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1. 发明授权

US5937143A Teaching pendant for a robot 失效
标题翻译：教学吊坠机器人
公开(公告)号：US5937143A
公开(公告)日：1999-08-10
申请号：US836752
申请日：1997-07-10
申请人： Atsushi Watanabe , Tomoyuki Terada , Hirotsugu Kaihori , Tatsuya Oumi , Shinsuke Sakamoto
发明人： Atsushi Watanabe , Tomoyuki Terada , Hirotsugu Kaihori , Tatsuya Oumi , Shinsuke Sakamoto
IPC分类号： B25J9/16 , B25J9/22 , G05B19/42 , H01H9/02 , G05B19/48
CPC分类号： B25J9/1671 , G05B2219/36162 , G05B2219/36168 , G05B2219/39438 , G05B2219/39443 , G05B2219/39444 , G05B2219/39446 , G05B2219/40522 , H01H2300/026 , H01H9/0214
摘要： The invention is a robot teaching pendant containing a display device with graphic display capabilities. Display data is displayed on the graphic display and includes the movement of a robot and taught points. This display data is generated by a display data generation unit based on robot programs stored in data storage unit by buffering the data from a robot controller. This display data may also include representative images of the robot tool along with its coordinates in a tool coordinate system and the taught points in a user or world coordinate system. Thus, the action of the robot can be visually recognized with ease, and the robot can be taught easily and accurately.
摘要翻译： PCT No.PCT / JP96 / 02688 Sec。 371日期1997年7月10日 102（e）1997年7月10日PCT PCT 1996年9月18日PCT公布。公开号WO97 / 10931 日期1997年3月27日本发明是一种包含具有图形显示能力的显示装置的机器人教学装置。显示数据显示在图形显示屏上，包括机器人和教导点的移动。该显示数据由显示数据生成单元基于通过缓冲来自机器人控制器的数据而存储在数据存储单元中的机器人程序来生成。该显示数据还可以包括机器人工具的代表性图像及其在工具坐标系中的坐标以及用户或世界坐标系中的教导点。因此，可以容易地视觉识别机器人的动作，并且可以容易且准确地教导机器人。

2. 发明授权

US5485389A Manual feeding method for robots 失效
标题翻译：机器人手动进给方法
公开(公告)号：US5485389A
公开(公告)日：1996-01-16
申请号：US193210
申请日：1994-02-14
申请人： Tomoyuki Terada , Hirotsugu Kaihori
发明人： Tomoyuki Terada , Hirotsugu Kaihori
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J9/22 , G05B19/416 , G05B19/425 , G05B19/4061 , G06F19/00
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/36471 , G05B2219/39083
摘要： A method of manually feeding robots to ensure an efficient and safe teaching operation for each robot, even when the multiplicity of robots are arranged close to each other. As long as a controller B receives a manual feed command, coordinates representing current positions of feature points Pi and Qj defined on the robots A1 and A2 are sequentially simulated for being updated and stored in the RAM. The distances R between the feature points Pi (i=1 to final value) and feature points Qj (j=1 to final value) are determined sequentially. Each time a smaller distance between the feature points is calculated, the value is updated and stored into the register R min to calculate a shortest distance between the robots A1 and A2. The actual manual feed rate V is increased or decreased in response to the value of the shortest distance R min.
摘要翻译： PCT No.PCT / JP93 / 00787 Sec。 371日期1994年2月14日 102（e）日期1994年2月14日PCT提交1993年6月11日PCT公布。公开号WO93 / 25356 日期：1993年12月23日。一种手动进给机器人的方法，以确保每个机器人的有效和安全的教学操作，即使多个机器人彼此靠近布置。只要控制器B接收到手动进给命令，就顺序地模拟表示在机器人A1和A2上定义的特征点Pi和Qj的当前位置的坐标，以便更新并存储在RAM中。特征点Pi（i = 1〜最终值）与特征点Qj（j = 1〜最终值）之间的距离R依次确定。每当特征点之间的距离较小时，该值被更新并存储到寄存器R min中以计算机器人A1和A2之间的最短距离。实际手动进给速度V响应于最短距离R min的值而增加或减小。

3. 发明授权

US5687295A Jog feed information display apparatus for a robot 失效
标题翻译：用于机器人的点动饲料信息显示装置
公开(公告)号：US5687295A
公开(公告)日：1997-11-11
申请号：US426114
申请日：1995-04-20
申请人： Hirotsugu Kaihori , Takayuki Ito , Atsushi Watanabe
发明人： Hirotsugu Kaihori , Takayuki Ito , Atsushi Watanabe
IPC分类号： B25J9/22 , B25J9/16 , B25J9/18 , G05B19/42 , G05B23/02 , B25J3/00
CPC分类号： B25J9/1656 , G05B2219/39445 , G05B2219/39446
摘要： When an operator selects one of many jog modes, including a tool feed mode, robot coordinate system feed mode, user coordinate system feed mode, joint feed mode, etc., a display controller displays a jog feed direction adapted for the selected mode for superposition on a robot image on a monitor screen. If the operator depresses any of jog feed direction selector keys, the jog feed direction corresponding to the depressed key is displayed for discrimination.
摘要翻译：当操作员选择多种点动模式之一，包括刀具进给模式，机器人坐标系进给模式，用户坐标系进给模式，联合进给模式等时，显示控制器显示适合所选模式的点动进给方向以进行叠加在监视器屏幕上的机器人图像上。如果操作者按压任何点动进给方向选择器键，则显示与按下的按键对应的点动进给方向以进行辨别。

4. 发明授权

US5130515A Control method for arc welding robot 失效
标题翻译：弧焊机器人控制方法
公开(公告)号：US5130515A
公开(公告)日：1992-07-14
申请号：US724459
申请日：1991-07-03
申请人： Kenichi Toyoda , Toru Mizuno , Hirotsugu Kaihori
发明人： Kenichi Toyoda , Toru Mizuno , Hirotsugu Kaihori
IPC分类号： B23K9/127 , B23K9/02 , B23K9/12 , B25J9/10 , G05B19/4093 , G05B19/42 , G05B19/425
CPC分类号： B23K9/12 , B23K9/0216 , G05B19/42 , G05B2219/49384
摘要： One cycle of a weaving pattern suitable for the shape and material of the base metal to be welded is taught and stored, and a welding torch is made to weave in accordance with the suitable weaving pattern. Consequently, arc welding can be carried out by using a weaving pattern suitable for a shape and a material of each base metal.

5. 发明授权

US5528013A Method of automatically adjusting welding conditions for an arc welding robot 失效
标题翻译：自动调整电弧焊机器人焊接条件的方法
公开(公告)号：US5528013A
公开(公告)日：1996-06-18
申请号：US347489
申请日：1995-02-23
申请人： Hirotsugu Kaihori , Kyozi Iwasaki
发明人： Hirotsugu Kaihori , Kyozi Iwasaki
IPC分类号： B23K9/095 , B23K9/10 , B23K9/12 , B23K9/127
CPC分类号： B23K9/1062
摘要： A method, such that, using known data, a relationship between a target welding current and a welding current command to be instructed to a welding machine to achieve the target welding current is estimated by a linear formula. Then, a welding current command corresponding to a welding current to be achieved is obtained according to the linear formula, and is actually supplied to the welding machine to carry out a welding operation. An actual welding current is fed back from the welding machine, and this actual welding current and the welding current command associated therewith are stored as one set of data. This process is repeated using different welding current command values, and the resulting sets of data each including the combination of a corresponding welding current command and actual welding current are stored. Based on a plurality of sets of data thus obtained, a linear relational formula, representing the relationship between the actual welding current (target welding current) and the current command, is derived for each of a plurality of welding current ranges.
摘要翻译： PCT No.PCT / JP94 / 00589 Sec。 371日期1995年2月23日 102（e）1995年2月23日PCT PCT 1994年4月7日PCT公布。公开号WO94 / 23882 日期：1994年10月27日。一种使用已知数据的方法，通过线性公式来估计目标焊接电流和要指示焊接机实现目标焊接电流的焊接电流指令之间的关系。然后，根据线性公式获得与实现的焊接电流对应的焊接电流指令，实际上供给焊接机进行焊接作业。从焊接机器反馈实际的焊接电流，将该实际焊接电流与与其相关的焊接电流指令作为一组数据存储。使用不同的焊接电流指令值重复该过程，并且存储各自包括对应的焊接电流指令和实际焊接电流的组合的所得到的数据组。基于如此获得的多组数据，针对多个焊接电流范围中的每一个导出表示实际焊接电流（目标焊接电流）与电流指令之间的关系的线性关系式。

6. 发明授权

US07439534B2 Reflected light intensity ratio measuring device, device for measuring light energy absorption ratio and heat treatment apparatus 有权
标题翻译：反射光强度比测量装置，光能吸收率测量装置和热处理装置
公开(公告)号：US07439534B2
公开(公告)日：2008-10-21
申请号：US11479296
申请日：2006-06-30
申请人： Hirotsugu Kaihori
发明人： Hirotsugu Kaihori
IPC分类号： G01N21/86 , G01N21/88 , G01V8/00
CPC分类号： H01L21/67115 , H01L21/67248
摘要： A measuring optical system for emitting and receiving light is fixedly installed in a ceiling portion of a measuring device, and a wafer holding part for supporting a semiconductor wafer is provided in a bottom portion of the measuring device. A support table is horizontally laid between support pins of the wafer holding part, and a calibration standard member for calibration is placed on an upper surface of the support table. When a semiconductor wafer is supported by the support pins, light emerging from the measuring optical system impinges upon the semiconductor wafer, and the reflection intensity of the light is measured. When no semiconductor wafer is supported by the support pins, light emerging from the measuring optical system impinges upon the calibration standard member, whereby the calibration can be done at any time.
摘要翻译：用于发射和接收光的测量光学系统固定地安装在测量装置的顶部，并且在测量装置的底部设置用于支撑半导体晶片的晶片保持部。将支撑台水平放置在晶片保持部件的支撑销之间，并且用于校准的校准标准构件放置在支撑台的上表面上。当半导体晶片被支撑销支撑时，从测量光学系统出射的光照射在半导体晶片上，并测量光的反射强度。当没有半导体晶片被支撑销支撑时，从测量光学系统出射的光照射到校准标准件上，由此可以在任何时间进行校准。

7. 发明申请

US20070003259A1 Reflected light intensity ratio measuring device, device for measuring light energy absorption ratio and heat treatment apparatus 有权
标题翻译：反射光强度比测量装置，光能吸收率测量装置和热处理装置
公开(公告)号：US20070003259A1
公开(公告)日：2007-01-04
申请号：US11479296
申请日：2006-06-30
申请人： Hirotsugu Kaihori
发明人： Hirotsugu Kaihori
IPC分类号： F26B19/00
CPC分类号： H01L21/67115 , H01L21/67248
摘要： A measuring optical system for emitting and receiving light is fixedly installed in a ceiling portion of a measuring device, and a wafer holding part for supporting a semiconductor wafer is provided in a bottom portion of the measuring device. A support table is horizontally laid between support pins of the wafer holding part, and a calibration standard member for calibration is placed on an upper surface of the support table. When a semiconductor wafer is supported by the support pins, light emerging from the measuring optical system impinges upon the semiconductor wafer, and the reflection intensity of the light is measured. When no semiconductor wafer is supported by the support pins, light emerging from the measuring optical system impinges upon the calibration standard member, whereby the calibration can be done at any time.
摘要翻译：用于发射和接收光的测量光学系统固定地安装在测量装置的顶部，并且在测量装置的底部设置用于支撑半导体晶片的晶片保持部。将支撑台水平放置在晶片保持部件的支撑销之间，并且用于校准的校准标准构件放置在支撑台的上表面上。当半导体晶片被支撑销支撑时，从测量光学系统出射的光照射在半导体晶片上，并测量光的反射强度。当没有半导体晶片被支撑销支撑时，从测量光学系统出射的光照射到校准标准件上，由此可以在任何时间进行校准。

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