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1. 发明授权

US08622198B2 Component transferring apparatus and IC handler 有权
标题翻译：组件传送设备和IC处理程序
公开(公告)号：US08622198B2
公开(公告)日：2014-01-07
申请号：US13275619
申请日：2011-10-18
申请人： Takashi Yamazaki , Hiroaki Fujimori , Naohisa Maeda , Daisuke Kirihara , Satoshi Nakamura , Masami Maeda
发明人： Takashi Yamazaki , Hiroaki Fujimori , Naohisa Maeda , Daisuke Kirihara , Satoshi Nakamura , Masami Maeda
IPC分类号： B65G47/34
CPC分类号： G01R31/2893 , G05B2219/37216 , G05B2219/40564 , G05B2219/45026
摘要： An apparatus includes: a retainer moving between a shuttle and a socket; a presser holding a component; an adjuster moving the presser; a socket mark near the socket; a hand mark near the socket mark when the retainer is at a component mounting position; a first camera photographing a first image including the component and hand mark; a second camera photographing a second image including the socket mark and socket, and a third image including the socket mark and hand mark; a first calculator obtaining a first relative position between the socket mark and socket from the second image; a second calculator obtaining a second relative position between the socket mark and hand mark from the third image; and a third calculator obtaining a third relative position between the hand mark and component from the first image. The adjuster corrects the component's position based on the relative positions.
摘要翻译：一种装置包括：保持件在梭子和插座之间移动; 持有组件的压脚; 调节器移动压脚; 插座附近的插座标记; 当保持器处于部件安装位置时，在插座标记附近的手标记; 拍摄包括所述部件和手标记的第一图像的第一相机; 拍摄包括插座标记和插座的第二图像的第二相机以及包括插座标记和手标的第三图像; 第一计算器，从所述第二图像获得所述插座标记和所述插座之间的第一相对位置; 第二计算器，从所述第三图像获得所述插座标记与手标记之间的第二相对位置; 以及第三计算器，从所述第一图像获得所述手标和分量之间的第三相对位置。调整器根据相对位置校正组件的位置。

2. 发明授权

US08752874B2 Robot hand 有权
标题翻译：机器人手
公开(公告)号：US08752874B2
公开(公告)日：2014-06-17
申请号：US13348140
申请日：2012-01-11
申请人： Kenjiro Murakami , Daisuke Kirihara
发明人： Kenjiro Murakami , Daisuke Kirihara
IPC分类号： B66C1/42
CPC分类号： B25J15/026 , Y10S901/38
摘要： A robot hand that changes a space between finger members provided apart from each other includes: moving members on which the finger members are vertically provided; a palm member including a moving mechanism for moving the moving members in a predetermined axial direction; and guide members that guide the movement of the moving members in the predetermined axial direction.
摘要翻译：改变彼此间隔开的指状构件之间的空间的机器人手包括：垂直地设置指状构件的移动构件; 手掌构件，包括用于沿预定轴向移动所述移动构件的移动机构; 以及引导构件，其引导移动构件在预定轴向方向上的移动。

3. 发明授权

US08297741B2 Liquid ejecting apparatus 有权
标题翻译：液体喷射装置
公开(公告)号：US08297741B2
公开(公告)日：2012-10-30
申请号：US12883381
申请日：2010-09-16
申请人： Daisuke Kirihara
发明人： Daisuke Kirihara
IPC分类号： B41J2/05
CPC分类号： B41J2/155
摘要： The liquid ejecting heads are arranged on the head carrying member such that each pair of nozzles that are next to each other in terms of first-direction positions of adjacent ones of the liquid ejecting heads are shifted relative to each other by an offset length δ corresponding to a relative displacement in the first direction between the liquid ejecting heads due to thermal expansion during liquid ejection with reference to a specified pitch at which nozzles included in a single nozzle row are provided.
摘要翻译：液体喷射头被布置在头部承载构件上，使得在相邻的液体喷射头的第一方向位置上彼此相邻的每对喷嘴相对于彼此偏移了相应的偏移长度δ 相对于设置在单个喷嘴列中的喷嘴的指定间距，在液体喷射期间由于热膨胀而在液体喷射头之间的第一方向上的相对位移。

4. 发明授权

US08763489B2 Robot 有权
标题翻译：机器人
公开(公告)号：US08763489B2
公开(公告)日：2014-07-01
申请号：US13454355
申请日：2012-04-24
申请人： Daisuke Kirihara , Shingo Hoshino
发明人： Daisuke Kirihara , Shingo Hoshino
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00 , B25J9/06 , B25J9/00
CPC分类号： B25J17/00 , B25J9/0027 , B25J9/0087 , B25J9/06 , B25J18/005 , B25J18/02 , Y10S901/15 , Y10S901/28 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A jointed arm has an upper arm member joined to a second shoulder member, a first forearm member joined to the upper arm member by a first bending and stretching mechanism, and a wrist member joined to the first forearm member by a second bending and stretching mechanism, the first forearm member has a first turning mechanism that rotates the second bending and stretching mechanism, a hand section is joined to the wrist member by a second turning mechanism, and the rotation axes of the first and second turning mechanisms are offset. The upper arm member has a housing recessed portion that houses part of the first forearm member, part of the first turning mechanism, and part of the second bending and stretching mechanism in a state in which the first forearm member bends toward the upper arm member and the wrist member bends toward the first forearm member.
摘要翻译：接合臂具有接合到第二肩部构件的上臂构件，通过第一弯曲和拉伸机构接合到上臂构件的第一前臂构件，以及通过第二弯曲和拉伸机构接合到第一前臂构件的腕构件第一前臂构件具有旋转第二弯曲和拉伸机构的第一转动机构，通过第二转动机构将手部接合到腕部构件，并且第一和第二转动机构的旋转轴线偏移。所述上臂部件具有容纳凹部，所述壳体凹部在所述第一前臂部件朝向所述上臂部件弯曲的状态下容纳所述第一前臂部件的一部分，所述第一转动机构的一部分和所述第二弯曲伸缩机构的一部分，腕部构件向第一前臂构件弯曲。

5. 发明授权

US08855823B2 Robot controller, simple installation-type robot, and method of controlling simple installation-type robot 有权
标题翻译：机器人控制器，简单安装型机器人，以及简单安装型机器人控制方法
公开(公告)号：US08855823B2
公开(公告)日：2014-10-07
申请号：US13457873
申请日：2012-04-27
申请人： Daisuke Kirihara
发明人： Daisuke Kirihara
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16
CPC分类号： B25J9/1694 , B25J9/1653 , G05B15/02 , G05B2219/39182 , G05B2219/40294 , G05B2219/40454 , Y10S901/01 , Y10S901/46
摘要： A robot includes an angular velocity sensor that detects the vibration of a robot. A control device allows the robot to perform a trial operation and acquires the measurement result measured by the angular velocity sensor during the trial operation as vibration information and analyzes the acquired vibration information based on maker evaluating information that is stored in a database. In the maker evaluating information, vibration information and the operating speed appropriate to the installation situation of the robot at which the vibration information is measured are associated with each other. Then, the robot is operated at an operating speed selected based on the analysis result of the vibration information.
摘要翻译：机器人包括检测机器人振动的角速度传感器。控制装置允许机器人执行试运行，并且在试运行期间获取由角速度传感器测量的测量结果作为振动信息，并且基于存储在数据库中的制造商评估信息来分析获取的振动信息。在制造商评估信息中，振动信息和与测量振动信息的机器人的安装状况相适应的操作速度彼此相关联。然后，机器人以基于振动信息的分析结果选择的操作速度进行操作。

6. 发明申请

US20120175903A1 ROBOT HAND 有权
标题翻译：机器人手
公开(公告)号：US20120175903A1
公开(公告)日：2012-07-12
申请号：US13348140
申请日：2012-01-11
申请人： Kenjiro MURAKAMI , Daisuke KIRIHARA
发明人： Kenjiro MURAKAMI , Daisuke KIRIHARA
IPC分类号： B25J15/00
CPC分类号： B25J15/026 , Y10S901/38
摘要： A robot hand that changes a space between finger members provided apart from each other includes: moving members on which the finger members are vertically provided; a palm member including a moving mechanism for moving the moving members in a predetermined axial direction; and guide members that guide the movement of the moving members in the predetermined axial direction.
摘要翻译：改变彼此间隔开的指状构件之间的空间的机器人手包括：垂直地设置指状构件的移动构件; 手掌构件，包括用于沿预定轴向移动所述移动构件的移动机构; 以及引导构件，其引导移动构件在预定轴向方向上的移动。

7. 发明申请

US20120034052A1 COMPONENT TRANSFERRING APPARATUS AND IC HANDLER 有权
标题翻译：组件传输设备和IC处理器
公开(公告)号：US20120034052A1
公开(公告)日：2012-02-09
申请号：US13275619
申请日：2011-10-18
申请人： Takashi YAMAZAKI , Hiroaki FUJIMORI , Naohisa MAEDA , Daisuke KIRIHARA , Satoshi NAKAMURA , Masami MAEDA
发明人： Takashi YAMAZAKI , Hiroaki FUJIMORI , Naohisa MAEDA , Daisuke KIRIHARA , Satoshi NAKAMURA , Masami MAEDA
IPC分类号： B25J9/00
CPC分类号： G01R31/2893 , G05B2219/37216 , G05B2219/40564 , G05B2219/45026
摘要： An apparatus includes: a retainer moving between a shuttle and a socket; a presser holding a component; an adjuster moving the presser; a socket mark near the socket; a hand mark near the socket mark when the retainer is at a component mounting position; a first camera photographing a first image including the component and hand mark; a second camera photographing a second image including the socket mark and socket, and a third image including the socket mark and hand mark; a first calculator obtaining a first relative position between the socket mark and socket from the second image; a second calculator obtaining a second relative position between the socket mark and hand mark from the third image; and a third calculator obtaining a third relative position between the hand mark and component from the first image. The adjuster corrects the component's position based on the relative positions.
摘要翻译：一种装置包括：保持件在梭子和插座之间移动; 持有组件的压脚; 调节器移动压脚; 插座附近的插座标记; 当保持器处于部件安装位置时，在插座标记附近的手标记; 拍摄包括所述部件和手标记的第一图像的第一相机; 拍摄包括插座标记和插座的第二图像的第二相机以及包括插座标记和手标的第三图像; 第一计算器，从所述第二图像获得所述插座标记和所述插座之间的第一相对位置; 第二计算器，从所述第三图像获得所述插座标记与手标记之间的第二相对位置; 以及第三计算器，从所述第一图像获得所述手标和分量之间的第三相对位置。调整器根据相对位置校正组件的位置。

8. 发明申请

US20110069123A1 LIQUID EJECTING APPARATUS 有权
标题翻译：液体喷射装置
公开(公告)号：US20110069123A1
公开(公告)日：2011-03-24
申请号：US12883381
申请日：2010-09-16
申请人： Daisuke KIRIHARA
发明人： Daisuke KIRIHARA
IPC分类号： B41J2/05
CPC分类号： B41J2/155
摘要： The liquid ejecting heads are arranged on the head carrying member such that each pair of nozzles that are next to each other in terms of first-direction positions of adjacent ones of the liquid ejecting heads are shifted relative to each other by an offset length δ corresponding to a relative displacement in the first direction between the liquid ejecting heads due to thermal expansion during liquid ejection with reference to a specified pitch at which nozzles included in a single nozzle row are provided.
摘要翻译：液体喷射头被布置在头部承载构件上，使得在相邻的液体喷射头的第一方向位置上彼此相邻的每对喷嘴相对于彼此偏移了相应的偏移长度δ 相对于设置在单个喷嘴列中的喷嘴的指定间距，在液体喷射期间由于热膨胀而在液体喷射头之间的第一方向上的相对位移。

9. 发明申请

US20120277912A1 ROBOT CONTROLLER, SIMPLE INSTALLATION-TYPE ROBOT, AND METHOD OF CONTROLLING SIMPLE INSTALLATION-TYPE ROBOT 有权
标题翻译：机器人控制器，简单的安装型机器人以及控制简单安装型机器人的方法
公开(公告)号：US20120277912A1
公开(公告)日：2012-11-01
申请号：US13457873
申请日：2012-04-27
申请人： Daisuke KIRIHARA
发明人： Daisuke KIRIHARA
IPC分类号： B25J13/08 , B25J19/02
CPC分类号： B25J9/1694 , B25J9/1653 , G05B15/02 , G05B2219/39182 , G05B2219/40294 , G05B2219/40454 , Y10S901/01 , Y10S901/46
摘要： A robot includes an angular velocity sensor that detects the vibration of a robot. A control device allows the robot to perform a trial operation and acquires the measurement result measured by the angular velocity sensor during the trial operation as vibration information and analyzes the acquired vibration information based on maker evaluating information that is stored in a database. In the maker evaluating information, vibration information and the operating speed appropriate to the installation situation of the robot at which the vibration information is measured are associated with each other. Then, the robot is operated at an operating speed selected based on the analysis result of the vibration information.
摘要翻译：机器人包括检测机器人振动的角速度传感器。控制装置允许机器人执行试运行，并且在试运行期间获取由角速度传感器测量的测量结果作为振动信息，并且基于存储在数据库中的制造商评估信息来分析获取的振动信息。在制造商评估信息中，振动信息和与测量振动信息的机器人的安装状况相适应的操作速度彼此相关联。然后，机器人以基于振动信息的分析结果选择的操作速度进行操作。

10. 发明申请

US20120272774A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：US20120272774A1
公开(公告)日：2012-11-01
申请号：US13454355
申请日：2012-04-24
申请人： Daisuke KIRIHARA , Shingo HOSHINO
发明人： Daisuke KIRIHARA , Shingo HOSHINO
IPC分类号： B25J17/02
CPC分类号： B25J17/00 , B25J9/0027 , B25J9/0087 , B25J9/06 , B25J18/005 , B25J18/02 , Y10S901/15 , Y10S901/28 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A jointed arm has an upper arm member joined to a second shoulder member, a first forearm member joined to the upper arm member by a first bending and stretching mechanism, and a wrist member joined to the first forearm member by a second bending and stretching mechanism, the first forearm member has a first turning mechanism that rotates the second bending and stretching mechanism, a hand section is joined to the wrist member by a second turning mechanism, and the rotation axes of the first and second turning mechanisms are offset. The upper arm member has a housing recessed portion that houses part of the first forearm member, part of the first turning mechanism, and part of the second bending and stretching mechanism in a state in which the first forearm member bends toward the upper arm member and the wrist member bends toward the first forearm member.
摘要翻译：接合臂具有接合到第二肩部构件的上臂构件，通过第一弯曲和拉伸机构接合到上臂构件的第一前臂构件，以及通过第二弯曲和拉伸机构接合到第一前臂构件的腕构件第一前臂构件具有旋转第二弯曲和拉伸机构的第一转动机构，通过第二转动机构将手部接合到腕部构件，并且第一和第二转动机构的旋转轴线偏移。所述上臂部件具有容纳凹部，所述壳体凹部在所述第一前臂部件朝向所述上臂部件弯曲的状态下容纳所述第一前臂部件的一部分，所述第一转动机构的一部分和所述第二弯曲伸缩机构的一部分，腕部构件向第一前臂构件弯曲。

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