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1. 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。

2. 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。

3. 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）。

4. 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。

5. 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。

6. 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。

7. 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.

8. 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).

9. 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.

10. 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。

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