公开(公告)号：US20130209200A1

公开(公告)日：2013-08-15

申请号：US13726614

申请日：2012-12-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masatoshi FURUICHI ,  Kazunori HINO ,  Daisuke SHIN

IPC: H01L21/677

CPC classification number: H01L21/67739 ,  H01L21/67742 ,  H01L21/67766

Abstract: A carrier device according to an aspect of an embodiment includes a carrier chamber, a robot that is placed near one longitudinal-side wall in the carrier chamber, and a linear moving mechanism that has a track by which the robot is linearly moved in the longitudinal direction of the carrier chamber. The arm of the robot is defined to a length by which the arm does not interfere with the other longitudinal-side wall even if the arm is rotated around an arm spindle. The track of the linear moving mechanism has a length by which the leading end of the hand perpendicular to the track reaches a predetermined position in a connecting hole located at an end among connecting holes provided in the longitudinal-side wall.

Abstract translation: 根据实施例的一个方面的载体装置包括载体室，放置在载体室中的一个纵向侧壁附近的机器人，以及线性移动机构，其具有轨道，通过该轨道机器人在纵向上线性移动 载体室的方向。 机器人的臂被限定为即使臂围绕臂主轴旋转的臂也不会干扰另一纵向侧壁的长度。 线性移动机构的轨道具有垂直于轨道的手的前端到位于设置在纵向侧壁中的连接孔之间的连接孔中的预定位置的长度。

公开(公告)号：US20250010498A1

公开(公告)日：2025-01-09

申请号：US18762657

申请日：2024-07-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Norihisa IWASAKI ,  Go YAMAGUCHI ,  Kazunori HINO ,  Osamu HARADA ,  Ryosuke WATANABE

IPC: B25J19/00 ,  B25J9/04 ,  B25J11/00

Abstract: A robot includes: an articulated arm and a plurality of actuators. The articulated arm includes a plurality of links connected by a plurality of joints. The plurality of links include: a hand; a base; and one or more arm links. The plurality of actuators are configured to drive the plurality of joints respectively around rotational axes. Each of the plurality of actuators includes: a main body fixed to one link at a corresponding joint; and an output shaft protruding from the main body along a rotational axis of the rotational axes, fixed to another link, and configured to rotate around the rotational axis. The articulated arm further includes, for each of the plurality of actuators, a seal member detachably attached to the one link separately from the main body, to seal between the one link and the output shaft.

公开(公告)号：US20250010465A1

公开(公告)日：2025-01-09

申请号：US18762670

申请日：2024-07-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Norihisa IWASAKI ,  Go YAMAGUCHI ,  Kazunori HINO ,  Yuta TANDA

IPC: B25J9/12 ,  B25J11/00 ,  H02K1/18 ,  H02K7/08 ,  H02K11/21

Abstract: A robot includes a hand motor configured to independently rotate a first hand and a second hand around a hand axis along a vertical orientation. The hand motor includes: a first output shaft fixed to the first hand; a first stator configured to apply a rotating magnetic field on the first output shaft in the arm link; a second output shaft extending through the first output shaft and fixed to the second hand; a second stator configured to apply a rotating magnetic field on the second output shaft in the arm link; a first bearing held by the arm link and holding the first output shaft or the second output shaft; and a second bearing held by the second output shaft between an outer periphery of the second output shaft and an inner periphery of the first output shaft.

公开(公告)号：US20250010461A1

公开(公告)日：2025-01-09

申请号：US18762675

申请日：2024-07-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Norihisa IWASAKI ,  Go YAMAGUCHI ,  Kazunori HINO ,  Tadataka NOGUCHI

IPC: B25J9/04 ,  B25J9/10 ,  B25J11/00 ,  B25J13/08 ,  B25J17/02 ,  B25J18/04

Abstract: A robot include: an articulated arm including. The articulated arm include: a hand; a base; an arm; and a plurality of joints arranged along the arm. The plurality of joints are driven respectively around rotational axes. At least a part of the articulated arm is accommodated in a chamber having an opening. The robot further includes a flange extending between the base and the arm to cover the opening of the chamber. The flange has a longitudinal orientation. A rotational axis of the rotational axes proximate to the base is located between one end of the flange and a center of the flange in the longitudinal orientation. A distance from the rotational axis to the one end of the flange is less than a distance from the vertical axis to the center of the flange in the longitudinal orientation.

公开(公告)号：US20150008691A1

公开(公告)日：2015-01-08

申请号：US14324245

申请日：2014-07-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masatoshi FURUICHI ,  Kazunori HINO ,  Ryuji ANDO

IPC: B25J15/06

CPC classification number: B25J15/0683 ,  H01L21/67742 ,  H01L21/67766 ,  H01L21/6838

Abstract: A suction structure includes a fixing base, a pad, and a support body. The pad includes a contact portion which makes contact with a target object to be sucked. The support body is installed to the fixing base and the support body is configured to elastically support the pad. Further, the pad and the support body define an inner space, and the fixing base includes a suction hole which brings the inner space into communication with a vacuum source.

Abstract translation: 抽吸结构包括固定底座，衬垫和支撑体。 该垫包括与要被吸收的目标物体接触的接触部。 支撑体安装在固定基座上，并且支撑体构造成弹性地支撑垫。 此外，垫和支撑体限定内部空间，并且固定基座包括使内部空间与真空源连通的吸入孔。

公开(公告)号：US20150008688A1

公开(公告)日：2015-01-08

申请号：US14324079

申请日：2014-07-04

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masatoshi FURUICHI ,  Kazunori HINO ,  Ryuji ANDO

IPC: B25J15/06

CPC classification number: B25J15/0683 ,  H01L21/67742 ,  H01L21/67766 ,  H01L21/6838

Abstract: A suction structure includes a pad and a fixing base. The pad includes a contact portion which has a seal wall and makes contact with a target object to be sucked, a major surface portion which is surrounded by the contact portion and defines an inner space in conjunction with the seal member as the contact portion makes contact with the target object, and a thin portion formed in the major surface portion. The fixing base includes a suction hole configured to bring the inner space into communication with a vacuum source and supporting the pad.

Abstract translation: 抽吸结构包括垫和固定底座。 垫包括具有密封壁并与被吸收的目标物体接触的接触部分，主表面部分被接触部分包围，并且当接触部分接触时限定与密封部件结合的内部空间 与目标物体以及形成在主表面部分中的薄部分。 所述固定底座包括吸入孔，所述吸孔构造成使得所述内部空间与真空源连通并支撑所述垫。

公开(公告)号：US20130209201A1

公开(公告)日：2013-08-15

申请号：US13742351

申请日：2013-01-16

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masatoshi FURUICHI ,  Kazunori HINO

IPC: B65G49/00

CPC classification number: B65G49/00 ,  H01L21/67766

Abstract: A carrier device according to embodiments includes a carrier chamber that is provided with a plurality of connecting holes that are communicated with the outside, an articulated robot that is placed inside the carrier chamber, and a linear moving mechanism that makes at least the arm part of the articulated robot linearly move in a short side direction of the carrier chamber. The bottom end of the arm part of the articulated robot is provided on a base via an arm spindle to be rotatable horizontally and its leading end is provided with a hand that is rotatable horizontally and holds a board to be taken in and out via the connecting holes.

Abstract translation: 根据实施例的载体装置包括载体室，其设置有与外部连通的多个连接孔，放置在载体室内的关节式机器人，以及线性移动机构，其至少使臂部分 铰接机器人在载体室的短边方向上线性移动。 铰接式机器人的臂部的底端通过臂主轴设置在基座上，以水平方向旋转，并且其前端设有可水平旋转的手并且通过连接件保持待进出的板 孔。