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1. 发明授权

US11996316B2 Robot having arm with parallel paths 有权
公开(公告)号：US11996316B2
公开(公告)日：2024-05-28
申请号：US18141673
申请日：2023-05-01
申请人： Persimmon Technologies Corporation
发明人： Martin Hosek
IPC分类号： B25J9/04 , B25J18/04 , H01L21/677 , H01L21/687
CPC分类号： H01L21/68735 , B25J9/042 , B25J9/043 , B25J18/04 , H01L21/67742 , Y10S901/14 , Y10S901/27
摘要： An apparatus including at least one drive; a first robot arm having a first upper arm, a first forearm and a first end effector. The first upper arm is connected to the at least one drive at a first axis of rotation. A second robot arm has a second upper arm, a second forearm and a second end effector. The second upper arm is connected to the at least one drive at a second axis of rotation which is spaced from the first axis of rotation. The first and second robot arms are configured to locate the end effectors in first retracted positions for stacking substrates located on the end effectors at least partially one above the another. The first and second robot arms are configured to extend the end effectors from the first retracted positions in a first direction along parallel first paths located at least partially directly one above the other. The first and second robot arms are configured to extend the end effectors in at least one second direction along second paths spaced from one another which are not located above one another. The first upper arm and the first forearm have different effective lengths. The second upper arm and the second forearm have different effective lengths.

2. 发明公开

US20230335429A1 Robot Having Arm with Unequal Link Lengths 审中-公开
公开(公告)号：US20230335429A1
公开(公告)日：2023-10-19
申请号：US18141673
申请日：2023-05-01
申请人： Persimmon Technologies Corporation
发明人： Martin HOSEK
IPC分类号： H01L21/687 , B25J18/04 , H01L21/677 , B25J9/04
CPC分类号： H01L21/68735 , B25J18/04 , H01L21/67742 , B25J9/042 , B25J9/043 , Y10S901/27 , Y10S901/14
摘要： An apparatus including at least one drive; a first robot arm having a first upper arm, a first forearm and a first end effector. The first upper arm is connected to the at least one drive at a first axis of rotation. A second robot arm has a second upper arm, a second forearm and a second end effector. The second upper arm is connected to the at least one drive at a second axis of rotation which is spaced from the first axis of rotation. The first and second robot arms are configured to locate the end effectors in first retracted positions for stacking substrates located on the end effectors at least partially one above the another. The first and second robot arms are configured to extend the end effectors from the first retracted positions in a first direction along parallel first paths located at least partially directly one above the other. The first and second robot arms are configured to extend the end effectors in at least one second direction along second paths spaced from one another which are not located above one another. The first upper arm and the first forearm have different effective lengths. The second upper arm and the second forearm have different effective lengths.

3. 发明授权

US10005184B2 Industrial robot and a method for controlling an industrial robot 有权
公开(公告)号：US10005184B2
公开(公告)日：2018-06-26
申请号：US14928491
申请日：2015-10-30
申请人： Comau S.p.A.
发明人： Gian Paolo Gerio , Allan Mathias Wiklund , Arturo Baroncelli
IPC分类号： B25J9/16 , B25J13/08 , B25J19/02 , B25J19/06
CPC分类号： B25J9/1676 , B25J13/086 , B25J13/088 , B25J19/023 , B25J19/063 , Y10S901/14 , Y10S901/30 , Y10S901/46
摘要： An industrial robot and control system including a high degree of cooperation between a human operator and the robot for increased safety. In an automatic operation mode, at least a first detection device detects the presence of a foreign body in the robot working area and the control system places the robot in a safe automatic operating mode. A second and third detection devices may be employed to detect possible impacts with the robot.

4. 发明申请

US20180056509A1 Robot Having Arm with Unequal Link Lengths 审中-公开
公开(公告)号：US20180056509A1
公开(公告)日：2018-03-01
申请号：US15803966
申请日：2017-11-06
申请人： Persimmon Technologies, Corp.
发明人： Martin Hosek , Christopher Hofmeister
IPC分类号： B25J9/04 , B25J18/04 , B25J15/00 , H01L21/677
CPC分类号： B25J9/043 , B25J9/042 , B25J9/104 , B25J9/105 , B25J15/0014 , B25J15/0052 , B25J18/04 , H01L21/67742 , Y10S901/14 , Y10S901/27
摘要： A transport apparatus including a drive; a first arm connected to the drive, where the first arm includes a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extended or retracted.

5. 发明申请

US20170348787A1 AUTOMATED WELDING OF MOULDS AND STAMPING TOOLS 审中-公开
公开(公告)号：US20170348787A1
公开(公告)日：2017-12-07
申请号：US15686798
申请日：2017-08-25
申请人： Ariel Andre Waitzman
发明人： Pascal Zaffino , Jan Paul Huissoon , David Marentette
IPC分类号： B23K9/095 , B23K9/167 , B23K9/04 , B23K37/04 , B23K37/047 , B23P6/00 , B25J9/16 , B23K9/173
CPC分类号： B23K9/0953 , B23K9/044 , B23K9/167 , B23K9/173 , B23K37/0452 , B23K37/047 , B23P6/00 , B25J9/1679 , G05B2219/40293 , G05B2219/45104 , G05B2219/50391 , Y10S901/14 , Y10S901/27 , Y10S901/42
摘要： A tool welding system is disclosed that includes a table that heats a tool. A multi-axis robot includes a welding head that is moved relative to the table in response to a command. A controller is in communication with the robot and generates the command in response to welding parameters. The weld parameters are based upon a difference between an initial tool shape and a desired tool shape. The difference between the initial tool shape and the desired tool shape corresponds to a desired weld shape. The desired weld shape is adjusted based upon initial tool shape variations, which includes thermal growth of the tool. The tool is welded to provide the desired weld shape to achieve a desired tool shape.

6. 发明授权

US09643277B2 Robot 有权
公开(公告)号：US09643277B2
公开(公告)日：2017-05-09
申请号：US14490654
申请日：2014-09-18
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Atsushi Terada , Kazuhiro Yasutomi
IPC分类号： B23K9/00 , B23K9/12 , B23K9/29 , B23K9/133 , B25J17/02 , B25J19/00
CPC分类号： B23K9/295 , B23K9/12 , B23K9/133 , B25J17/0283 , B25J19/00 , B25J19/0025 , Y10S901/14 , Y10S901/27 , Y10S901/39 , Y10S901/42
摘要： A robot according to an embodiment includes a flange, a wrist arm, a forearm, a feeder, and a power cable. The flange configured so that a welding torch is attached thereto and configured to rotate about a T axis. The wrist arm configured to rotate about a B axis substantially perpendicular to the T axis and configured to support the flange. The forearm configured to support the wrist arm. The feeder attached to a position between a base end and a tip end of the forearm and configured to feed a welding wire. The power cable is a supply route of electricity to the welding torch and is provided separately from a feeding route of the welding wire.

7. 发明授权

US09475190B2 Robot 有权
标题翻译：机器人
公开(公告)号：US09475190B2
公开(公告)日：2016-10-25
申请号：US14593269
申请日：2015-01-09
申请人： FUJITSU LIMITED
发明人： Ikuo Takeda
IPC分类号： B25J9/02 , B25J17/02 , B25J9/04
CPC分类号： B25J9/02 , B25J9/048 , B25J17/0275 , Y10S901/14 , Y10S901/19 , Y10S901/23
摘要： A robot includes a tool shaft, a first supporting mechanism attached to one portion of the tool shaft and tiltably supporting the tool shaft, a second supporting mechanism attached to a different portion of the tool shaft and tiltably supporting the tool shaft, a first in-plane movement mechanism that moves the first supporting mechanism in a first plane, a second in-plane movement mechanism that moves the second supporting mechanism in a second plane, and a controller that controls an in-plane position and an inclination angle of the tool shaft to control the first in-plane movement mechanism and the second in-plane movement mechanism. The first supporting mechanism or the second supporting mechanism supports the tool shaft movably in an axial direction.
摘要翻译：机器人包括工具轴，安装在工具轴的一部分上并可倾斜地支撑工具轴的第一支撑机构，附接到工具轴的不同部分并可倾斜地支撑工具轴的第二支撑机构，将第一支撑机构移动到第一平面内的平面移动机构，使第二支撑机构在第二平面内移动的第二平面内移动机构，以及控制工具轴的平面内位置和倾斜角度的控制器以控制第一平面内移动机构和第二平面内移动机构。第一支撑机构或第二支撑机构在轴向上可移动地支撑工具轴。

8. 发明申请

US20160274564A1 GANTRY ROBOT SYSTEM WITH EXTENSION BRIDGE 审中-公开
标题翻译： GANTRY机器人系统与扩展桥
公开(公告)号：US20160274564A1
公开(公告)日：2016-09-22
申请号：US14879520
申请日：2015-10-09
申请人： Jeffrey R. Schultz
发明人： Jeffrey R. Schultz
IPC分类号： G05B19/31 , G05B15/02
CPC分类号： G05B19/31 , G05B19/41815 , G05B2219/40293 , G05B2219/50386 , Y02P90/04 , Y02P90/08 , Y10S901/14
摘要： A gantry robot system may include a gantry; a slide movably mounted on the gantry; an articulated arm mounted on the slide for performing a machining operation; a first workstation having a workpiece feeder for moving a first workpiece through the gantry; a second workstation adjacent the gantry for supporting a second workpiece; and a computer control connected to actuate the slide, the articulated arm, and the workpiece feeder in a coordinated manner to perform a first preselected machining operation on the first workpiece at the first workstation, and a second preselected machining operation on the second workpiece at the second workstation.
摘要翻译：龙门架机器人系统可以包括龙门架; 可移动地安装在台架上的滑块; 安装在滑块上用于执行加工操作的铰接臂; 第一工作站，具有用于使第一工件移动通过所述台架的工件供料器; 与所述台架相邻的用于支撑第二工件的第二工作台; 以及计算机控制器，其被连接以协调地致动所述滑块，所述铰接臂和所述工件进给器，以在所述第一工作站处对所述第一工件执行第一预选加工操作，以及在所述第二工件处的所述第二预选加工操作第二工作站。

9. 发明授权

US09383832B1 Haptic user interface 有权
标题翻译：触觉用户界面
公开(公告)号：US09383832B1
公开(公告)日：2016-07-05
申请号：US14218274
申请日：2014-03-18
申请人： Moog Inc.
发明人： Pieter Lammertse
IPC分类号： G05B11/01 , G06F3/0346 , B25J9/16
CPC分类号： G06F3/0346 , A61B34/30 , A61B34/74 , A61B34/76 , A61B34/77 , A61B2018/00297 , B25J9/1694 , G05G9/047 , G05G2009/04766 , G06F3/016 , Y10S901/14 , Y10S901/46
摘要： A haptic arm comprising: a user connection element; a reference; a first linkage connecting the user connection element to the reference, where the first linkage provides at least six independent degrees of freedom, and contains an intermediate link, three force sensors, three angle sensors; a second linkage connecting the intermediate link to the reference; a third linkage connecting the intermediate link to the reference a fourth linkage connecting the intermediate link to the reference; the second, third, and fourth linkages each containing an independent actuator and position sensor.
摘要翻译：一种触觉臂，包括：用户连接元件; 参考; 连接所述用户连接元件与所述基准的第一连杆，其中所述第一连杆提供至少六个独立的自由度，并且包含中间连杆，三个力传感器，三个角度传感器; 将所述中间链路连接到所述参考的第二连接; 将所述中间链路连接到所述基准的第三连杆，将所述中间连杆连接到所述基准的第四连杆; 第二，第三和第四连杆，每个连杆包含独立的致动器和位置传感器。

10. 发明申请

US20160158866A1 AUTOMATED WELDING OF MOULDS AND STAMPING TOOLS 审中-公开
公开(公告)号：US20160158866A1
公开(公告)日：2016-06-09
申请号：US15045469
申请日：2016-02-17
申请人： Ariel Andre Waitzman
发明人： Pascal Zaffino , Jan Paul Huissoon , David Marentette
IPC分类号： B23K9/095
CPC分类号： B23K9/0953 , B23K9/044 , B23K9/167 , B23K9/173 , B23K37/0452 , B23K37/047 , B23P6/00 , B25J9/1679 , G05B2219/40293 , G05B2219/45104 , G05B2219/50391 , Y10S901/14 , Y10S901/27 , Y10S901/42
摘要： A tool welding system is disclosed that includes a table that heats a tool. A multi-axis robot includes a welding head that is moved relative to the table in response to a command. A controller is in communication with the robot and generates the command in response to welding parameters. The weld parameters are based upon a difference between an initial tool shape and a desired tool shape. The difference between the initial tool shape and the desired tool shape corresponds to a desired weld shape. The desired weld shape is adjusted based upon initial tool shape variations, which includes thermal growth of the tool. The tool is welded to provide the desired weld shape to achieve a desired tool shape.

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