors (Mz, M.theta., Mu, Mw) as drive sources for driving functional robot units for movement respectively about articulatory axes (Z, .theta., U, W), electric drive currents supplied to the electric motors (Mz, M.theta., Mu, Mw) associated with the articulatory axes (Z, .theta., U, W) are detected by a current detecting unit (30), the detected electric drive current supplied to the electric motor (Mz, M.theta., Mu, Mw) associated with one selected articulatory axis among the articulatory axes (Z, .theta., U, W) is sampled every predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of the functional robot units respectively about the articulatory axes (Z, .theta., W), computing means (CPU) calculates the ratio of the root-mean-square value of the electric current supplied to the electric motor (Mz, M.theta., Mu, Mw) in the period between the first time and the second time to the rated current of the same electric motor, the root-mean-square values ratios each of the root-mean-square value to the rated current are displayed on a display (40 ) to enable an operator to ascertain the propriety of the motions of the functional robot units (16, 18, 20, 22, 24,) including robot arms.
摘要翻译： PCT No.PCT / JP89 / 00017 Sec。 371日期1989年8月23日 102（e）日期1989年8月23日PCT提交1989年1月9日PCT公布。出版物WO89 / 06182 日期：1989年7月13日。在使用电动机（Mz，Mθ，Mu，Mw）的工业机器人作为用于驱动功能性机器人单元的驱动源，分别绕着关节轴（Z，θ，U，W），电驱动提供给与发音轴（Z，θ，U，W）相关联的电动机（Mz，Mθ，Mu，Mw）的电流由电流检测单元（30）检测，检测到的电驱动电流被提供给电在发音轴（Z，θ，U，W）中与一个选定的发音轴相关联的电动机（Mz，Mθ，Mu，Mw）在每个预定的微小采样时间在第一时间和第二时间之间的时段内被采样机器人控制程序用于分别控制功能机器人单元关于发音轴（Z，θ，W）的运动，计算装置（CPU）计算提供给电动机的电流的均方根值的比率（Mz，M theta，Mu，Mw）在f 第一次和第二次达到相同电动机的额定电流，将均方根值与额定电流的均方根值进行比较，显示在显示器（40）上，以使操作者能够确定包括机器人手臂的功能机器人单元（16,18,20,22,24）的运动的适当性。

27. 发明授权

US4859139A Arm structure for an industrial robot 失效
标题翻译：工业机器人臂结构
公开(公告)号：US4859139A
公开(公告)日：1989-08-22
申请号：US162387
申请日：1988-02-01
申请人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J9/06 , B25J9/00 , B25J9/04 , B25J18/00
CPC分类号： B25J9/0009 , B25J18/00 , B25J9/042 , Y10T74/20 , Y10T74/20207
摘要： An arm structure for an industrial robot, comprising a first robot arm (16) supported on top of a vertical robot shaft (14), and a second robot arm (20) pivotally joined through a transmission-reduction gear box (18) to the free end of the first robot arm (16). A plurality of coupling bolts (22) are extended through the interior of the first robot arm (16), each coupling bolt (22) has one end (22b) fastened to the flange (18b) of the transmission-reduction gear box (18) and the other end (22a) projecting from and fastened to the rear end of the first robot arm (16). Fastening nuts (24) each engage at least one end (22a or 22b) of each coupling bolt (22) to couple the first robot arm (16) and the transmission-reduction gear box (18) so as to preload the first robot arm (16) by a compressive force.

28. 发明授权

US4732526A Explosion-proof industrial robot 失效
标题翻译：防爆工业机器人
公开(公告)号：US4732526A
公开(公告)日：1988-03-22
申请号：US848378
申请日：1986-02-27
申请人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada , Hitoshi Mizuno
发明人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada , Hitoshi Mizuno
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00 , B25J3/00
CPC分类号： B25J9/046 , B25J19/0029 , B25J19/0079 , B25J9/1035
摘要： An electric industrial robot comprises a movable robot assembly (10) forming therein an airtight chamber, and an electric drive unit for driving the robot assembly. The electric drive unit comprises a plurality of motors (36-41). The respective casings (36a-41a) of the motors are disposed within the airtight chamber (30) of the robot assembly. Electric cables (57-62) connected to the motors, respectively, are led through the airtight chamber into a fixed pipe (67) connected to the robot assembly. The interior of the motors and the interior of the airtight chamber are kept at a pressure higher than an atmospheric pressure outside the robot assembly.
摘要翻译： PCT No.PCT / JP85 / 00365 Sec。一九六六年四月二十九日 102（e）日期1986年4月29日PCT Filed 1985年6月28日PCT公布。公开号WO86 / 00256 日本1986年1月16日。电动工业机器人包括在其中形成气密室的可移动机器人组件（10）和用于驱动机器人组件的电驱动单元。电驱动单元包括多个电动机（36-41）。电动机的各个壳体（36a-41a）设置在机器人组件的气密室（30）内。分别连接到电动机的电缆（57-62）通过气密室被引导到连接到机器人组件的固定管（67）中。电动机的内部和气密室的内部保持在机器人组件外部的压力高于大气压力。

29. 发明授权

US08847569B2 Semiconductor integrated circuit for regulator 有权
标题翻译：用于调节器的半导体集成电路
公开(公告)号：US08847569B2
公开(公告)日：2014-09-30
申请号：US13277435
申请日：2011-10-20
申请人： Akihiro Terada , Kohei Sakurai , Yoichi Takano
发明人： Akihiro Terada , Kohei Sakurai , Yoichi Takano
IPC分类号： G05F1/00 , G05F1/573 , G05F1/575
CPC分类号： G05F1/5735 , G05F1/575
摘要： A regulator includes a transistor connected between an input and an output. A feedback voltage controls the transistor to keep the output voltage constant. A first circuit functions as a comparator to compare a detection voltage from the output of the transistor and the feedback voltage when the output current is higher than a predetermined value, and functions as a buffer when the output current is lower than the predetermined value. A second circuit receives a reference voltage, the feedback voltage, and an output from the first circuit, and generates (i) a difference between the feedback voltage and the first circuit output when the reference voltage is lower than the first circuit output, and (ii) a difference voltage between the feedback voltage and the reference voltage when the reference voltage is higher than the first circuit output, and supplies a control voltage to control the output of the transistor.
摘要翻译：调节器包括连接在输入和输出之间的晶体管。反馈电压控制晶体管以保持输出电压恒定。当输出电流高于预定值时，第一电路用作比较器以比较来自晶体管的输出的检测电压和反馈电压，并且当输出电流低于预定值时用作缓冲器。第二电路接收参考电压，反馈电压和来自第一电路的输出，并且当参考电压低于第一电路输出时产生（i）反馈电压与第一电路输出之间的差异，以及（ ii）当参考电压高于第一电路输出时反馈电压和参考电压之间的差值电压，并提供控制电压以控制晶体管的输出。

30. 发明授权

US07345546B2 Amplifier circuit and input circuit 有权
标题翻译：放大器电路和输入电路
公开(公告)号：US07345546B2
公开(公告)日：2008-03-18
申请号：US11066039
申请日：2005-02-25
申请人： Akihiro Terada , Nagayoshi Dobashi
发明人： Akihiro Terada , Nagayoshi Dobashi
IPC分类号： H03G3/30
CPC分类号： H03G1/0088
摘要： A disclosed amplifier circuit is capable of changing a gain to amplify an input signal according to a control signal. The amplifier circuit comprises a differential amplifier circuit adapted to receive and amplify the input signal to output the amplified input signal as an output signal, a first resistance and one or more second resistances connected to the differential amplifier circuit and adapted to set the gain, and one or more gain control circuits adapted to change the gain by controlling one or more electrical couplings of the one or more second resistances according to the control signal.
摘要翻译：所公开的放大器电路能够根据控制信号改变增益以放大输入信号。放大电路包括差分放大器电路，其适于接收和放大输入信号以输出放大的输入信号作为输出信号，第一电阻和连接到差分放大器电路并适于设置增益的一个或多个第二电阻，以及一个或多个增益控制电路，其适于通过根据控制信号控制一个或多个第二电阻的一个或多个电耦合来改变增益。

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