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1. 发明授权

US09128488B2 Movement direction control apparatus and computer program 有权
标题翻译：运动方向控制装置和计算机程序
公开(公告)号：US09128488B2
公开(公告)日：2015-09-08
申请号：US13232149
申请日：2011-09-14
申请人： Shigeru Tsuji , Shigeki Fukunaga , Mitsuhiro Namura , Koji Kawai , Kenichi Shirato
发明人： Shigeru Tsuji , Shigeki Fukunaga , Mitsuhiro Namura , Koji Kawai , Kenichi Shirato
IPC分类号： G05D1/02 , B62K1/00 , G05D1/08 , A63H17/25
CPC分类号： G05D1/027 , A63H17/25 , B60L15/20 , B60L2200/14 , B60L2240/12 , B60L2240/14 , B60L2240/22 , B60L2240/24 , B60L2240/423 , B60L2260/34 , B60L2260/44 , B62K1/00 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： In a movement direction control apparatus and a non-transitory computer readable medium, a reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. A specification of a yaw angle of a wheel as a target of the movement direction is received, and information of a friction torque is acquired. A rotation angular acceleration in the yaw direction is calculated, based on the yaw angle, the specification of which has been received, and the reaction torque is calculated, based on the calculated rotation angular acceleration in the yaw direction. An operation instruction to a motor for yaw is generated, based on the calculated reaction torque and the acquired information of the friction torque.
摘要翻译：在运动方向控制装置和非瞬时计算机可读介质中，利用伴随转子旋转的反作用转矩来控制身体在偏航方向上的旋转角度。接收作为移动方向的目标的车轮的偏航角的规格，并且获得摩擦转矩的信息。基于所计算的偏航方向的旋转角加速度，基于已经接收到其指定的偏航角，并计算反作用力矩来计算偏航方向上的旋转角加速度。基于计算出的反作用转矩和获取的摩擦转矩信息，生成用于偏航的电动机的操作指令。

2. 发明授权

US08333009B2 Aligning device and bonding apparatus 有权
标题翻译：对准装置和粘合装置
公开(公告)号：US08333009B2
公开(公告)日：2012-12-18
申请号：US12137286
申请日：2008-06-11
申请人： Atsuhiko Hirata , Shigeki Fukunaga , Shigeki Yamane , Mitsuhiro Namura , Arata Suzuki , Tomonari Watanabe
发明人： Atsuhiko Hirata , Shigeki Fukunaga , Shigeki Yamane , Mitsuhiro Namura , Arata Suzuki , Tomonari Watanabe
IPC分类号： B23P19/00
CPC分类号： H01L21/682 , B32B37/0046 , B32B38/1833 , B32B2305/55 , B32B2309/68 , B32B2309/70 , B32B2457/14 , G02F2001/133354 , Y10T29/49131 , Y10T29/5313 , Y10T29/53174 , Y10T29/53178 , Y10T29/53183 , Y10T156/1075
摘要： An aligning device for electronic components and a bonding device using the aligning device. The aligning device includes a chamber, a flexible bellows within the chamber, two block used to hold an electronic component, a driving unit configured to move either of the two blocks relative to each other and located in an airtight chamber and an image port having a window through which one of the electronic components can be observed.
摘要翻译：一种用于电子部件的对准装置和使用对准装置的接合装置。对准装置包括腔室，室内的柔性波纹管，用于保持电子部件的两个块;驱动单元，其配置成相对于彼此移动并位于气密室中并且位于气密室中的驱动单元和具有可以观察电子部件中的一个的窗口。

3. 发明授权

US08335612B2 Falling prevention controlling device and computer program 有权
标题翻译：防跌落控制装置和计算机程序
公开(公告)号：US08335612B2
公开(公告)日：2012-12-18
申请号：US13048124
申请日：2011-03-15
申请人： Shigeru Tsuji , Shigeki Fukunaga , Mitsuhiro Namura , Koji Kawai , Kenichi Shirato
发明人： Shigeru Tsuji , Shigeki Fukunaga , Mitsuhiro Namura , Koji Kawai , Kenichi Shirato
IPC分类号： B62D6/00
CPC分类号： B62K1/00 , A63H17/25 , B25J5/007 , B60L3/0038 , B60L15/20 , B60L2200/14 , B60L2240/423 , B60L2260/34 , B60L2260/44 , B62K11/007 , B62K17/00 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： A falling prevention controlling device includes a wheel, and a main body arranged to swing in a pitch direction and a roll direction above the wheel, an advance/retreat command receiving unit arranged to receive an advance or a retreat command of the wheel, a target pitch angle calculating unit arranged to calculate a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle, a pitch inclined angle estimating unit arranged to estimate a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based on the target pitch angle, and a pitch torque command generating unit arranged to generate the pitch torque command based on the target pitch angle and the pitch inclined angle.
摘要翻译：防落落控制装置包括：车轮和布置成沿车轮的俯仰方向和滚动方向摆动的主体;前进/后退指令接收单元，布置成接收车轮的前进或后退命令;目标俯仰角计算单元，被配置为基于接收到的命令计算目标俯仰角和从检测到的旋转角度导出的俯仰方向的旋转速度偏差;俯仰倾斜角度估计单元，被设置为相对于平衡状态估计俯仰倾斜角度状态，根据检测到的俯仰角速度和基于目标俯仰角产生的俯仰扭矩指令，以及俯仰扭矩指令生成部，其基于目标俯仰角和俯仰倾斜角度来生成俯仰扭矩指令。

4. 发明授权

US06685052B1 Feeding apparatus for chip component 有权
标题翻译：芯片组件送料装置
公开(公告)号：US06685052B1
公开(公告)日：2004-02-03
申请号：US09684676
申请日：2000-10-11
申请人： Akira Nemoto , Shigeki Takahashi , Nihei Kaishita , Mitsuhiro Namura
发明人： Akira Nemoto , Shigeki Takahashi , Nihei Kaishita , Mitsuhiro Namura
IPC分类号： B23Q712
CPC分类号： B65G47/1428 , H05K13/022
摘要： A feed lever is lowered, correspondingly to the load input of a chip mounter. A rotary drum is intermittently moved through a conversion mechanism, intermittently in one direction. Chip components placed in a component accommodation chamber are aligned and discharged. When a rotation resistance larger than a predetermined value acts, a belt is slid, and breaking of a chip component is prevented.
摘要翻译：相应于芯片安装机的负载输入，进给杆下降。旋转滚筒在一个方向间歇地间歇地移动通过转换机构。放置在部件容纳室中的芯片部件对齐并排出。当大于预定值的旋转阻力作用时，皮带滑动，并且防止了切屑部件的断裂。

5. 发明申请

US20120010783A1 MOVEMENT DIRECTION CONTROL APPARATUS AND COMPUTER PROGRAM 有权
标题翻译：运动方向控制装置和计算机程序
公开(公告)号：US20120010783A1
公开(公告)日：2012-01-12
申请号：US13232149
申请日：2011-09-14
申请人： Shigeru TSUJI , Shigeki FUKUNAGA , Mitsuhiro NAMURA , Koji KAWAI , Kenichi SHIRATO
发明人： Shigeru TSUJI , Shigeki FUKUNAGA , Mitsuhiro NAMURA , Koji KAWAI , Kenichi SHIRATO
IPC分类号： B62D6/00
CPC分类号： G05D1/027 , A63H17/25 , B60L15/20 , B60L2200/14 , B60L2240/12 , B60L2240/14 , B60L2240/22 , B60L2240/24 , B60L2240/423 , B60L2260/34 , B60L2260/44 , B62K1/00 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： In a movement direction control apparatus and a non-transitory computer readable medium, a reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. A specification of a yaw angle of a wheel as a target of the movement direction is received, and information of a friction torque is acquired. A rotation angular acceleration in the yaw direction is calculated, based on the yaw angle, the specification of which has been received, and the reaction torque is calculated, based on the calculated rotation angular acceleration in the yaw direction. An operation instruction to a motor for yaw is generated, based on the calculated reaction torque and the acquired information of the friction torque.
摘要翻译：在运动方向控制装置和非瞬时计算机可读介质中，利用伴随转子旋转的反作用转矩来控制身体在偏航方向上的旋转角度。接收作为移动方向的目标的车轮的偏航角的规格，并且获得摩擦转矩的信息。基于所计算的偏航方向的旋转角加速度，基于已经接收到其指定的偏航角，并计算反作用力矩来计算偏航方向上的旋转角加速度。基于计算出的反作用转矩和获取的摩擦转矩信息，生成用于偏航的电动机的操作指令。

6. 发明申请

US20110166713A1 FALLING PREVENTION CONTROLLING DEVICE AND COMPUTER PROGRAM 有权
标题翻译：防止控制设备和计算机程序
公开(公告)号：US20110166713A1
公开(公告)日：2011-07-07
申请号：US13048124
申请日：2011-03-15
申请人： Shigeru TSUJI , Shigeki FUKUNAGA , Mitsuhiro NAMURA , Koji KAWAI , Kenichi SHIRATO
发明人： Shigeru TSUJI , Shigeki FUKUNAGA , Mitsuhiro NAMURA , Koji KAWAI , Kenichi SHIRATO
IPC分类号： G01M1/38 , G05B13/00
CPC分类号： B62K1/00 , A63H17/25 , B25J5/007 , B60L3/0038 , B60L15/20 , B60L2200/14 , B60L2240/423 , B60L2260/34 , B60L2260/44 , B62K11/007 , B62K17/00 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： A falling prevention controlling device includes a wheel, and a main body arranged to swing in a pitch direction and a roll direction above the wheel, an advance/retreat command receiving unit arranged to receive an advance or a retreat command of the wheel, a target pitch angle calculating unit arranged to calculate a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle, a pitch inclined angle estimating unit arranged to estimate a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based on the target pitch angle, and a pitch torque command generating unit arranged to generate the pitch torque command based on the target pitch angle and the pitch inclined angle.
摘要翻译：防落落控制装置包括：车轮和布置成沿车轮的俯仰方向和滚动方向摆动的主体;前进/后退指令接收单元，布置成接收车轮的前进或后退命令;目标俯仰角计算单元，被配置为基于接收到的命令计算目标俯仰角和从检测到的旋转角度导出的俯仰方向的旋转速度偏差;俯仰倾斜角度估计单元，被设置为相对于平衡状态估计俯仰倾斜角状态，根据检测到的俯仰角速度和基于目标俯仰角产生的俯仰扭矩指令，以及俯仰扭矩指令生成部，其基于目标俯仰角和俯仰倾斜角度来生成俯仰扭矩指令。

7. 发明申请

US20080245472A1 ALIGNING DEVICE, BONDING APPARATUS, AND ALIGNING METHOD 有权
标题翻译：对准装置，联结装置和对准方法
公开(公告)号：US20080245472A1
公开(公告)日：2008-10-09
申请号：US12137286
申请日：2008-06-11
申请人： Atsuhiko Hirata , Shigeki Fukunaga , Shigeki Yamane , Mitsuhiro Namura , Arata Suzuki , Tomonari Watanabe
发明人： Atsuhiko Hirata , Shigeki Fukunaga , Shigeki Yamane , Mitsuhiro Namura , Arata Suzuki , Tomonari Watanabe
IPC分类号： H05K3/30 , G02F1/13
CPC分类号： H01L21/682 , B32B37/0046 , B32B38/1833 , B32B2305/55 , B32B2309/68 , B32B2309/70 , B32B2457/14 , G02F2001/133354 , Y10T29/49131 , Y10T29/5313 , Y10T29/53174 , Y10T29/53178 , Y10T29/53183 , Y10T156/1075
摘要： An aligning device that can reliably correct misalignment between electronic components for increasing the accuracy in aligning the electronic components, a bonding apparatus equipped with the aligning device, and an aligning method. The aligning device comprises a chamber; a flexible bellows configured to define an airtight chamber therein with the chamber; a driving unit configured to move one of a first block member and a second block member relative to the other, the first block member being for holding a first electronic component and being provided in the airtight chamber, and the second block member being for holding a second electronic component and being provided in the airtight chamber; and an image-taking port protruding inward from an outer surface of the chamber so as to define a space, the image-taking port having an observation window through which at least one of the first electronic component and the second electronic component is observed. In an embodiment, an image-taking port 21 protrudes inward from an outer surface of a chamber 3 so as to define a space 11. Thus, even when the chamber 3 moves together with a second block-member 28, an image recognizing device 47 can be provided in the space 11 so as to be prevented from interfering with the motion of the chamber 3. This allows the chamber 3 to freely move without any restriction. As a result, one of a first block member 12 and the second block member 28 can be freely moved relative to the other without being restricted by the placement of the image recognizing device 47, and a first wafer W1 and a second wafer W2 can be aligned reliably.
摘要翻译：可以可靠地校正电子部件之间的未对准的对准装置，用于提高对准电子部件的精度，配备有对准装置的接合装置和对准方法。对准装置包括一个室; 柔性波纹管，其构造成在其中与所述腔室限定气密室; 驱动单元，其构造成相对于另一块移动第一块构件和第二块构件中的一个，所述第一块构件用于保持第一电子部件并设置在所述气密室中，并且所述第二挡块构件用于保持第二电子部件并设置在气密室中; 以及从所述室的外表面向内突出以形成空间的摄像端口，所述摄像端口具有观察窗，通过所述观察窗观察所述第一电子部件和所述第二电子部件中的至少一个。在一个实施例中，摄像端口21从腔室3的外表面向内突出，以限定空间11。因此，即使当室3与第二块构件28一起移动时，也可以在空间11中设置图像识别装置47，以防止与室3的运动相干扰。这允许室3自由移动而没有任何限制。结果，第一块构件12和第二块构件28中的一个可以相对于另一个而不受图像识别装置47的放置的限制而自由移动，并且第一晶片W 1和第二晶片W 2 可以可靠地对齐。

8. 发明授权

US06705819B1 Feeder for chip components 有权
标题翻译：芯片组件馈线
公开(公告)号：US06705819B1
公开(公告)日：2004-03-16
申请号：US09678096
申请日：2000-10-04
申请人： Akira Nemoto , Shigeki Takahashi , Nihei Kaishita , Mitsuhiro Namura
发明人： Akira Nemoto , Shigeki Takahashi , Nihei Kaishita , Mitsuhiro Namura
IPC分类号： B65B2102
CPC分类号： B65G23/38 , B65G27/12 , B65G47/06 , H05K13/022
摘要： A feeder for chip components is provided wherein the chip components can be supplied with high stability even in high-speed operation by operating a conveying member at a lower speed than that of a chip mounter and operating the conveying member even when the chip mounter is stopped. The chip components on a belt are supplied in one direction by lowering a feed lever according to the input load from a chip mounter so as to drive the belt connected to the feed lever via a transmission mechanism intermittently in one direction. urging means is provided for urging the feed lever in the returning direction by storing the input load of the chip mounter as energy while an eddy current damper is provided for delaying the returning operation of the feed lever relative to the returning operation of the chip mounter. When the chip mounter operates downwardly, the feed lever is moved downwardly by linking to the chip mounter while the conveyor belt is maintained in a stationary state. When the chip mounter operates upwardly, the feed lever is moved upwardly so as to be delayed relative to the chip mounter by the eddy current damper while the belt is driven at a low speed.
摘要翻译：提供了一种用于芯片部件的馈线，其中即使在高速操作中，即使在芯片安装器停止时，也可以以比芯片安装器低的速度操作输送部件并操作输送部件，可以提供高稳定性的芯片部件。通过根据来自芯片安装器的输入负载降低进给杆，沿着一个方向间歇地驱动通过传动机构驱动连接到进给杆的皮带，从而沿一个方向供给皮带上的切屑部件。提供推动装置，用于通过将芯片安装机的输入负载作为能量存储来提供馈送杆，同时设置涡流阻尼器以延迟馈送杆相对于芯片安装机的返回操作的返回操作。当芯片安装器向下操作时，馈送杆通过连接到芯片安装器而向下移动，同时传送带保持在静止状态。当芯片安装器向上操作时，馈送杆向上移动，以便当带子以低速驱动时，通过涡流阻尼器相对于芯片安装器延迟。

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