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91. 发明授权

KR101915878B1 기판 주고받음 위치의 교시 방법 및 기판 처리 시스템 有权
公开(公告)号：KR101915878B1
公开(公告)日：2018-11-06
申请号：KR1020170013594
申请日：2017-01-31
申请人： 도쿄엘렉트론가부시키가이샤
发明人： 사카우에히로미츠
IPC分类号： H01L21/677 , H01L21/67 , B65G49/06 , B65G47/90
CPC分类号： H01L21/68742 , H01L21/67259 , H01L21/67748 , H01L21/681 , Y10S901/03 , Y10S901/46
摘要： 반송장치의아암과처리장치의핀의사이에서기판을주고받음할때에, 연직방향의주고받음위치를효율적으로교시한다. 반송아암(32)을연직방향상방으로기준위치(Z1)로부터소정거리이동시킨다(도 5의 (b), 공정(A2)). 반송아암(32)을수평방향으로이동시킨다(도 5의 (c), 공정(A3)). 반송아암(32)을연직방향하방으로소정거리이동시킨다(도 5의 (d), 공정(A4)). 반송아암(32)에보지된웨이퍼(W)의, 상기반송아암(32)에대한수평방향의위치를검출한다(도 5의 (g), 공정(A7)). 공정(A1 내지 A7)의일련공정을반복하여실행하며, 또한이 일련공정을실행할때마다, 공정(A1)에있어서의기준위치를연직상방으로소정거리이동시킨다. 공정(A7)에서검출된수평방향의위치가소정위치로부터어긋난경우의, 반송아암(32)의연직방향의위치를웨이퍼(W)의주고받음위치로교시한다.

92. 发明公开

KR1020170044596A 반송 시스템 및 반송 방법 审中-实审
标题翻译：返回系统和返回方法
公开(公告)号：KR1020170044596A
公开(公告)日：2017-04-25
申请号：KR1020160132714
申请日：2016-10-13
申请人： 가부시키가이샤 야스카와덴키
发明人： 미나미다카시 , 신다이스케
IPC分类号： H01L21/677 , B65G49/06 , B65G47/90 , B65G43/08
CPC分类号： B25J9/163 , B25J9/042 , B25J11/0095 , B25J19/021 , H01L21/67706 , H01L21/6773 , H01L21/67766 , H01L21/67778 , Y10S901/03 , B65G43/08 , B65G47/90 , B65G49/061 , B65G2201/022 , H01L21/67242 , H01L21/67742
摘要： 반송시스템은, 기판을반송하는핸드를갖는로봇과, 로봇이내부에배치되는반송실과, 평면에서보아, 반송실의측벽에나란히배치되는기판수납용의복수의카세트와, 교시정보에근거하여로봇의동작을제어하는로봇콘트롤러를구비한다. 로봇콘트롤러는제 1 카세트에대해서는핸드중심선을수납중심선보다로봇측으로기울인상태로, 제 2 카세트에대해서는핸드중심선을수납중심선에겹친상태로, 각각, 수납위치까지로봇으로하여금기판을반송하게하는동작제어부를구비한다.
摘要翻译：运输系统，和具有用于传送基板的手的机器人，机器人从传送腔室观看时，设置在传送内的多个盒和，由侧的机器人的破碎侧壁并排布置在电路板壳体的示教信息的基础上，一个平面还有一个用于控制操作的机器人控制器。机器人控制器在朝向比第一盒外壳中心线机器人手中心线倾斜的状态，作为用于在状态的第二盒中的手中心线重叠存储中心线分别输送的操作，以允许机器人接收位置的基板控制和。

93. 发明公开

EP3342550A1 MANIPULATOR SYSTEM 审中-公开
公开(公告)号：EP3342550A1
公开(公告)日：2018-07-04
申请号：EP16838707.4
申请日：2016-05-27
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , SHIMOMURA, Nobuyasu , MAEHARA, Tsuyoshi , KAMON, Masayuki , TANAKA, Shigetsugu
IPC分类号： B25J13/00 , B25J19/04 , B23P19/04 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

94. 发明公开

EP3321044A1 REMOTE CONTROL MANIPULATOR SYSTEM AND OPERATION METHOD THEREOF 审中-公开
标题翻译：遥控操作器系统及其操作方法
公开(公告)号：EP3321044A1
公开(公告)日：2018-05-16
申请号：EP16838712.4
申请日：2016-05-27
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , KAMON, Masayuki
IPC分类号： B25J13/00 , B25J3/00 , B25J9/22 , B25J13/08
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A remote-control manipulator system according to the present disclosure includes a manipulator (2) configured to receive a manipulating instruction from an operator, a slave arm (1) configured to perform a series of works comprised of a plurality of processes, a camera (3) configured to image operation of the slave arm (1), a display device (6) configured to display an image captured by the camera (3), a storage device (5) configured to store information related to environment in a workspace as an environment model (52), and a control device (4). The control device (4) is configured, while operating the slave arm (1) manually or hybridly, to acquire circumference information that is information related to a circumference area of an area imaged by the camera (3) based on the environment model (52) stored in the storage device (5), and display on the display device (6) so that the image captured by the camera (3) and the circumference information are interlocked.
摘要翻译：根据本公开的远程控制机械手系统包括：被配置为接收来自操作者的操作指令的机械手（2）;被配置为执行由多个过程组成的一系列作品的从臂（1）;相机（3），用于对从属臂（1）的操作进行成像;显示装置（6），被配置为显示由照相机（3）捕获的图像;存储装置（5），被配置为将与环境有关的信息存储在工作区中作为环境模型（52）和控制装置（4）。控制装置（4）在手动或者混合操作从属臂（1）的情况下，基于环境模型（52）获取作为与摄像机（3）拍摄的区域的周边区域有关的信息的周长信息）存储在存储装置（5）中，并显示在显示装置（6）上，使得由照相机（3）拍摄的图像和周围信息互锁。

95. 发明公开

EP2960739A3 Teaching system, robot system, and teaching method 审中-公开
标题翻译：教学系统，机器人系统和教学方法
公开(公告)号：EP2960739A3
公开(公告)日：2016-06-22
申请号：EP14192746.7
申请日：2014-11-12
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Maeda, Takahiro
IPC分类号： G05B19/425 , B25J9/16
CPC分类号： B25J9/163 , B25J9/1679 , G05B19/425 , G05B2219/39246 , Y10S901/03
摘要： A teaching system (30) according to embodiments includes a data acquiring unit (311d) and a job generating unit (311e). The data acquiring unit (311d) acquires data including an initial attitude of a tool (25), a final attitude of the tool (25), a rotation center axis of a handled object, and a rotation angle of the handled object about the rotation center axis, in a robot (20) that performs an operation of holding and rotating the handled object with the tool (25). Based on the data acquired by the data acquiring unit (311d), the job generating unit (311e) generates a job program that operates the actual robot (20) so that the tool (25) is brought into the initial attitude, and then brought into the final attitude after the handled object is rotated by the rotation angle about the rotation center axis.

96. 发明公开

EP2998082A1 INDUSTRIAL-USE ROBOT AND CONTROL SYSTEM AND CONTROL METHOD FOR CONTROLLING OPERATION OF PERIPHERAL DEVICE 有权
标题翻译：机器人为控制外围设备的操作工业用途，控制系统及方法
公开(公告)号：EP2998082A1
公开(公告)日：2016-03-23
申请号：EP14797513.0
申请日：2014-04-17
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： KOIKE, Takeshi
IPC分类号： B25J13/00 , B23K37/04
CPC分类号： B25J9/163 , B23K9/10 , B25J9/1602 , B25J9/1664 , G05B19/41815 , G05B2219/34399 , G05B2219/35374 , G05B2219/39101 , G05B2219/39102 , G05B2219/39143 , G05B2219/45104 , Y02P90/08 , Y10S901/03
摘要： A total time necessary for work is shortened by reducing program correcting. A control device 30 has a teaching program storage 31 in which a teaching program is stored, a command interpreter 32 for transmitting a movement-related command to a movement-related command separator 33, determining whether the command is a synchronous interval command or an asynchronous interval command and separating the movement-related command into command of each device according to a determination result, and executing a non-movement-related command, a movement-related command buffer 34 for selecting one of the transmission of the movement-related command to the sub-locus calculator 36 and accumulating movement-related command therein based on a device movement state, a main locus calculator 35 for calculating movement information on the device on which the synchronous control is performed from the movement-related command, a sub-locus calculator 36 for calculating movement information on the device that is not a synchronous control target based on the movement-related command, and a motor driver 37 for performing the operations of the devices.
摘要翻译：必要时作工件A TOTALTIME通过减少程序校正缩短。的控制装置30具有其中教学程序被存储，命令解释器32，用于将运动传输相关命令的移动相关的命令分隔符33示教程序存储31，确定性采矿无论所述命令是同步间隔命令或异步间隔命令和分离的移动相关的命令到每个装置的命令雅丁到的判定结果，并执行非运动相关的命令，移动相关的命令缓冲器34，用于选择运动相关命令的发送中的一个来子轨迹计算器36和累积运动有关的命令。其中基于设备移动状态中，用于计算其上的同步控制从移动关联命令，子轨迹执行的设备上移动的信息的主轨迹计算器35 用于计算设备做了运动信息计算器36不是基于移动相关命令的同步控制目标，和用于执行所述设备的操作的马达驱动器37。

97. 发明公开

EP2835231A4 ROBOT SYSTEM AND ROBOT CONTROL DEVICE 审中-公开
标题翻译： ROBOTERSTEUERUNGSVORRICHTUNG ROBOTERSYSTEM
公开(公告)号：EP2835231A4
公开(公告)日：2016-02-17
申请号：EP12873504
申请日：2012-04-02
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： NAMBA TARO , UENO TOMOHIRO , YOSHIDA OSAMU
IPC分类号： B25J9/16 , B25J9/22 , G05B19/042
CPC分类号： B25J9/161 , B25J9/163 , B25J9/1656 , G05B19/0426 , G05B2219/32145 , G05B2219/34039 , G05B2219/37445 , G05B2219/40102 , Y02P90/10 , Y10S901/03

98. 发明公开

EP2923805A3 Object manipulation driven robot offline programming for multiple robot system 审中-公开
标题翻译：对象操作驱动的机器人的离线编程与多个机器人系统
公开(公告)号：EP2923805A3
公开(公告)日：2015-12-02
申请号：EP15160430.3
申请日：2015-03-24
申请人： Siemens Industry Software Ltd.
发明人： Madvil, Rahav , Hazan, Moshe , Barak, Guy
IPC分类号： B25J9/16
CPC分类号： G05B13/04 , B25J9/1666 , B25J9/1671 , B25J9/1682 , G05B2219/39138 , G05B2219/40317 , G05B2219/40417 , Y10S901/03
摘要： Methods for product simulation systems and computer-readable mediums. A method includes receiving (302) inputs including one or more virtual robots (202), one or more virtual work objects (210), and a virtual workspace (224). The method includes determining (404) a path (218) for each of the virtual robots (202) based on the virtual work objects (210) and the virtual workspace (224). The method includes generating (408) programs (222) that can be collision-free for one or more actual robots respectively corresponding to the virtual robots (202) based on the paths (218).

99. 发明公开

EP2671687A3 Robot cell, assembling method of robot cell, and robot system 审中-公开
标题翻译：机器人单元，安装的方法，所述机器人单元和机器人系统
公开(公告)号：EP2671687A3
公开(公告)日：2015-11-04
申请号：EP13155941.1
申请日：2013-02-20
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Umeno, Makoto , Suyama, Takashi , Yoshida, Osamu
IPC分类号： B25J9/00
CPC分类号： G06N3/008 , B25J9/0096 , B25J21/00 , Y10S901/03 , Y10S901/46
摘要： A robot cell (1, 1A) according to an aspect of the embodiments includes a first surface part (2, 2a, 2B) and a second surface part (3, 3a, 3A, 3B). A robot that (4, 103) performs a work by performing a predetermined operation is arranged on the first surface part (2, 2a, 2B). In the second surface part (3, 3a, 3A, 3B), a plurality of fixing portions (30) that are used to fix a working unit used in the work by the robot (4) is arranged at a predetermined position, and the working unit is fixed to the second surface part (3, 3a, 3A, 3B) by using a fixing portion (30) selected from the fixing portions (30).

100. 发明公开

EP2783815A3 Robot system and method for producing to-be-processed material 审中-公开
公开(公告)号：EP2783815A3
公开(公告)日：2015-10-07
申请号：EP14160450.4
申请日：2014-03-18
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Asahi, Takefumi , Sawada, Yukiko
IPC分类号： B25J9/16 , G05B19/4061
CPC分类号： B25J9/1656 , B25J9/1676 , G05B19/4061 , G05B2219/40196 , G05B2219/40203 , Y10S901/03 , Y10S901/08 , Y10S901/14
摘要： A robot system 1 includes a robot 51L, 51R, a control device 6, and a projection device 8. The control device 6 is configured to receive area information on an area defining an operation of the robot 51L, 51R. The projection device 8 is configured to project the area onto an object adjacent to the robot 51L, 51R based on the area information received by the control device 6.

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