公开(公告)号：US20050085177A1

公开(公告)日：2005-04-21

申请号：US10959124

申请日：2004-10-07

Applicant: Shuichi Hirasawa ,  Katsumi Ishihara ,  Masatoshi Morita

Inventor： Shuichi Hirasawa ,  Katsumi Ishihara ,  Masatoshi Morita

IPC: F24F7/06 ,  H01L21/00 ,  B08B15/02

CPC classification number: H01L21/67173 ,  H01L21/67236 ,  H01L21/67282

Abstract: In a working method of performing work on a workpiece, a plurality of work chambers corresponding to work steps for the workpiece are consecutively arrayed, and a cleanliness with respect to dust particles is independently controlled in each of the work chambers. The workpiece is transferred to the respective work chambers, and working is performed in each of the work chambers in which a cleanliness is maintained below a predetermined cleanliness corresponding to the type of work on the workpiece.

Abstract translation: 在对工件进行加工的工作方法中，连续排列对应于工件的工作台面的多个工作室，并且在每个工作室中独立地控制相对于灰尘颗粒的清洁度。 工件被传送到相应的工作室，并且在其中清洁度保持低于对应于工件上的工件类型的预定清洁度的每个工作室中进行加工。

公开(公告)号：US5250886A

公开(公告)日：1993-10-05

申请号：US902499

申请日：1992-06-23

Applicant: Masateru Yasuhara ,  Katsumi Ishihara ,  Toshihiro Yamamoto

Inventor： Masateru Yasuhara ,  Katsumi Ishihara ,  Toshihiro Yamamoto

IPC: B25J9/18 ,  G05B19/425 ,  G05B19/00

CPC classification number: G05B19/425

Abstract: In a method of storing teaching points of a robot, when teaching points for a plurality of moving units are input, information for identifying the moving units associated with the teaching points is input, and the teaching points and the identification data are stored in a single area of a memory.

Abstract translation: 在存储机器人的教学点的方法中，当输入多个移动单元的教导点时，输入用于识别与教学点相关联的移动单元的信息，并将教学点和识别数据存储在单个 记忆区域

公开(公告)号：US06840594B2

公开(公告)日：2005-01-11

申请号：US10408120

申请日：2003-04-08

Applicant: Shuichi Hirasawa ,  Katsumi Ishihara ,  Masatoshi Morita

Inventor： Shuichi Hirasawa ,  Katsumi Ishihara ,  Masatoshi Morita

IPC: F24F7/06 ,  H01L21/00 ,  B41J2/01 ,  B41J3/00

CPC classification number: H01L21/67173 ,  H01L21/67236 ,  H01L21/67282

Abstract: In a working method of performing work on a workpiece, a plurality of work chambers corresponding to work steps for the workpiece are consecutively arrayed, and a cleanliness with respect to dust particles is independently controlled in each of the work chambers. The workpiece is transferred to the respective work chambers, and working is performed in each of the work chambers in which a cleanliness is maintained below a predetermined cleanliness corresponding to the type of work on the workpiece.

公开(公告)号：US5418890A

公开(公告)日：1995-05-23

申请号：US898549

申请日：1992-06-15

Applicant: Katsumi Ishihara ,  Takeo Tanita ,  Yasuhiro Sawada

Inventor： Katsumi Ishihara ,  Takeo Tanita ,  Yasuhiro Sawada

IPC: B25J9/06 ,  B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  G05D3/12 ,  G05B19/42

CPC classification number: B25J9/1692

Abstract: An arm origin calibrating method for an articulated robot is capable of implementing highly accurate calibration without requiring special high-precision measuring devices. A round bar is mounted on a first arm and a round hole is provided in a second arm. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the first direction until the round bar comes in contact with the inner surface of the round hole. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the second direction reverse to the first direction until the round bar comes in contact with the inner surface of the round hole. An offset angle of the second arm is detected on the basis of the two detected rotation angles.

Abstract translation: 关节式机器人的手臂原点校准方法能够实现高精度校准，而不需要特殊的高精度测量装置。 在第一臂上安装有圆棒，在第二臂上设置有圆孔。 当第一臂被固定时第二臂在第一方向上旋转直到圆棒与圆孔的内表面接触时，检测第二臂的旋转角度。 当第一臂被固定时，第二臂在与第一方向相反的第二方向上旋转直到圆棒与圆孔的内表面接触的方式来检测第二臂的旋转角度。 基于两个检测到的旋转角度来检测第二臂的偏移角。

公开(公告)号：US5350269A

公开(公告)日：1994-09-27

申请号：US820808

申请日：1992-01-15

Applicant: Yusaku Azuma ,  Katsumi Ishihara ,  Masaru Shibata

Inventor： Yusaku Azuma ,  Katsumi Ishihara ,  Masaru Shibata

IPC: B25J13/00 ,  B25J9/16 ,  B25J13/08 ,  B25J19/04 ,  B65B69/00 ,  G01B11/03

CPC classification number: B25J9/1697 ,  G05B2219/37572 ,  G05B2219/45063 ,  G05B2219/49114 ,  G05B2219/50151

Abstract: A work pick-up apparatus which picks up an object work out of a plurality of works held on a container case through visual recognition of the position of the object work by a visual sensor. The apparatus comprises: a memory circuit for storing shape characteristic information concerning the shape characteristic of the object work; an input circuit for externally inputting approximate position information representing an approximate position of the object work on the case, the approximate position information being expressed in terms of a coordinate system associated with the work pick-up apparatus; and a measuring circuit for measuring the pick-up position of the work in terms of the coordinate system associated with the pick-up apparatus, by processing the image information concerning the work obtained through the visual sensor in accordance with the approximate position information and the shape characteristic information.

Abstract translation: 通过视觉传感器对目标作品的位置的视觉识别，拾取物体的工作拾取装置从保持在容器壳体上的多个作品中工作。 该装置包括：存储电路，用于存储关于对象工作的形状特征的形状特征信息; 输入电路，用于从外部输入表示所述对象工作的大致位置的大致位置信息，所述近似位置信息以与所述工作拾取装置相关联的坐标系表示; 以及测量电路，用于根据与拾取装置相关联的坐标系测量工件的拾取位置，通过根据大致位置信息处理关于通过视觉传感器获得的作品的图像信息，以及 形状特征信息。

公开(公告)号：US5198736A

公开(公告)日：1993-03-30

申请号：US791296

申请日：1991-11-13

Applicant: Yusaku Azuma ,  Katsumi Ishihara ,  Takeo Tanita ,  Hiroyuki Kigami

Inventor： Yusaku Azuma ,  Katsumi Ishihara ,  Takeo Tanita ,  Hiroyuki Kigami

IPC: B25J9/04 ,  B25J9/10 ,  B25J19/00

CPC classification number: B25J9/041 ,  B25J19/0025 ,  B25J9/104 ,  Y10T74/18848

Abstract: A technique of this invention discloses an orthogonal two-axis moving apparatus basically adapted to move in horizontal and vertical directions. In one embodiment the apparatus includes a vertical block, a horizontal moving member movably supported on the vertical block, and a driving mechanism for moving the horizontal moving member, a driving pulley, a driven pulley, and a belt for transmitting a driving force.

Abstract translation: 本发明的技术公开了一种基本适用于在水平和垂直方向上移动的正交双轴运动装置。 在一个实施例中，该装置包括垂直块，可移动地支撑在垂直块上的水平移动构件，以及用于移动水平移动构件的驱动机构，驱动滑轮，从动滑轮和用于传递驱动力的带。

公开(公告)号：US5847893A

公开(公告)日：1998-12-08

申请号：US647902

申请日：1996-09-02

Applicant: Katsumi Ishihara ,  Norihiko Noguchi

Inventor： Katsumi Ishihara ,  Norihiko Noguchi

IPC: G11B27/28 ,  G11B15/02 ,  G11B15/087 ,  G11B15/20

CPC classification number: G11B15/20 ,  G11B15/02 ,  G11B15/087

Abstract: A recording and/or reproducing apparatus adapted for allowing a recording and/or reproducing head and a recording medium to relatively be driven in a first movement direction and in a second movement direction opposite to the first movement direction in order to carry out recording and/or reproduction of information signals. This recording and/or reproducing apparatus is operative so that, in relatively driving the recording and/or reproduction head and the recording medium in the first movement direction and in the second movement direction opposite to the first movement direction to record signals onto the recording medium, determination of total recording time of the signal recorded onto the recording medium to record, onto the recording medium, at the time point when substantially one half of the total recording time is passed, reverse designation information for reversing relative movement direction between the recording and/or reproducing head and the recording medium at the time of reproduction of the recording medium to reverse relative movement direction between the recording medium and the recording and/or reproducing head to record signal onto the recording medium by the recording and/or reproducing head. In this way, it is possible to continuously record and reproduce, in a continuous manner, information such as desired one unit or a series of music information, etc. while reversing movement direction of the recording medium.

Abstract translation: PCT No.PCT / JP95 / 02075 Sec。 371日期：1996年9月20日 102（e）1996年9月20日PCT PCT 1995年10月11日PCT公布。 公开号WO96 / 12276 日期1996年04月25日一种适于允许记录和/或再现头和记录介质相对于在与第一移动方向相反的第一移动方向和第二移动方向上被驱动的记录和/或再现装置，以便 执行信息信号的记录和/或再现。 该记录和/或再现装置的操作使得在与第一移动方向相反的第一移动方向和第二移动方向相对地驱动记录和/或再现头和记录介质以将信号记录到记录介质上 确定记录在记录介质上的信号的总记录时间在记录介质上在总记录时间的大致一半的时间点记录在记录介质上，用于反转记录和记录时间之间的相对移动方向的反向指定信息 /或再现记录介质的记录介质，以便在记录介质和记录和/或再现头之间反转相对移动方向，以通过记录和/或再现头将信号记录到记录介质上。 以这种方式，可以在反转记录介质的移动方向的同时连续地连续地记录和再现诸如期望的一个单位或一系列音乐信息等的信息。

公开(公告)号：US5425133A

公开(公告)日：1995-06-13

申请号：US101820

申请日：1993-08-04

Applicant: Masateru Yasuhara ,  Hiroyuki Kigami ,  Katsumi Ishihara ,  Yusaku Azuma ,  Teiji Oosaka

Inventor： Masateru Yasuhara ,  Hiroyuki Kigami ,  Katsumi Ishihara ,  Yusaku Azuma ,  Teiji Oosaka

IPC: B25J9/16 ,  B25J9/18 ,  B25J15/04 ,  B25J18/04 ,  G06F15/46

CPC classification number: B25J15/04 ,  B25J9/1612 ,  G05B2219/33254 ,  G05B2219/39468

Abstract: A robot apparatus includes a robot arm, a robot hand, an electrical/electronic device mounted on the robot hand for operating the robot hand, and a hand attaching/detaching device, arranged between the robot arm and the robot hand, for detachably mounting the robot hand on the robot arm. A signal transmission path, is connected to an external robot controller at one end thereof and to the electrical/electronic device at the other end thereof, extends through the hand attaching/detaching device, and is able to be disconnected between the robot hand side and the robot arm side in the hand attaching/detaching device. The signal transmission path drives the robot hand, and allows a plurality of kinds of signals for the electrical/electronic device to pass therethrough in a multiplexed serial format; a first signal conversion circuit, arranged on a robot hand side, converts the multiplexed serial format signal into original parallel signals, and output the parallel signals to the electrical/electronic device, or converts signals from the electrical/electronic device into a multiplexed serial format signals, and outputs the multiplexed serial signal to a robot controller.

Abstract translation: 机器人装置包括机器人手臂，机器人手，安装在机器人手上用于操作机器人手的电气/电子设备，以及设置在机器人手臂与机器人手之间的手动安装/拆卸装置，用于可拆卸地安装 机器人手在机器人手臂上。 信号传输路径在其一端连接到外部机器人控制器，并且在另一端连接到电气/电子设备，延伸穿过手持/拆卸装置，并且能够在机器人手侧和 机器人手臂侧在手上安装/拆卸装置。 信号传输路径驱动机器人手，并允许电子/电子设备的多种信号以多路复用的串行格式通过; 设置在机器人手侧的第一信号转换电路将多路复用串行格式信号转换为原始并行信号，并将并行信号输出到电气/电子设备，或将来自电气/电子设备的信号转换成多路复用串行格式 信号，并将多路复用的串行信号输出到机器人控制器。

公开(公告)号：US5313401A

公开(公告)日：1994-05-17

申请号：US552126

申请日：1990-07-13

Applicant: Shozo Kasai ,  Yusaku Azuma ,  Yasushi Aoki ,  Makoto Akahira ,  Takeshi Yakou ,  Katsumi Ishihara

Inventor： Shozo Kasai ,  Yusaku Azuma ,  Yasushi Aoki ,  Makoto Akahira ,  Takeshi Yakou ,  Katsumi Ishihara

IPC: H05K13/02 ,  H05K13/04 ,  H05K13/08 ,  G06F15/46 ,  H05K3/30

CPC classification number: H05K13/0408 ,  H05K13/021 ,  H05K13/0473 ,  H05K13/08 ,  Y10T29/49124 ,  Y10T29/49133 ,  Y10T29/4914

Abstract: A mounting system having a function of picking up one of several different type works from a pickup position where the works having the different types are selectively fed, and of moving a picked up work to an insertion position so as to mount the work on a printed circuit board. The mounting system includes a rotary member arranged to be rotatable, head mechanisms having different types and mounted on the rotary member, the head mechanisms having a number of types corresponding to that of the types of the works, a memory for storing a pickup order and an insertion order in units of types of works, a driver for rotating and stopping the rotary member at predetermined angles, and a control device for preferentially driving the head mechanism to the pickup or insertion position.

Abstract translation: 具有从具有不同类型的作品被选择性地馈送的拾取位置拾取几种不同类型作品中的一种的功能的安装系统，以及将拾取工件移动到插入位置，以便将工件安装在印刷 电路板。 安装系统包括可旋转的旋转构件，具有不同类型并安装在旋转构件上的头部机构，头部机构具有与工件类型相对应的多种类型的类型，用于存储拾取顺序的存储器， 以工件类型为单位的插入顺序，用于以预定角度旋转和停止旋转构件的驱动器，以及用于优先地将头机构驱动到拾取或插入位置的控制装置。

公开(公告)号：US5289625A

公开(公告)日：1994-03-01

申请号：US62039

申请日：1993-05-17

Applicant: Sachio Umetsu ,  Toshio Tsuda ,  Yusaku Azuma ,  Toshihiko Miura ,  Katsumi Ishihara ,  Teiji Ohsaka

Inventor： Sachio Umetsu ,  Toshio Tsuda ,  Yusaku Azuma ,  Toshihiko Miura ,  Katsumi Ishihara ,  Teiji Ohsaka

IPC: B23P19/00 ,  B23P21/00 ,  H05K13/00

CPC classification number: B23P19/001 ,  Y10T29/49819 ,  Y10T29/49829 ,  Y10T29/53061 ,  Y10T29/53087

Abstract: There is disclosed an apparatus and a method for feeding articles, the apparatus containing a tape transporting apparatus, including a transporting member having plural containing portions in succession, a cover tape for covering the apertures of the containing portions of the transporting member, a first reel for simultaneously winding the transporting member and the cover tape, a second reel for winding the transporting member only, a third reel for winding the cover tape only, a drive assembly for rotating the first, second and third reels, intermittent drive unit for driving the transporting member, control unit for driving the drive assembly and intermittent drive unit, an aperture for loading or removing the articles into or from the containing portions of the transporting member, a first detector for detecting the presence or absence of the article in the containing portion, and a guide member for defining the position to an article assembling apparatus or an article manufacturing apparatus, wherein each of these apparatus is provided with a robot hand and a main control unit to be connected to the control unit mentioned above.

Abstract translation: 公开了一种用于供给物品的装置和方法，该装置包括带传送装置，包括具有多个容纳部分的传送构件，覆盖传送构件的容纳部分的孔的盖带，第一卷轴 为了同时卷绕传送部件和盖带，仅用于卷绕传送部件的第二卷轴，仅用于卷绕盖带的第三卷轴，用于旋转第一，第二和第三卷轴的驱动组件，用于驱动传送部件的间歇驱动单元 用于驱动驱动组件和间歇驱动单元的控制单元，用于将物品装载或移出输送构件的容纳部分的孔，用于检测容纳部分中物品是否存在的第一检测器 ，以及用于限定物品组装装置或物品制造商的位置的引导构件 其中，这些装置中的每一个设置有要连接到上述控制单元的机器人手和主控制单元。