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    ROBOT ARM, ROBOT AND ROBOT OPERATING METHOD
    1.
    发明申请
    ROBOT ARM, ROBOT AND ROBOT OPERATING METHOD 审中-公开
    机器人ARM，机器人和机器人操作方法

    公开(公告)号：US20140140800A1

    公开(公告)日：2014-05-22

    申请号：US14080675

    申请日：2013-11-14

    申请人： KABUSHIKI KAISHA YASKAWA DENKI

    发明人： Hisaya INOUE ,  Satoshi SUEYOSHI

    IPC分类号： B25J18/04 ,  H01L21/677

    CPC分类号： H01L21/67766 ,  B25J9/042 ,  B25J9/046 ,  B25J9/1045

    摘要： A robot arm includes an extensible/retractable arm unit, which is configured to extend and retract in a horizontal direction and provided with a pulley arranged in a tip end portion thereof, and a robot hand rotatably connected to the tip end portion of the extensible/retractable arm unit through the pulley. The robot arm further includes a belt drive device including one or more drive power sources, which are arranged close to the robot hand and configured to directly drive a belt wound around the pulley.

    摘要翻译： 机器人手臂包括可伸缩臂单元，其构造成在水平方向上延伸和缩回，并且设置有设置在其末端部分中的滑轮，以及机器人手可旋转地连接到可伸展/ 可伸缩臂单元通过滑轮。 机器人手臂进一步包括皮带驱动装置，该皮带驱动装置包括一个或多个驱动力源，它们靠近机器人手并且构造成直接驱动缠绕在滑轮周围的皮带。

    ROBOT SYSTEM AND ROBOT CONTROL METHOD
    4.
    发明申请
    ROBOT SYSTEM AND ROBOT CONTROL METHOD 审中-公开
    机器人系统和机器人控制方法

    公开(公告)号：US20160375580A1

    公开(公告)日：2016-12-29

    申请号：US15190316

    申请日：2016-06-23

    申请人： KABUSHIKI KAISHA YASKAWA DENKI

    发明人： Yusuke KINOSHITA ,  Satoshi SUEYOSHI ,  Shingo TSUTSUMI ,  Kazuhiro HANIYA

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1628

    摘要： A robot system includes a robot arm including arms and joint parts such that each of the joint parts is connecting two arms, and an auxiliary arm including links, joints and sensors such that each of the joints is connecting two links and that the sensors detect rotation angles of the joints. The auxiliary arm has an end attached to the robot arm at a position which includes multiple joint parts of the joint parts from a base end side to a front end side of the robot arm such that the auxiliary arm follows movement of the robot arm.

    摘要翻译： 机器人系统包括机器人臂，其包括臂和接合部分，使得每个接合部分连接两个臂，以及包括链节，接头和传感器的辅助臂，使得每个接头连接两个连杆，并且传感器检测旋转 关节角度。 辅助臂具有在机器人臂的从基端侧到前端侧的多个接合部的位置附接到机器人臂的一端，使得辅助臂跟随机器人手臂的移动。

    ROBOT
    5.
    发明申请
    ROBOT 审中-公开
    机器人

    公开(公告)号：US20160221185A1

    公开(公告)日：2016-08-04

    申请号：US15006122

    申请日：2016-01-26

    申请人： KABUSHIKI KAISHA YASKAWA DENKI

    发明人： Satoshi SUEYOSHI ,  Tamon IZAWA ,  Hiroshi SAITO ,  Takashi SANADA ,  Kazuhiro HANIYA

    IPC分类号： B25J9/12

    CPC分类号： B25J9/126 ,  B25J9/0009 ,  B25J9/047 ,  B25J9/102 ,  B25J19/0004 ,  Y10S901/23

    摘要： A robot includes a base. A turnable portion is mounted on the base and turnable about a first axis approximately perpendicular to an installation surface on which the base is disposed. An arm is mounted on the turnable portion and swingable about a second axis parallel to the installation surface. A first motor is accommodated in the turnable portion and moves the turnable portion about the first axis. A first motor includes a body and a protrusion. The body has an axial dimension that is in a direction along an output shaft of the first motor and that is smaller than a perpendicular dimension in a direction approximately perpendicular to the output shaft. The protrusion protrudes from a surface of the body in a direction along the output shaft and is displaced from the output shaft. A second motor moves the arm about the second axis.

    摘要翻译： 机器人包括一个基座。 可转动部分安装在基座上并围绕大致垂直于设置有基座的安装表面的第一轴线转动。 手臂安装在可转动部分上，并且绕平行于安装表面的第二轴线摆动。 第一电动机容纳在可转动部分中并使可转动部分围绕第一轴线移动。 第一电动机包括主体和突起。 主体具有沿着第一电动机的输出轴的方向的轴向尺寸，并且小于垂直于大致垂直于输出轴的方向的垂直尺寸。 突起从主体的沿着输出轴的方向突出并从输出轴移位。 第二个马达围绕第二个轴移动臂。

    SUBSTRATE TRANSFER ROBOT AND SUBSTRATE TRANSFER METHOD
    6.
    发明申请
    SUBSTRATE TRANSFER ROBOT AND SUBSTRATE TRANSFER METHOD 审中-公开
    基板传输机器人和基板传输方法

    公开(公告)号：US20140140801A1

    公开(公告)日：2014-05-22

    申请号：US14050360

    申请日：2013-10-10

    申请人： KABUSHIKI KAISHA YASKAWA DENKI

    发明人： Satoshi SUEYOSHI ,  Makoto TARUNO

    IPC分类号： B25J11/00

    CPC分类号： B25J11/0095 ,  B25J9/042 ,  B25J9/046 ,  B25J19/021

    摘要： A substrate transfer robot includes an extensible/retractable arm unit, a robot hand and a sensor unit. The extensible/retractable arm unit is configured to extend and retract in a horizontal direction. The robot hand is provided with prongs for holding a substrate. The robot hand includes a base end portion rotatably connected to a tip end portion of the extensible/retractable arm unit. The sensor unit is arranged to be rotated by a rotating force of the robot hand. The sensor unit is configured to, when rotated, intersect a lateral end portion of the substrate held by the prongs when seen in a plan view and to detect a lateral end position of the substrate.

    摘要翻译： 基板传送机器人包括可伸缩臂单元，机器人手和传感器单元。 可伸缩臂单元构造成在水平方向上延伸和缩回。 机器人手上设有用于固定基板的插脚。 机器人手包括可旋转地连接到可伸缩臂单元的末端部的基端部。 传感器单元被设置为通过机器人手的旋转力旋转。 传感器单元被构造成当在平面图中观察时旋转时与由叉头保持的基板的横向端部部分相交并且检测基板的横向端部位置。