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1. 发明授权

US08548679B2 Overturn prevention control device for two-wheel vehicle 有权
标题翻译：二轮车用防翻转控制装置
公开(公告)号：US08548679B2
公开(公告)日：2013-10-01
申请号：US12145585
申请日：2008-06-25
申请人： Atsuhiko Hirata , Shigeru Tsuji , Tomonari Watanabe , Shigeki Fukunaga , Koichi Yoshikawa , Koji Kawai
发明人： Atsuhiko Hirata , Shigeru Tsuji , Tomonari Watanabe , Shigeki Fukunaga , Koichi Yoshikawa , Koji Kawai
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B60G23/00 , B62C3/00 , B62K25/00
CPC分类号： A63H17/16 , A63H17/21 , A63H17/36
摘要： An overturn prevention control device for a two-wheel vehicle having a vehicle body, a front wheel, an actuator that steers the front wheel, a rear wheel, and a rear-wheel driving portion, includes an angular velocity sensor and a control unit arranged to output a steering angle command signal for controlling the actuator. The angular velocity sensor includes a detection axis, is mounted on the vehicle body such that the detection axis is downwardly inclined at a predetermined angle relative to a forward direction of the vehicle body, and detects an angular velocity about the detection axis. The angular velocity detected by the angular velocity sensor includes an angular velocity in a lateral direction of inclination and an angular velocity in an azimuthal direction. The zero-set error and offset noise are incorporated into the azimuth angle command. Thus, the two-wheel vehicle can be prevented from overturning.
摘要翻译：一种用于具有车体，前轮，转向前轮，后轮和后轮驱动部的致动器的两轮车辆的翻倒防止控制装置，包括角速度传感器和控制单元，该角速度传感器和控制单元输出用于控制致动器的转向角指令信号。角速度传感器包括检测轴，安装在车体上，使得检测轴相对于车身前方以预定的角度向下倾斜，并且检测围绕检测轴的角速度。由角速度传感器检测的角速度包括倾斜方向上的角速度和方位角方向上的角速度。零位误差和偏移噪声被并入方位角指令。因此，可以防止两轮车辆翻倒。

2. 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。

3. 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。

4. 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。

5. 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。

6. 发明授权

US06583637B2 Load-control-type actuator 失效
公开(公告)号：US06583637B2
公开(公告)日：2003-06-24
申请号：US09881729
申请日：2001-06-18
申请人： Shigeki Fukunaga , Shigeru Tsuji , Kenichiro Maki
发明人： Shigeki Fukunaga , Shigeru Tsuji , Kenichiro Maki
IPC分类号： G01R3102
CPC分类号： H02K41/0356
摘要： A load-control type actuator is provided, in which the impact load applied to a workpiece is reduced enabling damages in the workpiece to be small. A load-control-type actuator includes a nozzle which comes into contact with a workpiece, a nozzle holder for supporting the nozzle via a spring, and a voice-coil motor which can control a thrust driving force to the nozzle holder. The spring constant of the spring is set so that the spring reaction force of the spring within the response time of the voice-coil motor is reduced smaller than the maximum impact load when the nozzle touches the workpiece. The nozzle is suspended and supported by the spring and the initial load thereof is set to zero.

7. 发明授权

US06198179B1 Linear actuator 失效
标题翻译：线性执行机构
公开(公告)号：US06198179B1
公开(公告)日：2001-03-06
申请号：US09250409
申请日：1999-02-16
申请人： Shigeki Fukunaga , Takeshi Hashimoto , Shigeru Tsuji
发明人： Shigeki Fukunaga , Takeshi Hashimoto , Shigeru Tsuji
IPC分类号： H02K4100
CPC分类号： H02K41/0356
摘要： A linear actuator can obtain a roughly fixed load within a stroke range. The linear actuator comprises a fixed element, comprising a yoke and a magnet which is magnetized in the radial direction, and a moving element, comprising an electromagnetic coil and a bobbin which surrounds the magnet. A spring is provided for applying a force acting in opposition to the thrust direction acting on the moving element. A constant load stroke area is provided so that the characteristics of the opposite force of this spring balance the characteristics of the thrust force acting on the moving element. The constant load stroke area is an area where one end of the coil in the stroke direction is located in an outside position from one end of the magnet in the stroke direction, and the other end of the coil in the stroke direction is located in an inside position from both ends of the magnet in the stroke direction.
摘要翻译：线性致动器可以在行程范围内获得大致固定的负载。线性致动器包括固定元件，其包括磁轭和沿径向磁化的磁体，以及包括电磁线圈和围绕磁体的线轴的移动元件。提供弹簧用于施加与作用在移动元件上的推力方向相反的力。提供恒定的载荷冲程区域，使得该弹簧的相反力的特性平衡作用在移动元件上的推力的特性。恒定载荷行程区域是行程方向上的线圈的一端位于从行程方向的磁体的一端的外侧位置的区域，线圈的行程方向的另一端位于从磁铁的两端在行程方向的内侧位置。

8. 发明授权

US07134188B2 Parts mounting apparatus 有权
标题翻译：零件安装装置
公开(公告)号：US07134188B2
公开(公告)日：2006-11-14
申请号：US10647007
申请日：2003-08-22
申请人： Shigeki Fukunaga
发明人： Shigeki Fukunaga
IPC分类号： B23P19/00
CPC分类号： H05K13/0812 , Y10T29/4913 , Y10T29/49131 , Y10T29/49144 , Y10T29/53174 , Y10T29/53178 , Y10T29/53191
摘要： A suction head is inserted between first and second cameras relatively disposed facing one another with aligned optical axes, so that the first camera takes images of a head reference mark on the suction head, and the second camera of a first part suctioned to the suction head. Next, a stage is inserted between the first and second cameras so that the first camera takes images of a second part held on the stage, and the second camera of a stage reference mark thereupon. The relative positions between the first part and the suction head, and between the second part and the stage, are calculated based upon image information from the cameras, and the suction head and the stage are positioned, the first and second parts being relatively positioned based upon positional information and relative positional information from the first and second cameras, and mounting is performed.
摘要翻译：将吸头插入第一和第二相机之间，彼此相对地布置有对准的光轴，使得第一相机在吸头上拍摄头部基准标记的图像，并且将第一部分的第二照相机吸入吸头。接下来，在第一和第二相机之间插入一个台阶，使得第一相机拍摄保持在舞台上的第二部分的图像，并且在其上设置阶段参考标记的第二相机。基于来自照相机的图像信息计算第一部分和吸头之间以及第二部分和舞台之间的相对位置，并且吸引头和舞台被定位，第一和第二部分基于相对位置根据来自第一和第二相机的位置信息和相对位置信息，并进行安装。

9. 发明授权

US06334523B1 Component conveyor 失效
标题翻译：部件输送机
公开(公告)号：US06334523B1
公开(公告)日：2002-01-01
申请号：US09567016
申请日：2000-05-09
申请人： Shigeki Fukunaga
发明人： Shigeki Fukunaga
IPC分类号： B65G4700
CPC分类号： B23Q7/02 , B23P19/007 , B65G29/00 , B65G47/82 , B65G54/02 , H05K13/0406
摘要： A component conveyor which can spend sufficient time for picking and placing operation has low energy consumption, and the moving speed of the head is fast. In order to pick and place a component P, there are provided several movable heads 6 to 9, movable along a closed path, magnets 15a2 to 15d2 and coils 14a to 14d, both of which stop the head at the picking position and the placing position, and magnets 16a to 16d which transfer the kinetic energy of the moving head to the stopped head at the picking position or the placement position. By applying the initial velocity in the progress direction to at least one head, the kinetic energy is sequentially transmitted to the following head. A moving head is made to stop at a position of the preceding head. Thus, the kinetic energy of the moving head is transmitted to the stopped head. By using the repulsion effect, moving and stopping of the head is efficiently performed.
摘要翻译：能够花费足够的时间进行拾取和放置操作的部件输送机具有低能量消耗，并且头部的移动速度快。为了拾取和放置部件P，设置有多个可沿着封闭路径移动的可移动头6至9，磁体15a2至15d2和线圈14a至14d，这两个可动头在拾取位置停止头部和放置位置以及磁体16a至16d，其在移动位置或放置位置处将移动头的动能传递到停止的头部。通过将进给方向上的初始速度应用于至少一个头部，动能依次传送到随后的头部。使移动头停在前一个头部的位置。因此，移动头的动能被传递到停止的头部。通过使用排斥效果，有效地进行头部的移动和停止。

10. 发明授权

US07540080B2 Method for mounting component by suction nozzle 失效
标题翻译：通过吸嘴安装部件的方法
公开(公告)号：US07540080B2
公开(公告)日：2009-06-02
申请号：US10573058
申请日：2004-09-09
申请人： Shigeki Fukunaga
发明人： Shigeki Fukunaga
IPC分类号： H05K3/30
CPC分类号： G02B6/4224 , H01S5/02252 , H01S5/02272 , H01S5/02284 , Y10T29/4913 , Y10T29/49131 , Y10T29/49133 , Y10T29/53174 , Y10T29/53178 , Y10T29/53191
摘要： A method and apparatus for mounting a light emitting element, enabling positioning on an object with precision with reference to the optic axis of a light emitting element, and mounting the element. A suction head is inserted between a first camera and a second camera having relatively fixed optic axes, a head reference mark of the suction head is captured with the first camera, the end face of a light emitting element suctioned by the suction head is captured with the second camera, the light axis emitted by the light emitting element is captured with a third camera, a stage is inserted between the first camera and the second camera, a board held on the stage is captured with the first camera, a stage reference mark of the stage is captured with the second camera, the relative position between the light emitting element and the suction head and the relative position between the board and the stage are calculated using the image information from both cameras, the suction head and the stage are moved to a mounting position, the head reference mark and the stage reference mark are recognized with the first and second cameras, and the suction head and the stage are subjected to position correction based on the relative position information.
摘要翻译：一种用于安装发光元件的方法和装置，使得能够相对于发光元件的光轴精确地定位在物体上，并且安装元件。吸头位于第一相机和具有相对固定的光轴的第二相机之间，用第一相机捕获吸头的头部基准标记，由吸头吸引的发光元件的端面被捕获第二相机，由第三相机捕获由发光元件发射的光轴，在第一相机和第二相机之间插入台，用第一相机捕获保持在台上的板，阶段参考标记使用第二相机拍摄，利用来自两个照相机的图像信息计算发光元件和吸头之间的相对位置以及板与台之间的相对位置，使吸头和台被移动在安装位置，第一和第二相机识别出头部基准标记和阶段参考标记，并且吸引头和平台被施加基于相对位置信息的离子校正。

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