公开(公告)号：US06729201B2

公开(公告)日：2004-05-04

申请号：US09901859

申请日：2001-07-10

申请人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno ,  Takahiro Maekawa

发明人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno ,  Takahiro Maekawa

IPC分类号： B25J1700

CPC分类号： B25J9/102 ,  B25J18/04 ,  F16H13/02 ,  F16H13/06 ,  Y10T74/20305 ,  Y10T74/20341

摘要： A traction drive speed reducer which comprises circumscribed axes 20A and 20B, a plurality of intermediate axes 30A and 30B arranged contacting around the outer periphery of the circumscribed axes, and inscribed cylinders 40A and 40B inscribing the outer periphery of the intermediate axes, and in which a supporting member 10 to rotatably support the intermediate axes is fixed, a drive motor is connected to at least one of the plurality of intermediate axes, and an output is taken from the circumscribed axis having the larger diameter than the outer diameter of the intermediate axis.

摘要翻译： 牵引驱动减速器，其包括外围轴线20A，20B，围绕外部轴线的外周配置的多个中间轴线30A，30B，以及内接于中间轴线的外周的内接缸体40A，40B， 固定用于可旋转地支撑中间轴的支撑构件10，驱动马达连接到多个中间轴线中的至少一个，并且从具有比中间轴线的外径大的直径的外接轴线取出输出 。

公开(公告)号：US20060120849A1

公开(公告)日：2006-06-08

申请号：US11287366

申请日：2005-11-28

申请人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno

发明人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno

IPC分类号： B66C23/00

CPC分类号： B25J9/1065 ,  Y10S414/13 ,  Y10T74/20329

摘要： Herein disclosed is a robot arm mechanism comprising a first arm link mechanism and a second arm link mechanism, a robot arm driving mechanism for driving the first arm link mechanism and the second arm link mechanism, and a link retaining mechanism for pivotably retaining the first arm link mechanism and the second arm link mechanism, in which a third arm link and a fourth arm link of the first arm link mechanism are kept forward in a first rotation direction, in which the first arm link mechanism and the second arm link mechanism are extended, thereby enabling to prevent the quadric crank chain constituting the robot arm mechanism from being flattened out while the first arm link mechanism and the second arm link mechanism are extended, and improving resistance to deformation, in comparison with the conventional robot arm mechanism.

公开(公告)号：US07055825B2

公开(公告)日：2006-06-06

申请号：US10718569

申请日：2003-11-24

申请人： Tetsuya Watanabe ,  Hiroki Mori ,  Chohei Okuno

发明人： Tetsuya Watanabe ,  Hiroki Mori ,  Chohei Okuno

IPC分类号： F16J15/32

CPC分类号： F16J15/324 ,  F16J15/006 ,  F16J15/3212 ,  F16J15/3232 ,  F16J15/3236 ,  F16J15/54 ,  H01L21/68792 ,  Y10S277/913

摘要： Herein disclosed is a shaft sealing apparatus which comprises a vacuum casing formed with a vacuum chamber, a driving shaft having an outer cylindrical surface and movably extending in the vacuum chamber of the vacuum casing, and a sealing ring in the form of an annular ring shape and including a sealing lip held in contact with the outer cylindrical surface of the driving shaft, an annular spring member operative to impart a force to the sealing lip to ensure that the sealing lip is held in tight contact with the outer cylindrical surface of the driving shaft, and a peripheral portion radially outwardly extending from the sealing lip, in which the outer cylindrical surface of the driving shaft is smaller in surface roughness Ra than 0.1 (μm).

公开(公告)号：US07090222B2

公开(公告)日：2006-08-15

申请号：US09981807

申请日：2001-10-19

申请人： Tetsuya Watanabe ,  Hiroki Mori ,  Chohei Okuno

发明人： Tetsuya Watanabe ,  Hiroki Mori ,  Chohei Okuno

IPC分类号： F16J15/02

CPC分类号： F16J15/324 ,  F16J15/006 ,  F16J15/3212 ,  F16J15/3232 ,  F16J15/3236 ,  F16J15/54 ,  H01L21/68792 ,  Y10S277/913

摘要： Herein disclosed is a shaft sealing apparatus which comprises a vacuum casing formed with a vacuum chamber, a driving shaft having an outer cylindrical surface and movably extending in the vacuum chamber of the vacuum casing, and a sealing ring in the form of an annular ring shape and including a sealing lip held in contact with the outer cylindrical surface of the driving shaft, an annular spring member operative to impart a force to the sealing lip to ensure that the sealing lip is held in tight contact with the outer cylindrical surface of the driving shaft, and a peripheral portion radially outwardly extending from the sealing lip, in which the outer cylindrical surface of the driving shaft is smaller in surface roughness Ra than 0.1 (μm).

摘要翻译： 这里公开了一种轴封装置，其包括形成有真空室的真空壳体，具有外圆筒形表面并在真空壳体的真空室中可移动地延伸的驱动轴和环形环形式的密封环 并且包括与驱动轴的外圆柱形表面保持接触的密封唇缘，用于向密封唇施加力的环形弹簧构件，以确保密封唇保持与驾驶的外圆柱表面紧密接触 轴和从密封唇部径向向外延伸的周边部分，其中驱动轴的外圆柱形表面的表面粗糙度Ra小于0.1（母体）。

公开(公告)号：US06705177B2

公开(公告)日：2004-03-16

申请号：US10115098

申请日：2002-04-04

申请人： Chohei Okuno ,  Hiroki Mori ,  Tetsuya Watanabe

发明人： Chohei Okuno ,  Hiroki Mori ,  Tetsuya Watanabe

IPC分类号： B25J1700

CPC分类号： H01L21/68707 ,  B25J9/1065 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20329

摘要： A robot arm mechanism includes a handling member for supporting and handling an object, a robot arm made up of a plurality of links, and a robot arm driving mechanism for driving the robot arm to assume its contracted and extended position. The robot arm comprises first and second arm links, a link retaining mechanism pivotably retaining the first and second arm links and a link operating mechanism to operate one of the first and second arm links by a motion of the other of the first and second arm links. The link operating mechanism comprises a crank, a coupling link and a connecting link. The crank integrally connected to the coupling link is pivotably connected to one of the first and second arms and to the link retaining mechanism. The connecting link is pivotably connected to the other of the first and second arms. This leads to the advantage that the robot arms can be contracted and extended and rotated by only two electric motors.

摘要翻译： 机器人手臂机构包括用于支撑和处理物体的处理构件，由多个连杆构成的机器人手臂，以及用于驱动机器人手臂以承受收缩和延伸位置的机器人手臂驱动机构。 机器人臂包括第一和第二臂连杆，可枢转地保持第一和第二臂连杆的连杆保持机构和连杆操作机构，以通过另一个第一和第二臂连杆的运动来操作第一和第二臂连杆中的一个 。 连杆操作机构包括一个曲柄，一个联接杆和一个连接杆。 整体连接到联接杆的曲柄可枢转地连接到第一和第二臂中的一个和连杆保持机构。 连接连杆可枢转地连接到第一和第二臂中的另一个。 这导致机器人臂可以仅由两个电动机收缩和延伸和旋转的优点。

公开(公告)号：US07244091B2

公开(公告)日：2007-07-17

申请号：US11287366

申请日：2005-11-28

申请人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno

发明人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno

IPC分类号： B25J17/00

CPC分类号： B25J9/1065 ,  Y10S414/13 ,  Y10T74/20329

摘要： Herein disclosed is a robot arm mechanism comprising a first arm link mechanism and a second arm link mechanism, a robot arm driving mechanism for driving the first arm link mechanism and the second arm link mechanism, and a link retaining mechanism for pivotably retaining the first arm link mechanism and the second arm link mechanism, in which a third arm link and a fourth arm link of the first arm link mechanism are kept forward in a first rotation direction, in which the first arm link mechanism and the second arm link mechanism are extended, thereby enabling to prevent the quadric crank chain constituting the robot arm mechanism from being flattened out while the first arm link mechanism and the second arm link mechanism are extended, and improving resistance to deformation, in comparison with the conventional robot arm mechanism.

摘要翻译： 这里公开了一种机器人手臂机构，包括第一臂连杆机构和第二臂连杆机构，用于驱动第一臂连杆机构和第二臂连杆机构的机器人手臂驱动机构，以及连杆保持机构，用于可枢转地保持第一臂 连杆机构和第二臂连杆机构，其中第一臂连杆机构的第三臂连杆和第四臂连杆沿第一旋转方向保持向前，第一臂连杆机构和第二臂连杆机构延伸 从而与传统的机器人手臂机构相比，能够防止构成机器人臂机构的二次曲柄链在第一臂连杆机构和第二臂连杆机构伸长的同时被平坦化，并且提高耐变形性。

公开(公告)号：US07040852B2

公开(公告)日：2006-05-09

申请号：US10421834

申请日：2003-04-24

申请人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno

发明人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno

IPC分类号： B25J18/00

CPC分类号： B25J9/1065 ,  H01L21/67739 ,  Y10S414/13 ,  Y10T74/20329

摘要： Herein disclosed is a robot arm mechanism comprising: a first handling member for supporting and handling a first object; a second handling member for supporting and handling a second object; a first robot arm including a first arm link and a second arm link, the first end portion of the second arm link being pivotably connected to the second end portion of the first arm link, and the second end portion of the second arm link being connected to the first handling member to allow the first handling member to support the first object in a stable condition; a second robot arm including a first arm link and a second arm link, the first end portion of the second arm link being pivotably connected to the second end portion of the first arm link, the second arm link being inclined with respect to the second arm link of the first robot arm at a preset angle defined between the central line of the second arm link of the second robot arm and the central line of the second arm link of the first robot arm, and the second end portion of the second arm link being connected to the second handling member to allow the second handling member to support the second object in a stable condition; a robot arm moving mechanism for allowing one of the first arm links and of the first and second robot arms to be angularly moved with respect to the other of the first arm links of the first and second robot arms; and an angle keeping mechanism for keeping substantially fixed the preset angle defined between the central line of the second arm link of the second robot arm and the central line of the second arm link of the first robot arm as one of the first arm links of the first and second robot arms is angularly moved with respect to the other of the first arm links of the first and second robot arms.

公开(公告)号：US07001139B2

公开(公告)日：2006-02-21

申请号：US10308122

申请日：2002-12-03

申请人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno

发明人： Hiroki Mori ,  Tetsuya Watanabe ,  Chohei Okuno

IPC分类号： B25J18/04

CPC分类号： B25J9/1065 ,  Y10S414/13 ,  Y10T74/20329

摘要： Herein disclosed is a robot arm mechanism comprising a first arm link mechanism and a second arm link mechanism, a robot arm driving mechanism for driving the first arm link mechanism and the second arm link mechanism, and a link retaining mechanism for pivotably retaining the first arm link mechanism and the second arm link mechanism, in which a third arm link and a fourth arm link of the first arm link mechanism are kept forward in a first rotation direction, in which the first arm link mechanism and the second arm link mechanism are extended, thereby enabling to prevent the quadric crank chain constituting the robot arm mechanism from being flattened out while the first arm link mechanism and the second arm link mechanism are extended, and improving resistance to deformation, in comparison with the conventional robot arm mechanism.

公开(公告)号：US06558107B1

公开(公告)日：2003-05-06

申请号：US09431140

申请日：1999-11-01

申请人： Chohei Okuno

发明人： Chohei Okuno

IPC分类号： B25J1800

CPC分类号： B25J9/107 ,  Y10S414/13 ,  Y10T74/20317

摘要： A robot arm mechanism includes a handling member for supporting and handling an object, a robot arm made up of at least four arm links, and a robot arm driving mechanism for driving the robot arm to assume its contracted and extended position. The robot arm comprises first and second arm links and a link retaining mechanism pivotably retaining the first and second arm links. The link retaining mechanism comprises first and second joint cross linkages similar in shape and each having two arms crossed to each other. The first joint cross linkage is integrally connected with one of the first and second arm links of the robot arm. The second joint cross linkage is integrally connected with the other one of the first and second arm links of the robot arm. This leads to the advantage of providing a robot arm mechanism exempt from driven gears, belts and pulleys forming part of a synchronous motion mechanism necessitated by conventional robot arm mechanisms to ensure that no dust is produced and fallen in a vacuum working chamber of highly pure air.

摘要翻译： 机器人臂机构包括用于支撑和处理物体的处理构件，由至少四个臂连杆构成的机器人手臂，以及用于驱动机器人手臂以承受收缩和延伸位置的机器人手臂驱动机构。 机器人臂包括第一和第二臂连杆以及可枢转地保持第一和第二臂连杆的连杆保持机构。 连杆保持机构包括形状相似的第一和第二接头交叉连杆，并且每个具有彼此交叉的两个臂。 第一关节交叉联动机构与机器人手臂的第一和第二臂连杆中的一个连接。 第二关节交叉连接件与机器人臂的第一和第二臂连杆中的另一个一体连接。 这导致了提供机器人手臂机构的优点，其免除从动齿轮，皮带和皮带轮，其形成常规机器人臂机构所需的同步运动机构的一部分，以确保在高纯度空气的真空工作室中不产生灰尘并落下 。