公开(公告)号：US12064878B2

公开(公告)日：2024-08-20

申请号：US17622871

申请日：2020-06-17

Applicant: Kawasaki Jukogyo Kabushiki Kaisha

Inventor： Hiroyuki Yoshida ,  Yukimasa Yamada ,  Shinya Kitano

IPC: H02N15/00 ,  B25J9/04 ,  B25J9/16 ,  B25J11/00 ,  B25J13/08 ,  H01F7/10

CPC classification number: B25J9/1664 ,  B25J9/04 ,  B25J11/0095 ,  B25J13/088

Abstract: A robot controlling part (41) of a substrate transferring robot performs an operation regulating control when a substrate is placed on a substrate placing part (12a). The operation regulating control is a control in which a hand (12) is moved in accordance with an operation plan that regulates the movement of the hand in a regulation target section (A) where the hand is moved to have a vertical acceleration component exceeding a given first threshold (L1), the movement of the hand including at least one of a horizontal velocity component exceeding a given second threshold (L2) and an acceleration component exceeding a given third threshold.

公开(公告)号：US12208516B2

公开(公告)日：2025-01-28

申请号：US18013133

申请日：2021-06-15

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Shinya Kitano ,  Kazuo Fujimori ,  Yukihiro Kawaguchi

IPC: B25J9/00 ,  B25J9/16 ,  G06F3/0486

Abstract: A teaching device is a teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and a hand coupled to the arm. The teaching device includes a setter that sets a predetermined condition including start and end points of the hand in predetermined movement of the arm, and a deriver that derives a movement trajectory of the hand from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the hand based on the predetermined condition while changing the position of the base.

公开(公告)号：US12110194B2

公开(公告)日：2024-10-08

申请号：US17632506

申请日：2020-07-09

Applicant: Kawasaki Jukogyo Kabushiki Kaisha

Inventor： Masaya Yoshida ,  Shinya Kitano ,  Atsushi Nakaya ,  Junichi Sugahara

IPC: B25J9/16 ,  B65G47/90

CPC classification number: B65G47/905 ,  B25J9/1664

Abstract: A robot control device configured to control operation of a robot configured to transfer a substrate while holding the substrate is provided. The substrate becomes in a first state where an end effector holds the substrate and the substrate is not placed at an installation position, when the end effector positions at a first teaching point above the installation position. The substrate becomes in a second state where the end effector does not hold the substrate and the substrate is placed at the installation position, when the end effector positions at a second teaching point below the installation position. The first and second states can be switched by causing the robot to perform a first operation to move the end effector from either one of the first teaching point and the second teaching point to the other one of the first teaching point and the second teaching point.

公开(公告)号：US12131925B2

公开(公告)日：2024-10-29

申请号：US17622238

申请日：2020-04-03

Applicant: Kawasaki Jukogyo Kabushiki Kaisha

Inventor： Masaya Yoshida ,  Shinya Kitano ,  Hiroyuki Okada ,  Ippei Shimizu

IPC: H01L21/67 ,  G01B11/25 ,  G05B19/421 ,  H01L21/687 ,  B25J11/00 ,  B25J19/02

CPC classification number: H01L21/67259 ,  G01B11/2518 ,  G05B19/421 ,  H01L21/68707 ,  B25J11/0095 ,  B25J19/021

Abstract: A substrate mapping device 4 maps a plurality of substrates 10 inside a container where the substrates 10 are accommodated so as to be arrayed in a given arrayed direction. The substrate mapping device 4 includes a sensor 16 configured to detect a state of the substrate 10, a manipulator 14 configured to move the sensor 16, and a control device 18 configured to control the manipulator 14 to move the sensor 16 along a mapping course. The control device 18 sets a first mapping position and a second mapping position different in the position in the arrayed direction of the substrates 10 from the first mapping position, and sets the mapping course based on the first mapping position and the second mapping position.

公开(公告)号：US12045972B2

公开(公告)日：2024-07-23

申请号：US17783297

申请日：2020-12-04

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Shinya Kitano ,  Atsushi Nakaya ,  Masaya Yoshida ,  Kazuo Fujimori ,  Hiroyuki Okada

IPC: G06T7/00 ,  G06F3/04847 ,  G06T11/00

CPC classification number: G06T7/0004 ,  G06F3/04847 ,  G06T11/00 ,  G06T2207/30148

Abstract: A video confirmation computer for confirming video related to robot operation includes a storage unit and a processor. The storage unit stores information on the position of the electric motor that drives a link body of the robot received from the controller of the robot and information on the video obtained by a camera attached to the robot. The processor makes at least one of the video confirmation computer itself and a computer connected to the video confirmation computer display a model area and a video area side by side. In the model area, a two-dimensional or three-dimensional model reproducing the posture of the robot is displayed by computer graphics. In the video area, the video is displayed.

公开(公告)号：US10381257B2

公开(公告)日：2019-08-13

申请号：US14840593

申请日：2015-08-31

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA ,  KAWASAKI ROBOTICS (USA), INC.

Inventor： Mark Tang ,  Eric Chan ,  Shigeki Ono ,  Shinya Kitano ,  Ming Zeng ,  Hirohiko Goto

IPC: B25J9/04 ,  H01L21/687 ,  H01L21/677

Abstract: A control unit of a substrate conveying robot makes a robot arm and a substrate holding device execute a blade member advancing operation, a substrate receiving operation, and a substrate placing operation. The substrate holding device is configured to be capable of being switched between a first working state that a pair of blade members are arranged in the vertical direction and a second working state that a pair of blade members are arranged in a position out of the vertical direction and a single blade member can be advanced into a substrate placing structure.