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1. 发明授权

US08720965B2 Robot hand and robot 失效
标题翻译：机器人手和机器人
公开(公告)号：US08720965B2
公开(公告)日：2014-05-13
申请号：US13414720
申请日：2012-03-08
申请人： Kazunori Hino , Ryuji Ando , Katsuhiko Shimada
发明人： Kazunori Hino , Ryuji Ando , Katsuhiko Shimada
IPC分类号： B66F19/00
CPC分类号： H01L21/67766 , H01L21/67742 , H01L21/68707
摘要： A robot hand and a robot according to an embodiment include supporting units. The supporting units are arranged on a base and contact the peripheral border of a board to grip the board. At least one of the supporting units rotates while abutting on the peripheral border of the board.
摘要翻译：根据实施例的机器人手和机器人包括支撑单元。支撑单元布置在基座上并接触板的周边边缘以夹持板。支撑单元中的至少一个在与板的周边边缘抵接的同时旋转。

2. 发明授权

US09302395B2 Conveying robot 有权
标题翻译：输送机器人
公开(公告)号：US09302395B2
公开(公告)日：2016-04-05
申请号：US13609254
申请日：2012-09-11
申请人： Ryuji Ando , Kazunori Hino , Akihiro Furutani
发明人： Ryuji Ando , Kazunori Hino , Akihiro Furutani
IPC分类号： B25J19/06 , B25J11/00 , B25J9/04 , H01L21/677 , H01L21/687
CPC分类号： B25J11/0095 , B25J9/042 , H01L21/67742 , H01L21/68707 , Y10S414/141 , Y10S901/49
摘要： A robot system according to an aspect of the embodiments includes a plurality of work holding units and a heat insulating member. The work holding units each hold a work to be conveyed on one surface and are arranged vertically one over another in some cases during conveying of the work. The heat insulating member is provided on another surface side of at least one of the work holding units.
摘要翻译：根据实施例的一个方面的机器人系统包括多个工件保持单元和隔热构件。工件保持单元各自在一个表面上保持要被输送的工件，并且在工作的传送期间在一些情况下垂直地布置。绝热构件设置在至少一个工件保持单元的另一表面侧。

3. 发明授权

US08989899B2 Transfer system 有权
标题翻译：转移系统
公开(公告)号：US08989899B2
公开(公告)日：2015-03-24
申请号：US13607806
申请日：2012-09-10
申请人： Ryuji Ando , Kazunori Hino , Shinichi Katsuda
发明人： Ryuji Ando , Kazunori Hino , Shinichi Katsuda
IPC分类号： B08B3/04 , G03D5/00
CPC分类号： B25J9/043 , B25J13/087 , H01L21/67766 , H01L21/67781 , H01L21/68707
摘要： A transfer system according to an embodiment includes a robot and a determination unit. The robot includes robot hands that hold a workpiece in a thin plate shape and that are located at different heights. The determination unit determines the robot hands that hold the workpiece based on a combination of temperature of the workpiece to be held by each of the robot hands.
摘要翻译：根据实施例的传送系统包括机器人和确定单元。机器人包括将工件保持在薄板形状并位于不同高度的机器人手。确定单元基于由每个机器人手保持的工件的温度的组合来确定保持工件的机器人手。

4. 发明申请

US20130193703A1 ROBOT HAND AND ROBOT 有权
标题翻译：机器手和机器人
公开(公告)号：US20130193703A1
公开(公告)日：2013-08-01
申请号：US13606024
申请日：2012-09-07
申请人： Ryuji ANDO , Kazunori Hino , Akihiro Furutani
发明人： Ryuji ANDO , Kazunori Hino , Akihiro Furutani
IPC分类号： B65G49/07
CPC分类号： H01L21/67265 , H01L21/67766 , H01L21/68707
摘要： A robot hand according to embodiments includes a holding unit, a bottom end, an optical sensor, and a reflecting member. The holding unit holds a thin-plate-shaped workpiece. In the bottom end, its leading part is coupled to the holding unit and its tail part is rotatably coupled to an arm. The optical sensor is provided in the bottom end and has a projector and a photoreceiver. The reflecting member is provided in the holding unit. The reflecting member reflects light from the projector, makes it pass through the holding area of the workpiece, and makes it reach the photoreceiver to form an optical path.
摘要翻译：根据实施例的机器人手包括保持单元，底端，光学传感器和反射构件。保持单元保持薄板状工件。在底端，其引导部分联接到保持单元，并且其尾部可旋转地联接到臂。光学传感器设置在底端并具有投影仪和光接收器。反射构件设置在保持单元中。反射构件反射来自投影仪的光，使其通过工件的保持区域，并使其到达光接收器以形成光路。

5. 发明授权

US08820809B2 Robot hand and robot 有权
标题翻译：机器人手和机器人
公开(公告)号：US08820809B2
公开(公告)日：2014-09-02
申请号：US13606024
申请日：2012-09-07
申请人： Ryuji Ando , Kazunori Hino , Akihiro Furutani
发明人： Ryuji Ando , Kazunori Hino , Akihiro Furutani
IPC分类号： B65G49/07 , H01L21/683
CPC分类号： H01L21/67265 , H01L21/67766 , H01L21/68707
摘要： A robot hand according to embodiments includes a holding unit, a bottom end, an optical sensor, and a reflecting member. The holding unit holds a thin-plate-shaped workpiece. In the bottom end, its leading part is coupled to the holding unit and its tail part is rotatably coupled to an arm. The optical sensor is provided in the bottom end and has a projector and a photoreceiver. The reflecting member is provided in the holding unit. The reflecting member reflects light from the projector, makes it pass through the holding area of the workpiece, and makes it reach the photoreceiver to form an optical path.
摘要翻译：根据实施例的机器人手包括保持单元，底端，光学传感器和反射构件。保持单元保持薄板状工件。在底端，其引导部分联接到保持单元，并且其尾部可旋转地联接到臂上。光学传感器设置在底端并具有投影仪和光接收器。反射构件设置在保持单元中。反射构件反射来自投影仪的光，使其通过工件的保持区域，并使其到达光接收器以形成光路。

6. 发明授权

US06276731B1 Wafer carrying fork 失效
标题翻译：晶圆携带叉
公开(公告)号：US06276731B1
公开(公告)日：2001-08-21
申请号：US09462820
申请日：2000-03-20
申请人： Kazunori Hino
发明人： Kazunori Hino
IPC分类号： B65G4907
CPC分类号： H01L21/68707 , Y10S414/141
摘要： A wafer carrying fork on which a wafer rests and carried and which comprises a wafer resting surface (2) provided on the top surface of a wafer carrying fork (1), and two steps (3, 4) provided on the outer sides of the wafer resting surface (2) in a stepwise manner and having a height to width ratio of 1:0.5 to 1:2. Accordingly, it is possible to have a wafer (6) surely rest on the wafer carrying fork (1), even when the wafer (6) gets out of position in a wafer cassette, to convey it without failing.
摘要翻译：一种晶片承载叉，其上放置有晶片并承载并包括设置在晶片承载叉（1）的顶表面上的晶片搁置表面（2）和设置在晶片承载叉的外侧上的两个台阶（3,4）晶片搁置面（2），并具有1：0.5〜1：2的高宽比。因此，即使当晶片（6）离开晶片盒中的位置时，也可以将晶片（6）确实地放置在晶片承载叉（1）上，以便不会发生故障。

7. 发明申请

US20110262257A1 Horizontal articulated robot and substrate transfer system provided with the same 失效
标题翻译：水平铰接式机器人和底盘传送系统提供
公开(公告)号：US20110262257A1
公开(公告)日：2011-10-27
申请号：US13064171
申请日：2011-03-09
申请人： Kazunori Hino
发明人： Kazunori Hino
IPC分类号： B65G49/07 , H01L21/67 , H01L21/677 , B25J18/04
CPC分类号： B25J9/042 , B25J9/104 , B25J19/0029 , H01L21/67742 , H01L21/68707 , Y10T74/20305 , Y10T74/20317 , Y10T74/20323
摘要： A horizontal articulated robot includes a first arm and a second arm respectively supported at their base end portions by a body and the tip end portion of the second arm to be rotatable about a first joint and a second joint; and a fork including its base end portion supported by the tip end portion of the second arm to be rotatable about a third joint. The first arm includes a first enlarged portion, formed in its tip end portion, with an upper surface positioned higher than an upper surface of the base end portion of the first arm. The second arm includes a second enlarged portion, formed in its tip end portion, with a lower surface positioned lower than a lower surface of the base end portion of the second arm. The first and the second enlarged portion are at least partially overlapped with each other horizontally.
摘要翻译：水平铰接式机器人包括：第一臂和第二臂，其分别由主体和第二臂的前端部分分别支撑在其基端部，以便绕第一接头和第二接头旋转; 以及包括由第二臂的前端部支撑的基端部能够围绕第三关节旋转的叉子。第一臂包括形成在其顶端部分中的第一扩大部分，其上表面定位成高于第一臂的基端部分的上表面。第二臂包括形成在其末端部分中的第二扩大部分，下表面位于比第二臂的基端部的下表面低的位置。第一和第二扩大部分至少部分地水平地彼此重叠。

8. 发明授权

US06927181B2 Transfer robot and inspection method for thin substrate 有权
标题翻译：传输机器人和薄基板的检查方法
公开(公告)号：US06927181B2
公开(公告)日：2005-08-09
申请号：US10930952
申请日：2004-09-01
申请人： Hitoshi Wakizako , Kazunari Shiraishi , Yukito Sagasaki , Ken-ichi Motonaga , Kazunori Hino , Hiroki Sanemasa
发明人： Hitoshi Wakizako , Kazunari Shiraishi , Yukito Sagasaki , Ken-ichi Motonaga , Kazunori Hino , Hiroki Sanemasa
IPC分类号： B25J13/08 , B25J9/04 , B25J18/04 , B25J19/02 , B25J19/04 , B65G49/06 , B65G49/07 , H01L21/00 , H01L21/677 , H01L21/68 , H01L31/0232
CPC分类号： H01L21/67265 , B25J9/042 , B25J18/04 , B25J19/023 , B65G49/067 , B65G2249/02 , Y10S414/135 , Y10S414/136 , Y10S414/137 , Y10S414/138 , Y10S414/14 , Y10T29/41
摘要： A transfer robot (5) for thin substrate capable of efficiently detecting the stored state of thin substrates and an inspection method for thin substrate capable of accurately detecting the stored state of thin substrates; the robot (5), comprising an inspection camera (1) for detecting the stored state of the thin substrates (3) in a storage cassette (2), wherein the plurality of thin substrates (3) stored in the storage cassette (2) are carried out from the storage cassette (2) by the robot.
摘要翻译：一种能够有效地检测薄基板的存储状态的薄基板传送机器人（5）和能够精确地检测薄基板的存储状态的薄基板检查方法。所述机器人（5）包括用于检测存储盒（2）中的薄基板（3）的存储状态的检查照相机（1），其中存储在所述存储盒（2）中的所述多个薄基板（3）通过机器人从存储盒（2）进行。

9. 发明申请

US20050036863A1 Transfer robot and inspection method for thin substrate 有权
标题翻译：传输机器人和薄基板的检查方法
公开(公告)号：US20050036863A1
公开(公告)日：2005-02-17
申请号：US10930952
申请日：2004-09-01
申请人： Hitoshi Wakizako , Kazunari Shiraishi , Yukito Sagasaki , Ken-ichi Motonaga , Kazunori Hino , Hiroki Sanemasa
发明人： Hitoshi Wakizako , Kazunari Shiraishi , Yukito Sagasaki , Ken-ichi Motonaga , Kazunori Hino , Hiroki Sanemasa
IPC分类号： B25J13/08 , B25J9/04 , B25J18/04 , B25J19/02 , B25J19/04 , B65G49/06 , B65G49/07 , H01L21/00 , H01L21/677 , H01L21/68 , B65H1/00 , B62B1/06
CPC分类号： H01L21/67265 , B25J9/042 , B25J18/04 , B25J19/023 , B65G49/067 , B65G2249/02 , Y10S414/135 , Y10S414/136 , Y10S414/137 , Y10S414/138 , Y10S414/14 , Y10T29/41
摘要： A transfer robot (5) for thin substrate capable of efficiently detecting the stored state of thin substrates and an inspection method for thin substrate capable of accurately detecting the stored state of thin substrates; the robot (5), comprising an inspection camera (1) for detecting the stored state of the thin substrates (3) in a storage cassette (2), wherein the plurality of thin substrates (3) stored in the storage cassette (2) are carried out from the storage cassette (2) by the robot.
摘要翻译：一种能够有效地检测薄基板的存储状态的薄基板传送机器人（5）和能够精确地检测薄基板的存储状态的薄基板检查方法。所述机器人（5）包括用于检测存储盒（2）中的薄基板（3）的存储状态的检查照相机（1），其中存储在所述存储盒（2）中的所述多个薄基板（3）通过机器人从存储盒（2）进行。

10. 发明授权

US08668428B2 Horizontal articulated robot and substrate transfer system provided with the same 失效
标题翻译：水平铰接式机器人和底盘传送系统提供
公开(公告)号：US08668428B2
公开(公告)日：2014-03-11
申请号：US13064171
申请日：2011-03-09
申请人： Kazunori Hino
发明人： Kazunori Hino
IPC分类号： B25J18/04 , H01L21/683
CPC分类号： B25J9/042 , B25J9/104 , B25J19/0029 , H01L21/67742 , H01L21/68707 , Y10T74/20305 , Y10T74/20317 , Y10T74/20323
摘要： A horizontal articulated robot includes a first arm and a second arm respectively supported at their base end portions by a body and the tip end portion of the second arm to be rotatable about a first joint and a second joint; and a fork including its base end portion supported by the tip end portion of the second arm to be rotatable about a third joint. The first arm includes a first enlarged portion, formed in its tip end portion, with an upper surface positioned higher than an upper surface of the base end portion of the first arm. The second arm includes a second enlarged portion, formed in its tip end portion, with a lower surface positioned lower than a lower surface of the base end portion of the second arm. The first and the second enlarged portion are at least partially overlapped with each other horizontally.
摘要翻译：水平铰接式机器人包括：第一臂和第二臂，其分别由主体和第二臂的末端部分分别支撑在其基端部，以便绕第一接头和第二接头旋转; 以及包括由第二臂的前端部支撑的基端部能够绕第三关节旋转的叉子。第一臂包括形成在其顶端部分中的第一扩大部分，其上表面定位成高于第一臂的基端部分的上表面。第二臂包括形成在其末端部分中的第二扩大部分，下表面位于比第二臂的基端部的下表面低的位置。第一和第二扩大部分至少部分地水平地彼此重叠。

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