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    Parts mounting inspection method
    4.
    发明授权
    Parts mounting inspection method 失效
    零件安装检查方法

    公开(公告)号：US5329359A

    公开(公告)日：1994-07-12

    申请号：US883699

    申请日：1992-05-15

    申请人： Jin Tachikawa

    发明人： Jin Tachikawa

    IPC分类号： G01B11/24 ,  G01B11/02 ,  G01N21/88 ,  G01N21/956 ,  H01L21/66 ,  H05K13/08 ,  G01B11/00

    CPC分类号： H05K13/08 ,  G01B11/026

    摘要： An inspection method for inspecting the posture of parts mounted on a circuit board. This method consists of providing a moving unit for moving a stage holding the circuit board, a light source for irradiating the parts with a laser beam, an optical system path for irradiating the parts with the laser beam, a signal output path for outputting a reference signal by the laser beam, and a processing unit to process a signal from the optical system and signal output paths. In this method, reference signals A and B are obtained at first and second positions of the parts. This method further involves holding the parts at a first position, irradiating the optical system and signal output paths with the laser beam to detect a signal from each path, and outputting from the processing unit a first phase difference signal, corresponding to the first position, of output from each path. The parts are moved to the second position by the moving unit, and there the optical system and signal output paths are irradiated by the laser beam, with signals detected from each path, and the processing unit outputs a second phase difference signal, corresponding to the second position, of output from each path. The method further consists of judging the posture of the parts by comparison of the A and B reference signals and the first and second phase difference signals.

    摘要翻译： 一种用于检查安装在电路板上的部件的姿势的检查方法。 该方法包括提供用于移动保持电路板的台的移动单元，用激光束照射该部分的光源，用激光束照射该部分的光学系统路径，用于输出基准的信号输出路径 激光束的信号，以及处理单元，用于处理来自光学系统的信号和信号输出路径。 在该方法中，在部件的第一和第二位置处获得参考信号A和B. 该方法还包括将部件保持在第一位置，用激光束照射光学系统和信号输出路径以检测来自每个路径的信号，并且从处理单元输出对应于第一位置的第一相位差信号， 的每个路径的输出。 通过移动单元将部件移动到第二位置，并且通过激光束照射光学系统和信号输出路径，利用从每个路径检测的信号，并且处理单元输出对应于第二相位差信号的第二相位差信号 第二个位置，每个路径的输出。 该方法还包括通过比较A和B参考信号以及第一和第二相位差信号来判断部分的姿势。

    Machining device and production method of orifice plate
    5.
    发明授权
    Machining device and production method of orifice plate 失效
    孔板加工装置及生产方法

    公开(公告)号：US06303900B1

    公开(公告)日：2001-10-16

    申请号：US09007817

    申请日：1998-01-15

    申请人： Jin Tachikawa

    发明人： Jin Tachikawa

    IPC分类号： B23K2638

    CPC分类号： B41J2/1634 ,  B23K26/066 ,  B23K26/389 ,  B23K26/40 ,  B23K2103/50 ,  B41J2/162

    摘要： A machining device for illuminating a periodic pattern of a mask with coherent light emitted from a light source and projecting the image of the pattern onto a workpiece through an optical system. The optical system includes first and second optical members. The second optical member, which is positioned at an area where diffracted light rays of different orders out of the diffracted light rays generated by the mask are superimposed, employs an optical material having a smaller variation in an optical path length arising from light absorption than an optical material of the first optical member, which is positioned at an area where diffracted light rays of different orders are not superimposed.

    摘要翻译： 一种用于通过从光源发射的相干光照射掩模的周期性图案并通过光学系统将图案的图像投影到工件上的加工装置。 光学系统包括第一和第二光学构件。 第二光学构件位于由掩模产生的衍射光线之外的不同阶数的衍射光线的区域叠加的光学构件中使用光吸收的光程长度变化小的光学材料， 第一光学构件的光学材料位于不叠加衍射光线的区域。

    Robot system, control method, and recording medium
    6.
    发明授权
    Robot system, control method, and recording medium 失效
    机器人系统，控制方法和记录介质

    公开(公告)号：US6160371A

    公开(公告)日：2000-12-12

    申请号：US243177

    申请日：1999-02-02

    申请人： Jin Tachikawa

    发明人： Jin Tachikawa

    IPC分类号： B25J13/00 ,  B81B7/02 ,  G01S5/30 ,  G05B15/02 ,  G05G11/00 ,  G01S13/02

    CPC分类号： G01S5/30

    摘要： When the operator inputs a macro control command, each microrobot takes an actual action on the basis of the command. That action is autonomously controlled to successfully execute the macro command. The autonomous control is to feed back and control the deviation between sensor information (position, speed, and acceleration) of the microrobot and the control command. When a plurality of microrobots are used and must take distributed, cooperative actions, conditions required for task completion such as environmental conditions (temperature, humidity, and the like) are obtained via communications with the base controller and are used for control information compensation. Such control allows each microrobot to cope with complicated tasks independently of the number of sensors, communication performance, and computer processing performance.

    摘要翻译： 当操作员输入宏控制命令时，每个微型机器人将根据该命令进行实际操作。 该操作被自动控制以成功执行宏命令。 自主控制是反馈和控制微机器的传感器信息（位置，速度和加速度）与控制命令之间的偏差。 当使用多个微型机器人并且必须采取分散的协作动作时，通过与基本控制器的通信获得诸如环境条件（温度，湿度等）的任务完成所需的条件，并且用于控制信息补偿。 这种控制允许每个微型机器独立于传感器的数量，通信性能和计算机处理性能来处理复杂的任务。

    Optical radar ranger with modulation of image sensor sensitivity
    7.
    发明授权
    Optical radar ranger with modulation of image sensor sensitivity 失效
    具有图像传感器灵敏度调制的光学雷达巡航器

    公开(公告)号：US5579103A

    公开(公告)日：1996-11-26

    申请号：US356147

    申请日：1994-12-15

    申请人： Jin Tachikawa

    发明人： Jin Tachikawa

    IPC分类号： G01B11/24 ,  G01S17/36 ,  G01S17/89 ,  G01C3/00

    CPC分类号： G01S17/36 ,  G01S17/89

    摘要： According to the present invention, there is provided an optical radar in which a beam intensity-changed with a preset waveform and having a two-dimensional spread is irradiated on a target measurement object, an optical image of light reflected by the target measurement object is formed on the light-receiving surface of an image pickup element having a sensitivity modulation function and is photoelectrically converted, the sensitivity of the image pickup element is modulated with the preset waveform using the sensitivity modulation function of the image pickup element, distances to respective points of the target measurement object are obtained from light amount signals from the respective points of the target measurement object, which signals are output from the image pickup element, thereby measuring the shape of the target measurement object, wherein distances to the respective points of the target measurement object are obtained from the plurality of light amount values of the respective points of the target measurement object, which light amount values are obtained by shifting the difference between the phase of the intensity change in the beam and the sensitivity modulation phase of the image pickup element a plurality of times.

    摘要翻译： 根据本发明，提供了一种光学雷达，其中以预设波形强度变化并且具有二维扩展的光束被照射在目标测量对象上，由目标测量对象反射的光的光学图像是 形成在具有灵敏度调制功能的图像拾取元件的光接收表面上并进行光电转换，使用图像拾取元件的灵敏度调制功能，利用预设波形来调制图像拾取元件的灵敏度， 从目标测量对象的各个点的光量信号获得目标测量对象的哪个信号从图像拾取元件输出，从而测量目标测量对象的形状，其中到目标的各个点的距离 测量对象是从res的多个光量值获得的 通过将光束的强度变化的相位和图像拾取元件的灵敏度调制相位之间的差进行多次移位来获得光量值，该目标测量对象的画面点。