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1. 发明授权

US06321139B1 Operation line searching method and robot/sensor system having operation line searching function 有权
标题翻译：具有操作线搜索功能的操作线搜索方法和机器人/传感器系统
公开(公告)号：US06321139B1
公开(公告)日：2001-11-20
申请号：US09194610
申请日：1998-11-30
申请人： Akihiro Terada , Mitsuhiro Okuda
发明人： Akihiro Terada , Mitsuhiro Okuda
IPC分类号： G05B19418
CPC分类号： B25J9/1697 , G05B2219/37571 , G05B2219/45104 , G05B2219/49386
摘要： An operation line searching method in which an operation start position is automatically approached and a robot/sensor system having such function of detecting the operation line. A robot having a laser sensor and an operation tool attached to a distal end thereof approaches an operation start position Q1 using various searching motion path patterns (a) to (d). Pattern (a) is determined to avoid an obstacle F or an obstructively-shaped portion G. The path thereof, for example, can be determined by specifying a coordinate axis of a coordinate system w. Patterns (b) and (c) are carried out by teaching, to the robot, data for determining the paths thereof in order. Pattern (d) is carried out in the following manner: an initial parameter , an angle of rotation and a norm increase factor are specified as parameters, and at the time when incremental travel quantity of a (i+1)th occurrence (i=0, 1, 2, . . . ) Should be obtained, it is obtained by calculating − , where the vector is obtained from the last obtained vector based on the illustrated relationship (the angle of rotation and the norm growth factor).
摘要翻译：自动接近操作开始位置的操作线搜索方法和具有检测操作线的功能的机器人/传感器系统。具有激光传感器和附接到其远端的操作工具的机器人使用各种搜索运动路径图案（a）至（d）接近操作开始位置Q1。确定图案（a）以避免障碍物F或阻塞形状部分G.例如，其路径可以通过指定坐标系统w的坐标轴来确定。模式（b）和（c）通过向机器人教导依次进行确定其路径的数据来进行。模式（d）以以下方式进行：初始参数，旋转角度和范数增加因子被指定为参数，并且在第（i + 1）次发生的增量行驶量（i = 0,1,2，...）通过计算 - Vi>获得，其中从最后得到的矢量Vi获得矢量基于所示的关系（旋转角度和标准生长因子）。

2. 发明授权

US06555784B2 Laser machining apparatus 失效
标题翻译：激光加工设备
公开(公告)号：US06555784B2
公开(公告)日：2003-04-29
申请号：US09832206
申请日：2001-04-11
申请人： Nobuaki Iehisa , Norio Karube , Akihiro Terada , Atsushi Watanabe , Mitsuhiro Okuda
发明人： Nobuaki Iehisa , Norio Karube , Akihiro Terada , Atsushi Watanabe , Mitsuhiro Okuda
IPC分类号： B23K2636
CPC分类号： B23K26/0613 , B23K26/0604 , B23K26/067
摘要： A laser machining apparatus with a simplified laser beam transmitting network. Respective laser beams form laser generators LS#11 to LS#25 divided into groups of G1 and G2 are aggregated to fiber-optic cables H1 and H2 by confluence devices HC1 and HC2 and transmitted to a most upstream laser beam outlet OP1. The laser beams are further aggregated to a fiber-optic cable H3 and distributed to a branch fiber-optic cable HH1 by the laser beam outlet OP1, and then distributed by laser beam outlet OP2 to OP8 to branch fiber-optic cables HH2 to HH8. The laser beams distributed to branch fiber-optic cables are focused by the machining tools TL1 to TL8 attached to robots RB1 to RB8 for laser machining. By controlling output levels of the laser generators with different oscillation wavelengths and different polarization characteristics, blend ratio of the laser beams can be adjusted. Distribution ratios of the laser beams at the laser beam outlets OP1 to OP8 are adjustable.
摘要翻译：激光加工设备，具有简化的激光束传输网络。各激光束形成分为G1和G2组的激光发生器LS＃11至LS＃25通过汇流装置HC1和HC2聚集到光纤电缆H1和H2并传输到最上游的激光束出口OP1。激光束进一步聚集到光纤电缆H3，并由激光束出口OP1分配到分支光纤电缆HH1，然后由激光束出口OP2分配到OP8以分支光纤电缆HH2至HH8。分配到分支光纤电缆的激光束由机器人RB1至RB8附加的加工工具TL1至TL8聚焦，用于激光加工。通过控制具有不同振荡波长和不同极化特性的激光发生器的输出电平，可以调整激光束的混合比。激光束出口OP1至OP8处的激光束的分布比是可调节的。

3. 发明授权

US06538231B2 Laser machining apparatus 失效
标题翻译：激光加工设备
公开(公告)号：US06538231B2
公开(公告)日：2003-03-25
申请号：US09813025
申请日：2001-03-21
申请人： Norio Karube , Atsushi Watanabe , Nobuaki Iehisa , Akihiro Terada , Mitsuhiro Okuda
发明人： Norio Karube , Atsushi Watanabe , Nobuaki Iehisa , Akihiro Terada , Mitsuhiro Okuda
IPC分类号： B23K2606
CPC分类号： B23K26/0613 , B23K26/067
摘要： A plurality of laser generators are provided to be environmentally separated from a machining station, and temperature, humidity, vibration, cleanliness and the like are detected by a sensor, and displayed. When an abnormal environment is detected, machining operation is stopped immediately or after a predetermined time elapsed. The laser generators are grouped according to each machining tool, and fiber-optic cable switching devices FC3 and FC4 are arranged for each group. By the switchover of the laser generator, and the selective connection of a fiber-optic cable by using the fiber-optic cable switching device, the degree of freedom in selecting the laser generator and the fiber-optic cable is produced. The degree of freedom is utilized according to the abnormality of the laser generator, the abnormality of the fiber-optic cable, the type of machining work, and the like, by which a machining apparatus in which the occurrence of a partial failure does not lead to long-term shutdown of a manufacturing line can be obtained.
摘要翻译：多个激光发生器被设置为与加工台环境分离，并且通过传感器检测温度，湿度，振动，清洁度等并显示。当检测到异常环境时，立即停止加工操作或经过预定时间。激光发生器根据每个加工工具进行分组，并为每个组布置光纤电缆交换设备FC3和FC4。通过激光发生器的切换以及通过使用光纤电缆切换装置选择性地连接光纤电缆，产生了选择激光发生器和光纤电缆的自由度。根据激光发生器的异常，光纤电缆的异常，加工工作的类型等来利用自由度，通过该自由度，发生部分故障的加工装置不会导致可以获得长期停产的生产线。

4. 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。

5. 发明授权

US06445979B1 Operation line tracking device using sensor 失效
标题翻译：操作线跟踪装置采用传感器
公开(公告)号：US06445979B1
公开(公告)日：2002-09-03
申请号：US09705885
申请日：2000-11-06
申请人： Toshihiko Inoue , Mitsuhiro Okuda , Akihiro Terada
发明人： Toshihiko Inoue , Mitsuhiro Okuda , Akihiro Terada
IPC分类号： G05B1500
CPC分类号： B25J9/1684 , G05B2219/37009 , G05B2219/4719
摘要： An operation line tracking device for a robot for performing an operation with a tool mounted on the robot while tracking an operation line using a sensor wherein a detection failure of the sensor is restored by automatically changing or resetting a detecting condition of the sensor when the sensor fails in detecting the operation line. If a detection failure occurs for a cause of excessive or too small quantity of light impinged on light receiving elements of a laser sensor, a laser output intensity is automatically changed. If a detection failure occurs for a cause of basing of the quantity of the impinged light, an orientation of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of biasing of position of the operation line in the visual field of the laser sensor, the position of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of detection of an unexpected line, an algorithm for detecting the operation line is replaced with another one. Thus, the detecting condition is automatically changed or reset in accordance with the cause of the detection failure, and the tracking operation of the robot is automatically restarted.
摘要翻译：一种用于机器人的操作线跟踪装置，用于使用安装在机器人上的工具执行操作，同时使用传感器跟踪操作线，其中当传感器的传感器自动改变或重置传感器的检测条件时，传感器的检测故障恢复未能检测到操作线。如果因激光传感器的光接收元件入射过多或过少的光线而导致检测失败，则激光输出强度自动变化。如果由于撞击光量的基础而发生检测故障，则激光传感器的方位自动调整。如果在激光传感器的视野中对操作线的位置偏置的原因发生检测失败，则自动调整激光传感器的位置。如果检测到意外行的检测失败，则用另一个检测操作线的算法进行替换。因此，根据检测失败的原因自动地改变或复位检测条件，并且机器人的跟踪操作被自动重启。

6. 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。

7. 发明授权

US06680461B2 Nozzle system for laser machining 失效
标题翻译：激光加工用喷嘴系统
公开(公告)号：US06680461B2
公开(公告)日：2004-01-20
申请号：US10118978
申请日：2002-04-10
申请人： Atsushi Watanabe , Mitsuhiro Okuda , Yoshitake Furuya
发明人： Atsushi Watanabe , Mitsuhiro Okuda , Yoshitake Furuya
IPC分类号： B23K2602
CPC分类号： B23K26/04
摘要： A nozzle system for laser machining capable of maintaining an interference region of a robot in a teaching operation to be substantially the same as that in a laser machining operation. An optical fiber supporting unit is attached to a nozzle body unit having laser beam converging lens for performing a laser machining operation. An optical fiber for supplying a laser beam is connected to an optical fiber connector on the optical fiber supporting unit. A laser machining is performed by combination of the nozzle body unit and the optical fiber supporting member attached to a distal end of a robot arm. In a teaching operation, a camera supporting unit (dummy nozzle) having substantially the same dimension as the nozzle body unit and supporting a camera at a predetermined position is used in place of the optical fiber supporting unit and the nozzle body unit. Alternatively, the nozzle body unit may be used commonly in combination with the optical fiber supporting unit in the machining operation and with the camera supporting unit in the teaching operation. A visual sensor using projection of a spot beam or slit beams may be adopted.
摘要翻译：一种用于激光加工的喷嘴系统，其能够将教导操作中的机器人的干涉区域保持为与激光加工操作基本相同的激光加工。光纤支撑单元附接到具有用于进行激光加工操作的激光束会聚透镜的喷嘴主体单元。用于提供激光束的光纤连接到光纤支撑单元上的光纤连接器。激光加工通过喷嘴体单元和附接到机器人臂的远端的光纤支撑构件的组合来执行。在教学操作中，代替光纤支撑单元和喷嘴体单元，使用具有与喷嘴主体单元基本相同的尺寸并且将相机支撑在预定位置的相机支撑单元（虚拟喷嘴）。或者，喷嘴主体单元可以在加工操作中与光纤支撑单元共同使用，并且在教学操作中可与照相机支撑单元一起使用。可以采用使用点光束或狭缝光束的投影的视觉传感器。

8. 发明申请

US20060287511A1 Process for producing zinc oxide-protein complex 有权
标题翻译：生产氧化锌 - 蛋白复合物的方法
公开(公告)号：US20060287511A1
公开(公告)日：2006-12-21
申请号：US11508261
申请日：2006-08-23
申请人： Mitsuhiro Okuda , Kazuaki Nishio , Ichiro Yamashita
发明人： Mitsuhiro Okuda , Kazuaki Nishio , Ichiro Yamashita
IPC分类号： C07K14/79
CPC分类号： C07K14/47 , C07K1/32 , C07K14/79
摘要： An object of the present invention is to obtain a zinc oxide-protein complex which can be a source of nanoparticles of zinc oxide utilizing a protein having a cavity inside thereof The process for producing a zinc oxide-protein complex according to the present invention includes a hydrogen peroxide addition step for adding hydrogen peroxide so that the concentration would be 60 mM or greater and 150 mM or less to a buffer containing a protein having a cavity inside thereof such as ferritin, zinc ion, and ammonia.
摘要翻译：本发明的目的是获得氧化锌 - 蛋白质复合物，其可以是利用其内部具有空腔的蛋白质的氧化锌纳米颗粒的源。根据本发明的生产氧化锌 - 蛋白质复合物的方法包括过氧化氢添加步骤，用于加入过氧化氢，使得浓度为60mM以上至150mM以下，与含有铁蛋白，锌离子，氨等内部空洞的蛋白质的缓冲液相比。

9. 发明申请

US20050107918A1 Correction data checking system for rebots 失效
标题翻译：修复数据检查系统
公开(公告)号：US20050107918A1
公开(公告)日：2005-05-19
申请号：US10954606
申请日：2004-10-01
申请人： Atsushi Watanabe , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Mitsuhiro Okuda
IPC分类号： G05B19/4063 , B25J9/16 , G05B19/404 , G05B19/00 , G05B15/00 , G06F19/00
CPC分类号： B25J9/1684 , G05B2219/4705
摘要： Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.
摘要翻译：提供了一种用于机器人的校正数据检查系统，其易于揭示加工缺陷的原因。激光加工头和距离传感器或用于检测工作线的传感器安装在机器人手臂的远端。基于教学程序驱动机器人，并且基于从传感器发送的信息实现复印控制技术，使得激光加工头与工件之间的距离将等于设定值。激光加工头的教导位置的路径和实际位置的路径在教学控制台等的显示器上相互比较地显示。此外，计算并显示教导位置和实际位置之间的差异。由于显示了由教学程序命令的位置和从复制控制技术导出的实际位置，如果发生加工缺陷，则检查加工缺陷，看是否是由传感器引起的问题或归因于工件或夹具。然后揭示加工缺陷的原因。因此，加工缺陷的原因可以在工作现场快速揭示和处理。

10. 发明授权

US07834160B2 Process for producing zinc oxide-protein complex 有权
标题翻译：生产氧化锌 - 蛋白复合物的方法
公开(公告)号：US07834160B2
公开(公告)日：2010-11-16
申请号：US11508261
申请日：2006-08-23
申请人： Mitsuhiro Okuda , Kazuaki Nishio , Ichiro Yamashita
发明人： Mitsuhiro Okuda , Kazuaki Nishio , Ichiro Yamashita
IPC分类号： C07K17/00 , H01L25/00
CPC分类号： C07K14/47 , C07K1/32 , C07K14/79
摘要： An object of the present invention is to obtain a zinc oxide-protein complex which can be a source of nanoparticles of zinc oxide utilizing a protein having a cavity inside thereof. The process for producing a zinc oxide-protein complex according to the present invention includes a hydrogen peroxide addition step for adding hydrogen peroxide so that the concentration would be 60 mM or greater and 150 mM or less to a buffer containing a protein having a cavity inside thereof such as ferritin, zinc ion, and ammonia.
摘要翻译：本发明的目的是获得氧化锌 - 蛋白质复合物，其可以是利用其内部具有空腔的蛋白质的氧化锌纳米颗粒的来源。根据本发明的制备氧化锌 - 蛋白质复合物的方法包括过氧化氢添加步骤，用于向含有内腔内的蛋白质的缓冲液中加入过氧化氢使其浓度为60mM以上且150mM以下例如铁蛋白，锌离子和氨。

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