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1. 发明授权

US06321139B1 Operation line searching method and robot/sensor system having operation line searching function 有权
标题翻译：具有操作线搜索功能的操作线搜索方法和机器人/传感器系统
公开(公告)号：US06321139B1
公开(公告)日：2001-11-20
申请号：US09194610
申请日：1998-11-30
申请人： Akihiro Terada , Mitsuhiro Okuda
发明人： Akihiro Terada , Mitsuhiro Okuda
IPC分类号： G05B19418
CPC分类号： B25J9/1697 , G05B2219/37571 , G05B2219/45104 , G05B2219/49386
摘要： An operation line searching method in which an operation start position is automatically approached and a robot/sensor system having such function of detecting the operation line. A robot having a laser sensor and an operation tool attached to a distal end thereof approaches an operation start position Q1 using various searching motion path patterns (a) to (d). Pattern (a) is determined to avoid an obstacle F or an obstructively-shaped portion G. The path thereof, for example, can be determined by specifying a coordinate axis of a coordinate system w. Patterns (b) and (c) are carried out by teaching, to the robot, data for determining the paths thereof in order. Pattern (d) is carried out in the following manner: an initial parameter , an angle of rotation and a norm increase factor are specified as parameters, and at the time when incremental travel quantity of a (i+1)th occurrence (i=0, 1, 2, . . . ) Should be obtained, it is obtained by calculating − , where the vector is obtained from the last obtained vector based on the illustrated relationship (the angle of rotation and the norm growth factor).
摘要翻译：自动接近操作开始位置的操作线搜索方法和具有检测操作线的功能的机器人/传感器系统。具有激光传感器和附接到其远端的操作工具的机器人使用各种搜索运动路径图案（a）至（d）接近操作开始位置Q1。确定图案（a）以避免障碍物F或阻塞形状部分G.例如，其路径可以通过指定坐标系统w的坐标轴来确定。模式（b）和（c）通过向机器人教导依次进行确定其路径的数据来进行。模式（d）以以下方式进行：初始参数，旋转角度和范数增加因子被指定为参数，并且在第（i + 1）次发生的增量行驶量（i = 0,1,2，...）通过计算 - Vi>获得，其中从最后得到的矢量Vi获得矢量基于所示的关系（旋转角度和标准生长因子）。

2. 发明申请

US20120199289A1 MASKING SYSTEM USING MASKING PIECE 有权
标题翻译：使用遮罩的遮罩系统
公开(公告)号：US20120199289A1
公开(公告)日：2012-08-09
申请号：US13293491
申请日：2011-11-10
申请人： Masaru ODA , Kazuhisa OTSUKA , Mitsuhiro OKUDA , Eiichirou NAGASUE
发明人： Masaru ODA , Kazuhisa OTSUKA , Mitsuhiro OKUDA , Eiichirou NAGASUE
IPC分类号： G05G15/00
CPC分类号： B32B37/30 , B05B12/20 , B05B13/0431 , B05C21/005 , B05D1/32 , B25J9/0084 , B25J11/0075 , B25J15/0066 , B32B37/0046 , B32B37/12
摘要： In a masking system a robot performs first conveyance work of making an object gripping unit grip an object and set the object at a predetermined position based on positional information of the object which was detected by a first detection unit, coating work of making a coating unit coat an adhesive on a masking location of the object which is set at the predetermined position, and second conveyance work of making a masking piece gripping unit adhere a masking piece to the masking location of the object based on positional information of the masking piece which was detected by a second detection unit.
摘要翻译：在掩蔽系统中，机器人执行第一传送工作，使得对象夹持单元抓住物体，并且基于由第一检测单元检测到的物体的位置信息将物体设置在预定位置，并且将涂布单元在设置在预定位置的物体的掩蔽位置上涂覆粘合剂，并且基于掩蔽片的位置信息，使掩蔽片夹持单元将掩模件粘附到物体的掩蔽位置的第二传送工作，由第二检测单元检测。

3. 发明授权

US06680461B2 Nozzle system for laser machining 失效
标题翻译：激光加工用喷嘴系统
公开(公告)号：US06680461B2
公开(公告)日：2004-01-20
申请号：US10118978
申请日：2002-04-10
申请人： Atsushi Watanabe , Mitsuhiro Okuda , Yoshitake Furuya
发明人： Atsushi Watanabe , Mitsuhiro Okuda , Yoshitake Furuya
IPC分类号： B23K2602
CPC分类号： B23K26/04
摘要： A nozzle system for laser machining capable of maintaining an interference region of a robot in a teaching operation to be substantially the same as that in a laser machining operation. An optical fiber supporting unit is attached to a nozzle body unit having laser beam converging lens for performing a laser machining operation. An optical fiber for supplying a laser beam is connected to an optical fiber connector on the optical fiber supporting unit. A laser machining is performed by combination of the nozzle body unit and the optical fiber supporting member attached to a distal end of a robot arm. In a teaching operation, a camera supporting unit (dummy nozzle) having substantially the same dimension as the nozzle body unit and supporting a camera at a predetermined position is used in place of the optical fiber supporting unit and the nozzle body unit. Alternatively, the nozzle body unit may be used commonly in combination with the optical fiber supporting unit in the machining operation and with the camera supporting unit in the teaching operation. A visual sensor using projection of a spot beam or slit beams may be adopted.
摘要翻译：一种用于激光加工的喷嘴系统，其能够将教导操作中的机器人的干涉区域保持为与激光加工操作基本相同的激光加工。光纤支撑单元附接到具有用于进行激光加工操作的激光束会聚透镜的喷嘴主体单元。用于提供激光束的光纤连接到光纤支撑单元上的光纤连接器。激光加工通过喷嘴体单元和附接到机器人臂的远端的光纤支撑构件的组合来执行。在教学操作中，代替光纤支撑单元和喷嘴体单元，使用具有与喷嘴主体单元基本相同的尺寸并且将相机支撑在预定位置的相机支撑单元（虚拟喷嘴）。或者，喷嘴主体单元可以在加工操作中与光纤支撑单元共同使用，并且在教学操作中可与照相机支撑单元一起使用。可以采用使用点光束或狭缝光束的投影的视觉传感器。

4. 发明授权

US06555784B2 Laser machining apparatus 失效
标题翻译：激光加工设备
公开(公告)号：US06555784B2
公开(公告)日：2003-04-29
申请号：US09832206
申请日：2001-04-11
申请人： Nobuaki Iehisa , Norio Karube , Akihiro Terada , Atsushi Watanabe , Mitsuhiro Okuda
发明人： Nobuaki Iehisa , Norio Karube , Akihiro Terada , Atsushi Watanabe , Mitsuhiro Okuda
IPC分类号： B23K2636
CPC分类号： B23K26/0613 , B23K26/0604 , B23K26/067
摘要： A laser machining apparatus with a simplified laser beam transmitting network. Respective laser beams form laser generators LS#11 to LS#25 divided into groups of G1 and G2 are aggregated to fiber-optic cables H1 and H2 by confluence devices HC1 and HC2 and transmitted to a most upstream laser beam outlet OP1. The laser beams are further aggregated to a fiber-optic cable H3 and distributed to a branch fiber-optic cable HH1 by the laser beam outlet OP1, and then distributed by laser beam outlet OP2 to OP8 to branch fiber-optic cables HH2 to HH8. The laser beams distributed to branch fiber-optic cables are focused by the machining tools TL1 to TL8 attached to robots RB1 to RB8 for laser machining. By controlling output levels of the laser generators with different oscillation wavelengths and different polarization characteristics, blend ratio of the laser beams can be adjusted. Distribution ratios of the laser beams at the laser beam outlets OP1 to OP8 are adjustable.
摘要翻译：激光加工设备，具有简化的激光束传输网络。各激光束形成分为G1和G2组的激光发生器LS＃11至LS＃25通过汇流装置HC1和HC2聚集到光纤电缆H1和H2并传输到最上游的激光束出口OP1。激光束进一步聚集到光纤电缆H3，并由激光束出口OP1分配到分支光纤电缆HH1，然后由激光束出口OP2分配到OP8以分支光纤电缆HH2至HH8。分配到分支光纤电缆的激光束由机器人RB1至RB8附加的加工工具TL1至TL8聚焦，用于激光加工。通过控制具有不同振荡波长和不同极化特性的激光发生器的输出电平，可以调整激光束的混合比。激光束出口OP1至OP8处的激光束的分布比是可调节的。

5. 发明授权

US06538231B2 Laser machining apparatus 失效
标题翻译：激光加工设备
公开(公告)号：US06538231B2
公开(公告)日：2003-03-25
申请号：US09813025
申请日：2001-03-21
申请人： Norio Karube , Atsushi Watanabe , Nobuaki Iehisa , Akihiro Terada , Mitsuhiro Okuda
发明人： Norio Karube , Atsushi Watanabe , Nobuaki Iehisa , Akihiro Terada , Mitsuhiro Okuda
IPC分类号： B23K2606
CPC分类号： B23K26/0613 , B23K26/067
摘要： A plurality of laser generators are provided to be environmentally separated from a machining station, and temperature, humidity, vibration, cleanliness and the like are detected by a sensor, and displayed. When an abnormal environment is detected, machining operation is stopped immediately or after a predetermined time elapsed. The laser generators are grouped according to each machining tool, and fiber-optic cable switching devices FC3 and FC4 are arranged for each group. By the switchover of the laser generator, and the selective connection of a fiber-optic cable by using the fiber-optic cable switching device, the degree of freedom in selecting the laser generator and the fiber-optic cable is produced. The degree of freedom is utilized according to the abnormality of the laser generator, the abnormality of the fiber-optic cable, the type of machining work, and the like, by which a machining apparatus in which the occurrence of a partial failure does not lead to long-term shutdown of a manufacturing line can be obtained.
摘要翻译：多个激光发生器被设置为与加工台环境分离，并且通过传感器检测温度，湿度，振动，清洁度等并显示。当检测到异常环境时，立即停止加工操作或经过预定时间。激光发生器根据每个加工工具进行分组，并为每个组布置光纤电缆交换设备FC3和FC4。通过激光发生器的切换以及通过使用光纤电缆切换装置选择性地连接光纤电缆，产生了选择激光发生器和光纤电缆的自由度。根据激光发生器的异常，光纤电缆的异常，加工工作的类型等来利用自由度，通过该自由度，发生部分故障的加工装置不会导致可以获得长期停产的生产线。

6. 发明授权

US07834160B2 Process for producing zinc oxide-protein complex 有权
标题翻译：生产氧化锌 - 蛋白复合物的方法
公开(公告)号：US07834160B2
公开(公告)日：2010-11-16
申请号：US11508261
申请日：2006-08-23
申请人： Mitsuhiro Okuda , Kazuaki Nishio , Ichiro Yamashita
发明人： Mitsuhiro Okuda , Kazuaki Nishio , Ichiro Yamashita
IPC分类号： C07K17/00 , H01L25/00
CPC分类号： C07K14/47 , C07K1/32 , C07K14/79
摘要： An object of the present invention is to obtain a zinc oxide-protein complex which can be a source of nanoparticles of zinc oxide utilizing a protein having a cavity inside thereof. The process for producing a zinc oxide-protein complex according to the present invention includes a hydrogen peroxide addition step for adding hydrogen peroxide so that the concentration would be 60 mM or greater and 150 mM or less to a buffer containing a protein having a cavity inside thereof such as ferritin, zinc ion, and ammonia.
摘要翻译：本发明的目的是获得氧化锌 - 蛋白质复合物，其可以是利用其内部具有空腔的蛋白质的氧化锌纳米颗粒的来源。根据本发明的制备氧化锌 - 蛋白质复合物的方法包括过氧化氢添加步骤，用于向含有内腔内的蛋白质的缓冲液中加入过氧化氢使其浓度为60mM以上且150mM以下例如铁蛋白，锌离子和氨。

7. 发明授权

US07038165B2 Laser machining robot 失效
标题翻译：激光加工机器人
公开(公告)号：US07038165B2
公开(公告)日：2006-05-02
申请号：US10814275
申请日：2004-04-01
申请人： Mitsuhiro Okuda , Yoshitake Furuya
发明人： Mitsuhiro Okuda , Yoshitake Furuya
IPC分类号： B23K26/02
CPC分类号： B23K26/0884 , B23K26/04
摘要： If a machining program is reproduced in a robot controller and a robot is moved on a machining route, then a detection signal of a distance sensor is fetched through a distance sensor amplifier, and tracer control is carried out so as to keep a distance between a laser machining head and a workpiece at a predetermined value. In an acceleration and decoration processing in a corner, a restriction means that restricts a maximum acceleration and a maximum jerk is used to control an acceleration and a jerk of the robot not to exceed respective predetermined values, and prevents generation of a vibration when the laser machining head passes through the corner.
摘要翻译：如果在机器人控制器中再现加工程序并且机器人在加工路径上移动，则通过距离传感器放大器获取距离传感器的检测信号，并且执行跟踪器控制以保持距离传感器激光加工头和工件处于预定值。在拐角处的加速加工处理中，限制装置的最大加速度和最大加加速度的限制装置用于控制机器人的加速度和加加速度不超过相应的预定值，并且当激光器加工头通过角落。

8. 发明申请

US20050055134A1 Device for determining interference region of robot 审中-公开
标题翻译：用于确定机器人的干扰区域的装置
公开(公告)号：US20050055134A1
公开(公告)日：2005-03-10
申请号：US10933432
申请日：2004-09-03
申请人： Mitsuhiro Okuda , Hirokazu Fuchigami
发明人： Mitsuhiro Okuda , Hirokazu Fuchigami
IPC分类号： B25J19/06 , B25J9/16 , G05B19/4061 , G05B19/4068 , G06F19/00
CPC分类号： G05B19/4061 , B25J9/1666 , Y02P90/265
摘要： A device for determining an interference region of a robot, capable of determining an interference region/non-interference region and the like on an off-line layout space without difficulty. Geometric data of a robot and peripheral objects is read from a CAD system or the like to be displayed in the form of a layout display, to thereby form a cage region. An initial occupied region is found by calculating a three-dimensional position of each arm at an initial position. An operation simulation is run, and the tree-dimensional positions are repeatedly calculated, thereby finding the aggregate sum of the occupied region. After the robot is moved, a total occupied region G, an overlapping region H, a protruding region K, a non-occupied region M and the like are displayed in different colors, to thereby perform layout correction of a peripheral object, a change of the cage region, etc. It is also possible to judge the presence or absence of the overlapping region H/protruding region K and to search “a hidden non-occupied region” by way of a sectional display in which points A, B and C are designated.
摘要翻译：一种用于确定机器人的干扰区域的装置，其能够在离线布局空间上难以确定干扰区域/非干扰区域等。从CAD系统等读取机器人和周边物体的几何数据，以布局显示的形式显示，从而形成笼状区域。通过计算每个臂在初始位置的三维位置来找到初始占用区域。运行运算模拟，重复计算树维位置，从而求出占用区域的总和。在移动机器人之后，以不同的颜色显示总占用区域G，重叠区域H，突出区域K，非占用区域M等，从而进行外围物体的布局校正，笼状区域等。还可以判断重叠区域H /突出区域K的存在或不存在，并且通过分段显示来搜索“隐藏的非占用区域”，其中点A，B和C 被指定。

9. 发明申请

US20050011867A1 Laser welding unit 审中-公开
标题翻译：激光焊接机组
公开(公告)号：US20050011867A1
公开(公告)日：2005-01-20
申请号：US10883718
申请日：2004-07-06
申请人： Mitsuhiro Okuda , Yoshitake Furuya
发明人： Mitsuhiro Okuda , Yoshitake Furuya
IPC分类号： B23K26/00 , B23K26/03 , B23K26/04 , B23K26/08 , B23K26/20
CPC分类号： B23K26/032 , B23K26/03 , B23K26/034
摘要： When a laser beam is irradiated from a laser welding torch onto a surface of a welding target workpiece, a plasma is generated. This plasma is introduced to an optical fiber, extracted by a filter-added half-silvered mirror, branched by half-silvered mirrors and a reflecting mirror, split by a bandpass filter, and detected by an optical sensor. Using a detection result of the optical sensor, a control for keeping the intensity or the temperature of a plasma beam constant is exercised.
摘要翻译：当将激光束从激光焊枪照射到焊接工件的表面上时，产生等离子体。该等离子体被引入光纤，由被半透明反射镜分支的过滤器半镀镜反射镜和由带通滤光器分离的反射镜提取，并由光学传感器检测。使用光学传感器的检测结果，执行用于保持等离子体束的强度或温度恒定的控制。

10. 发明授权

US06445979B1 Operation line tracking device using sensor 失效
标题翻译：操作线跟踪装置采用传感器
公开(公告)号：US06445979B1
公开(公告)日：2002-09-03
申请号：US09705885
申请日：2000-11-06
申请人： Toshihiko Inoue , Mitsuhiro Okuda , Akihiro Terada
发明人： Toshihiko Inoue , Mitsuhiro Okuda , Akihiro Terada
IPC分类号： G05B1500
CPC分类号： B25J9/1684 , G05B2219/37009 , G05B2219/4719
摘要： An operation line tracking device for a robot for performing an operation with a tool mounted on the robot while tracking an operation line using a sensor wherein a detection failure of the sensor is restored by automatically changing or resetting a detecting condition of the sensor when the sensor fails in detecting the operation line. If a detection failure occurs for a cause of excessive or too small quantity of light impinged on light receiving elements of a laser sensor, a laser output intensity is automatically changed. If a detection failure occurs for a cause of basing of the quantity of the impinged light, an orientation of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of biasing of position of the operation line in the visual field of the laser sensor, the position of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of detection of an unexpected line, an algorithm for detecting the operation line is replaced with another one. Thus, the detecting condition is automatically changed or reset in accordance with the cause of the detection failure, and the tracking operation of the robot is automatically restarted.
摘要翻译：一种用于机器人的操作线跟踪装置，用于使用安装在机器人上的工具执行操作，同时使用传感器跟踪操作线，其中当传感器的传感器自动改变或重置传感器的检测条件时，传感器的检测故障恢复未能检测到操作线。如果因激光传感器的光接收元件入射过多或过少的光线而导致检测失败，则激光输出强度自动变化。如果由于撞击光量的基础而发生检测故障，则激光传感器的方位自动调整。如果在激光传感器的视野中对操作线的位置偏置的原因发生检测失败，则自动调整激光传感器的位置。如果检测到意外行的检测失败，则用另一个检测操作线的算法进行替换。因此，根据检测失败的原因自动地改变或复位检测条件，并且机器人的跟踪操作被自动重启。

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