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1. 发明授权

US06180898B2 Emergency stop switching mechanism for robot and teaching control panel provided with same 失效
标题翻译：机器人紧急停机开关机构及配备机构的教学操作面板
公开(公告)号：US06180898B2
公开(公告)日：2001-01-30
申请号：US09202724
申请日：1998-12-21
申请人： Akihiro Terada , Mitsuhiro Yasumura , Kenichiro Abe
发明人： Akihiro Terada , Mitsuhiro Yasumura , Kenichiro Abe
IPC分类号： H01H1350
CPC分类号： B25J19/06 , B25J13/02 , B25J13/06 , H01H3/022 , H01H9/0214 , H01H13/506 , H01H2239/066 , H01H2300/026 , H01H2300/028
摘要： An emergency stop switch mechanism for a robot which can take an emergency position when an external operation force is released and when a strong external operation force is applied. When the robot operation is started, a main lever La is pushed down from the OFF state with a normal external operation force. Since an elastic biasing force S2 is sufficiently larger than S1, a second ancillary lever Lc is pushed by a plunger PL and is turned downward together with a first ancillary lever Lb. A movable contact element ME of a contact mechanism section CM is moved to the ON position by the second ancillary lever Lc, so that the ON state (motion permitting state) is established. If emergency stop becomes necessary, the pressure of the main lever La is released from this state, or a specially strong force is applied to the main lever La. When the former is selected, the movable contact element ME is returned to the OFF position. When the latter is selected, a strong torque is applied to an axis AX2, so that the first and second ancillary lever Lb and Lc become in a bent state. As a result, the OFF state is established, by which the robot is stopped.
摘要翻译：一种用于机器人的紧急停止开关机构，当外部操作力被释放并且施加强大的外部操作力时，该紧急停止开关机构能够采取紧急位置。当机器人操作开始时，主杆La以正常的外部操作力从OFF状态下推。由于弹性偏压力S2足够大于S1，所以第二辅助杆Lc被柱塞PL推压，并与第一辅助杆Lb一起向下转动。接触机构部分CM的可动接触元件ME由第二辅助杆Lc移动到ON位置，从而建立ON状态（运动允许状态）。如果需要紧急停止，则主杆La的压力从该状态释放，或者特别强的力施加到主杆La上，当选择前者时，可动接触元件ME返回到OFF位置。当选择后者时，对轴线AX2施加强力矩，使得第一辅助杆Lb和第二辅助杆Lc变为弯曲状态。结果，建立了关闭状态，通过该状态机器人停止。

2. 发明授权

US6160324A Deadman switch mechanism for emergency stop of robot and teaching operation 失效
标题翻译：机器人紧急停机死机开关机构及教学操作
公开(公告)号：US6160324A
公开(公告)日：2000-12-12
申请号：US297148
申请日：1999-04-26
申请人： Akihiro Terada , Mitsuhiro Yasumura , Shinsuke Nakao
发明人： Akihiro Terada , Mitsuhiro Yasumura , Shinsuke Nakao
IPC分类号： B25J19/06 , B25J9/22 , B25J13/02 , H01H3/02 , H01H9/02 , H01H71/52 , H01H3/16
CPC分类号： B25J13/02 , H01H3/022 , H01H9/0235 , H01H2225/008 , H01H2300/026 , Y10T307/766 , Y10T307/786 , Y10T307/826
摘要： A deadman switch mechanism and a teaching operation panel equipped with the deadman switch mechanism, in which possibility of losing a safety function is low even if failure happens in a contact or other elements of a circuit. When an operator grips at least one of grip levers (GL1; GL2) with normal force, the grip levers turn around axes (AX4; AX5), shoulder portions (SD1; SD2) abut on slave levers (SL1; SL2) and turns the slave levers connected by a link (LK) around an axis (AX3) in the direction denoted by an arrow B, simultaneously, so that switches (SW1; SW2) are turned into an ON-state, simultaneously. Then, two circuits including those switches, respectively, output ON-signals independently and these signals are subjected to AND process, to allow the robot to operate. In an emergency, when an operator releases gripping of the grip levers (GL1; GL2), the slave levers (SL1; SL2) turn in the direction denoted by an arrow A, simultaneously, so that the switches (SW1; SW2) are brought into an OFF-state, simultaneously, and the robot stops immediately.
摘要翻译： PCT No.PCT / JP98 / 03772 Sec。 371日期1999年4月26日 102（e）1999年4月26日PCT PCT 1998年8月25日PCT公布。公开号WO99 / 10138 日期1999年3月4日，即使在触点或电路的其他元件中发生故障，死机开关机构和配备有死机开关机构的教学操作面板也可能失去安全功能。当操作者以正常的力握住至少一个握柄（GL1，GL2）时，把手杠杆绕轴（AX4; AX5）转动，肩部（SD1; SD2）靠在从动杆（SL1; SL2）上，并转动同时由箭头B所示的方向通过连杆（LK）围绕轴线（AX3）连接的从动杆，使得开关（SW1; SW2）同时变为接通状态。然后，分别包括那些开关的两个电路分别输出ON信号，这些信号经过AND处理，以允许机器人操作。在紧急情况下，当操作者释放把手（GL1，GL2）的夹持时，从动杆（SL1; SL2）同时向箭头A方向转动，从而使开关（SW1; SW2）同时进入OFF状态，机器人立即停止。

3. 发明授权

US5743145A Gear mechanism for adjusting backlash between bevel gears 失效
标题翻译：用于调整锥齿轮之间的齿隙的齿轮机构
公开(公告)号：US5743145A
公开(公告)日：1998-04-28
申请号：US580429
申请日：1995-12-27
申请人： Akihiro Terada , Kenichiro Abe
发明人： Akihiro Terada , Kenichiro Abe
IPC分类号： F16H1/14 , F16H55/20
CPC分类号： F16H55/20 , Y10T74/19623 , Y10T74/19665 , Y10T74/19674 , Y10T74/19898
摘要： A gear mechanism in which the backlash between bevel gears can be easily adjusted is provided. The gear mechanism has first and second bevel gears which engage with each other; a supporting member, including first and second threaded portions, for the first and second bevel gears, and first and second bearings for rotatably supporting the first and second bevel gears on the supporting member. The first and second bearing include cylindrical members with threaded portions for engagement with the first and second threaded portions of the supporting member.
摘要翻译：提供了可以容易地调节锥齿轮之间的间隙的齿轮机构。齿轮机构具有彼此接合的第一和第二锥齿轮; 包括用于第一和第二锥齿轮的第一和第二螺纹部分的支撑构件以及用于在支撑构件上可旋转地支撑第一和第二锥齿轮的第一和第二轴承。第一和第二轴承包括具有用于与支撑构件的第一和第二螺纹部分接合的螺纹部分的圆柱形构件。

4. 发明授权

US07158387B2 Film carrier tape for mounting electronic part 失效
标题翻译：用于安装电子部件的胶片载带
公开(公告)号：US07158387B2
公开(公告)日：2007-01-02
申请号：US10664119
申请日：2003-09-17
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 part 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。

5. 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）。

6. 发明授权

US5983744A Robot apparatus for installing both a robot movable section and a robot controller 失效
标题翻译：用于安装机器人可移动部分和机器人控制器的机器人装置
公开(公告)号：US5983744A
公开(公告)日：1999-11-16
申请号：US855574
申请日：1997-05-13
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
IPC分类号： B25J19/00 , B25J9/00 , B25J13/06
CPC分类号： B25J9/00 , B25J13/06 , B25J19/00 , Y10T74/20305 , Y10T74/20311
摘要： A robot apparatus having no need for securing a space for installing both a robot movable section and a robot controller. The robot apparatus includes a frame having strength enough to support the robot movable section, and containing the robot controller therein. The robot movable section is installed on the frame. The robot controller and the robot movable section are electrically connected to each other via a coupling cable passing through a hole formed inside. Over the base of the robot movable section, first, second and another arms are provided via rotating mechanism portions. The distal end of the third arm constitutes a wrist portion of a robot. Various types of hands are attached to this wrist portion. Thus, the robot movable section can be installed on the frame containing the robot controller.
摘要翻译：一种机器人装置，不需要固定用于安装机器人可移动部分和机器人控制器的空间。机器人装置包括具有足以支撑机器人可移动部分的强度的框架，并且在其中容纳机器人控制器。机器人可移动部分安装在框架上。机器人控制器和机器人可移动部分通过穿过内部形成的孔的耦合电缆彼此电连接。在机器人可移动部分的基部上，通过旋转机构部分设置第一和第二臂。第三臂的远端构成机器人的腕部。各种手指附着在该腕部上。因此，机器人可移动部分可以安装在包含机器人控制器的框架上。

7. 发明授权

US5558196A Device for detecting limits of rotational motion in a robot 失效
标题翻译：用于检测机器人中的旋转运动极限的装置
公开(公告)号：US5558196A
公开(公告)日：1996-09-24
申请号：US319103
申请日：1994-10-06
申请人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Masatoshi Ito
发明人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Masatoshi Ito
IPC分类号： B25J13/08 , B25J9/10 , B25J19/00 , B25J13/00
CPC分类号： B25J9/101
摘要： A device for detecting the limits of the rotational motion of a rotating member in an industrial robot is provided. The rotating member rotates in a first and a second rotational direction about an axis relative to a fixed member. The device comprises a limit switch provided on one of the members and a contact piece, provided on the fixed member, for activating the limit switch. The contact piece is rotatable between first and second angular position about an axis parallel to the axis of rotating member.
摘要翻译：提供一种用于检测工业机器人中的旋转构件的旋转运动的限制的装置。旋转构件围绕相对于固定构件的轴线在第一和第二旋转方向上旋转。该装置包括设置在其中一个构件上的限位开关和设置在固定构件上用于启动限位开关的接触片。接触件可以围绕平行于旋转构件的轴线的轴线在第一和第二角位置之间旋转。

8. 发明授权

US5520062A Window mechanism for sensor in industrial robot 失效
标题翻译：工业机器人传感器的窗口机构
公开(公告)号：US5520062A
公开(公告)日：1996-05-28
申请号：US412123
申请日：1995-03-28
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
IPC分类号： B25J9/16 , B23K9/127 , B25J19/00 , B25J19/02 , G01M19/00
CPC分类号： B23K9/1274 , B25J19/0058 , B25J19/02
摘要： A window mechanism for a sensor provided at the distal end of a robot arm of an industrial robot comprises a housing for enclosing the sensor which housing includes an opening, a glass plate for closing the opening, wiper for wiping the outer surface of the glass plate, a holder plate for slidably holding the glass plate member on the housing, and an exchanger for exchanging the plate member held by the holder with a new glass plate.
摘要翻译：设置在工业机器人的机器人臂的远端处的传感器的窗口机构包括用于封闭传感器的壳体，该壳体包括开口，用于封闭开口的玻璃板，用于擦拭玻璃板的外表面的擦拭器，用于将玻璃板构件可滑动地保持在壳体上的保持板，以及用于将由保持器保持的板构件与新玻璃板更换的换热器。

9. 发明授权

US5233202A Method of adjusting an optical path followed by a laser beam in a laser robot and an apparatus for carrying out the same 失效
标题翻译：用激光机器人激光束调整光路的方法及其实施方法
公开(公告)号：US5233202A
公开(公告)日：1993-08-03
申请号：US867107
申请日：1992-07-02
申请人： Nobutoshi Torii , Akihiro Terada
发明人： Nobutoshi Torii , Akihiro Terada
IPC分类号： B23K26/04 , B23K26/08 , B23K26/10
CPC分类号： B23K26/0884 , B23K26/04 , B23K26/043
摘要： When an adjustment of an optical path followed by a laser beam is performed by using an adjusting laser beam emitted by a laser oscillating source to obtain a condition such that the laser beam introduced in a robot unit of a laser robot is correctly directed to a light condensing device (36) provided at an extremetity of the robot unit after changing the direction thereof due to a reflection by light reflecting mirrors arranged at respective joints in the robot unit, a position of the optical path of the adjusting laser beam projected by the light condensing device (36) in the interior of the robot unit (30) is detected by an optical sensor (46), and a different position of the optical path of the adjusting laser beam is simultaneously detected by a separate optical sensor (45) arranged at a position on the optical path for the laser beam located upstream with respect to the light condensing device (36), and an adjustment is carried out so that the center of movement of each of the joints of the robot unit (30) is in alignment with the optical path to be followed by the laser beam when detected at the two detecting positions.

10. 发明授权

US5225648A Industrial robot with cable arrangement system 失效
标题翻译：带电缆布置系统的工业机器人
公开(公告)号：US5225648A
公开(公告)日：1993-07-06
申请号：US772361
申请日：1991-11-06
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Toshihiko Inoue
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Toshihiko Inoue
IPC分类号： B23K26/08 , B23K26/10 , B25J19/00
CPC分类号： B23K26/0884 , B25J19/0029 , B25J19/0037
摘要： An industrial robot provided with a cable arrangement system in which a hollow shaft (3) is arranged to extend vertically from a robot base (1) into a rotational trunk (2) about a rotational axis thereof, and a plurality of cables (7) are arranged to be spaced from one another around the outer periphery of the hollow shaft (3) by cable clamps (4) mounted on the outer periphery of the hollow shaft (3) and having a plurality of cable receiving grooves (41).

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