公开(公告)号：US08882430B2

公开(公告)日：2014-11-11

申请号：US12675807

申请日：2008-08-27

申请人： Takayuki Yazawa ,  Hiroto Nakajima

发明人： Takayuki Yazawa ,  Hiroto Nakajima

IPC分类号： B25J9/04 ,  H01L21/677

CPC分类号： B25J9/042 ,  B25J9/043 ,  H01L21/67742

摘要： An industrial robot may include a first hand and a second hand on which an object is mounted, a first arm which turnably holds the first hand on a first end side, a second arm which turnably holds the second hand on a first end side, a common arm which turnably holds a second end side of the first arm and a second end side of the second arm, a first turning center part which is a turning center of the first arm with respect to the common arm, a second turning center part which is a turning center of the second arm with respect to the common arm, and a main body part which turnably holds the common arm. The first hand and the second hand may be disposed so as to superpose each other, and the first hand and the second hand may be formed with an escape part.

摘要翻译： 工业机器人可以包括安装有物体的第一只手和第二只手，在第一端侧可转动地保持第一只手的第一臂，在第一端侧可转动地保持第二只手的第二臂， 可转动地保持第一臂的第二端侧和第二臂的第二端侧的共用臂，作为第一臂相对于公共臂的转动中心的第一转动中心部，第二转动中心部， 是相对于共用臂的第二臂的转动中心，以及可转动地保持公共臂的主体部。 第一只手和第二只手可以彼此重叠地设置，并且第一只手和第二只手可以形成有一个逃生部分。

公开(公告)号：US20100284770A1

公开(公告)日：2010-11-11

申请号：US12675807

申请日：2008-08-27

申请人： Takayuki Yazawa ,  Hiroto Nakajima

发明人： Takayuki Yazawa ,  Hiroto Nakajima

IPC分类号： B25J9/06 ,  H01L21/677 ,  B65G49/07

CPC分类号： B25J9/042 ,  B25J9/043 ,  H01L21/67742

摘要： An industrial robot may include a first hand and a second hand on which an object is mounted, a first arm which turnably holds the first hand on a first end side, a second arm which turnably holds the second hand on a first end side, a common arm which turnably holds a second end side of the first arm and a second end side of the second arm, a first turning center part which is a turning center of the first arm with respect to the common arm, a second turning center part which is a turning center of the second arm with respect to the common arm, and a main body part which turnably holds the common arm. The first hand and the second hand may be disposed so as to superpose each other, and the first hand and the second hand may be formed with an escape part.

摘要翻译： 工业机器人可以包括安装有物体的第一只手和第二只手，在第一端侧可转动地保持第一只手的第一臂，在第一端侧可转动地保持第二只手的第二臂， 可转动地保持第一臂的第二端侧和第二臂的第二端侧的共用臂，作为第一臂相对于公共臂的转动中心的第一转动中心部，第二转动中心部， 是相对于共用臂的第二臂的转动中心，以及可转动地保持公共臂的主体部。 第一只手和第二只手可以彼此重叠地设置，并且第一只手和第二只手可以形成有一个逃生部分。

公开(公告)号：US09064919B2

公开(公告)日：2015-06-23

申请号：US13392040

申请日：2010-08-25

申请人： Takayuki Yazawa ,  Hiroto Nakajima

发明人： Takayuki Yazawa ,  Hiroto Nakajima

IPC分类号： B25J9/06 ,  H01L21/677 ,  B25J9/04

CPC分类号： H01L21/67742 ,  B25J9/042 ,  B25J9/043 ,  H01L21/67766 ,  Y10S414/135 ,  Y10S901/46

摘要： An industrial robot including a first arm which has a first arm portion, and a second arm portion supported by the first arm portion. The industrial robot also includes a second arm which has a third arm portion and a fourth arm portion supported by the third arm portion. The first arm and the second arm can be expanded/retracted independently. A turning center of the first arm portion and a turning center of the third arm portion are placed coaxially. The first arm and the second arm are constructed so as to be almost line-symmetric with respect to an imaginary line under the condition that the first arm and the second arm are retracted. The first arm portion, the third arm portion, the second arm portion, and the fourth arm portion are placed in this order in a vertical direction.

摘要翻译： 一种工业机器人，包括具有第一臂部的第一臂和由第一臂部支撑的第二臂部。 工业机器人还包括第二臂，其具有由第三臂部支撑的第三臂部和第四臂部。 第一臂和第二臂可以独立地伸展/缩回。 第一臂部的转动中心和第三臂部的转动中心同轴配置。 在第一臂和第二臂缩回的条件下，第一臂和第二臂被构造成相对于假想线几乎线对称。 第一臂部，第三臂部，第二臂部和第四臂部以该垂直方向依次配置。

公开(公告)号：US20120189419A1

公开(公告)日：2012-07-26

申请号：US13392040

申请日：2010-08-25

申请人： Takayuki Yazawa ,  Hiroto Nakajima

发明人： Takayuki Yazawa ,  Hiroto Nakajima

IPC分类号： B65G1/00

CPC分类号： H01L21/67742 ,  B25J9/042 ,  B25J9/043 ,  H01L21/67766 ,  Y10S414/135 ,  Y10S901/46

摘要： An industrial robot including a first arm which has a first arm portion, and a second arm portion supported by the first arm portion. The industrial robot also includes a second arm which has a third arm portion and a fourth arm portion supported by the third arm portion. The first arm and the second arm can be expanded/retracted independently. A turning center of the first arm portion and a turning center of the third arm portion are placed coaxially. The first arm and the second arm are constructed so as to be almost line-symmetric with respect to an imaginary line under the condition that the first arm and the second arm are retracted. The first arm portion, the third arm portion, the second arm portion, and the fourth arm portion are placed in this order in a vertical direction.

摘要翻译： 一种工业机器人，包括具有第一臂部的第一臂和由第一臂部支撑的第二臂部。 工业机器人还包括第二臂，其具有由第三臂部支撑的第三臂部和第四臂部。 第一臂和第二臂可以独立地伸展/缩回。 第一臂部的转动中心和第三臂部的转动中心同轴配置。 在第一臂和第二臂缩回的条件下，第一臂和第二臂被构造成相对于假想线几乎线对称。 第一臂部，第三臂部，第二臂部和第四臂部以该垂直方向依次配置。

公开(公告)号：US07566198B2

公开(公告)日：2009-07-28

申请号：US11633214

申请日：2006-12-04

申请人： Takayuki Yazawa ,  Yasunori Takeuti ,  Hiroto Nakajima ,  Hirokazu Watanabe

发明人： Takayuki Yazawa ,  Yasunori Takeuti ,  Hiroto Nakajima ,  Hirokazu Watanabe

IPC分类号： B66C23/00

CPC分类号： B25J9/042 ,  B25J18/04 ,  H01L21/67742 ,  Y10T74/20305

摘要： An industrial robot may include a main body part and an arm part including a first arm, a second arm and a hand arm. The main body part is provided with a first turnable shaft for performing an expansion-contraction operation of the arm part, a second turnable shaft which is disposed within the first turnable shaft for changing an expansion-contraction direction of the hand arm together with the first arm, a first sensor mechanism including a first sensor for detecting a home position of the second turnable shaft, a second sensor mechanism provided in the second turnable shaft and which includes a second sensor for detecting a relative home position between the second turnable shaft and the first turnable shaft, and a rotary joint which is connected with the second turnable shaft and is electrically connected with the second sensor.

摘要翻译： 工业机器人可以包括主体部分和包括第一臂，第二臂和手臂的臂部分。 主体部分设置有用于执行臂部的伸缩操作的第一可转动轴，设置在第一可转动轴内的第二可转动轴，用于与第一转动轴一起改变手臂的伸缩方向 臂，第一传感器机构，包括用于检测第二可转动轴的原始位置的第一传感器，设置在第二可转动轴中的第二传感器机构，并且包括第二传感器，用于检测第二可转动轴和第二可转动轴之间的相对原点位置 第一可转动轴和与第二可转动轴连接并与第二传感器电连接的旋转接头。

公开(公告)号：US20070151388A1

公开(公告)日：2007-07-05

申请号：US11633214

申请日：2006-12-04

申请人： Takayuki Yazawa ,  Yasunori Takeuti ,  Hiroto Nakajima ,  Hirokazu Watanabe

发明人： Takayuki Yazawa ,  Yasunori Takeuti ,  Hiroto Nakajima ,  Hirokazu Watanabe

IPC分类号： B25J18/00 ,  B25J17/02

CPC分类号： B25J9/042 ,  B25J18/04 ,  H01L21/67742 ,  Y10T74/20305

摘要： An industrial robot may include a main body part and an arm part including a first arm, a second arm and a hand arm. The main body part is provided with a first turnable shaft for performing an expansion-contraction operation of the arm part, a second turnable shaft which is disposed within the first turnable shaft for changing an expansion-contraction direction of the hand arm together with the first arm, a first sensor mechanism including a first sensor for detecting a home position of the second turnable shaft, a second sensor mechanism provided in the second turnable shaft and which includes a second sensor for detecting a relative home position between the second turnable shaft and the first turnable shaft, and a rotary joint which is connected with the second turnable shaft and is electrically connected with the second sensor.

摘要翻译： 工业机器人可以包括主体部分和包括第一臂，第二臂和手臂的臂部分。 主体部分设置有用于执行臂部的伸缩操作的第一可转动轴，设置在第一可转动轴内的第二可转动轴，用于与第一转动轴一起改变手臂的伸缩方向 臂，第一传感器机构，包括用于检测第二可转动轴的原始位置的第一传感器，设置在第二可转动轴中的第二传感器机构，并且包括第二传感器，用于检测第二可转动轴和第二可转动轴之间的相对原点位置 第一可转动轴和与第二可转动轴连接并与第二传感器电连接的旋转接头。

公开(公告)号：US06739638B1

公开(公告)日：2004-05-25

申请号：US10031881

申请日：2002-01-25

申请人： Takayuki Yazawa ,  Kenichi Shirotori

发明人： Takayuki Yazawa ,  Kenichi Shirotori

IPC分类号： B25J1506

CPC分类号： H01L21/68707 ,  B25J9/0009 ,  B25J9/042 ,  B25J15/0616 ,  H01L21/67766

摘要： Relating to improvement in a hand of an apparatus for taking out a workpiece such as liquid crystal glass from a cassette and carrying it to a predetermined position, and aiming at reducing a weight of an arm portion for holding the liquid crystal glass and a quantity of deflection. A workpiece holding portion of the hand for holding a workpiece such as liquid crystal glass is formed by a horizontal holding arm (5) extending in the horizontal direction and consisting of a carbon fiber material, the horizontal holding arm (5) has a horizontal arm portion (7) opposed to the workpiece and at least one bent portion (6) being bent in a direction crossing the horizontal arm portion (7), and a surface of a corner portion (5d) on the border between the bent portion (6) and the horizontal arm portion (7) is rounded.

摘要翻译： 关于从盒中取出诸如液晶玻璃的工件的设备的手的改进，并将其运送到预定位置，并且旨在减小用于保持液晶玻璃的臂部的重量和一定量的 偏转。 用于保持诸如液晶玻璃的工件的手的工件保持部分由在水平方向上延伸并由碳纤维材料构成的水平保持臂（5）形成，水平保持臂（5）具有水平臂 与工件相对的部分（7）和沿与水平臂部分（7）交叉的方向弯曲的至少一个弯曲部分（6）和弯曲部分（6）之间的边界上的角部分（5d）的表面 ）并且水平臂部（7）是圆形的。

公开(公告)号：US08616543B2

公开(公告)日：2013-12-31

申请号：US13564480

申请日：2012-08-01

申请人： Shun Ikeura ,  Kenichi Ishikura ,  Takayuki Yazawa

发明人： Shun Ikeura ,  Kenichi Ishikura ,  Takayuki Yazawa

IPC分类号： B65H3/44

CPC分类号： B65H1/266 ,  B65H3/66 ,  B65H11/00 ,  B65H2407/21 ,  B65H2801/06 ,  G03G15/6514

摘要： A guide device includes a plate on which a first medium is to be placed, and provided above a space in which a container is to be inserted, a moving member that moves along a surface of the plate in a supply direction of the first medium or in an opposite direction, a substantially sheetlike guide member that guides the first medium in the supply direction, and a drawing member that draws the moving member toward the plate. When the container is taken out of the space, the moving member is drawn toward the plate in the opposite direction by the drawing member, and the guide member withdraws to a position superposed on the plate. When the container is inserted in the space, the moving member is pushed in the supply direction by the container, and the guide member protrudes from the position in the supply direction.

摘要翻译： 引导装置包括：板，其上放置有第一介质，并且设置在要插入容器的空间的上方;沿着第一介质的供给方向的板的表面移动的移动构件; 在相反方向上，沿供给方向引导第一介质的大致片状的引导构件，以及将移动构件朝向板拉动的牵引构件。 当容器从空间中取出时，移动构件通过拉伸构件沿相反方向被拉向板，并且引导构件退回到叠置在板上的位置。 当容器插入空间中时，移动构件被容器沿供给方向推动，并且引导构件从供给方向的位置突出。

公开(公告)号：US20130202390A1

公开(公告)日：2013-08-08

申请号：US13825681

申请日：2011-09-06

申请人： Takayuki Yazawa ,  Yoshihisa Masuzawa ,  Takao Nakae

发明人： Takayuki Yazawa ,  Yoshihisa Masuzawa ,  Takao Nakae

IPC分类号： B25J15/00 ,  B25J9/06

CPC分类号： B25J15/0014 ,  B25J9/043 ,  B25J9/06 ,  H01L21/67742 ,  H01L21/68707 ,  Y10S901/27

摘要： An industrial robot is provided with the first hand, the second hand, the arm and the main unit section. The base end portion of the first hand and the base end portion of the second hand are joined to the front end portion of the arm such that they overlap with each other in the top-bottom direction. The first hand and the second hand are independently rotatable with respect to the arm and also rotatable about the common center of rotation with respect to the arm in the view from the top-bottom direction. Also, the first hand and the second hand are formed being bent in the view from the top-bottom direction, and also formed to have line symmetry about a predetermined imaginary line passing through the center of rotation in the view from the top-bottom direction.

摘要翻译： 工业机器人设置有第一只手，第二只手，手臂和主单元部分。 第一只手的基端部和第二只手的基端部在臂的前端部接合，使得它们在上下方向上彼此重叠。 第一只手和第二只手可相对于臂独立地旋转，并且在从顶部 - 底部方向的视野中可相对于手臂绕公共旋转中心旋转。 此外，第一只手和第二只手形成为从上下方向在视图中弯曲，并且还形成为在从上下方向观看的通过旋转中心的预定假想线上形成线对称 。

公开(公告)号：US08888435B2

公开(公告)日：2014-11-18

申请号：US13825681

申请日：2011-09-06

申请人： Takayuki Yazawa ,  Yoshihisa Masuzawa ,  Takao Nakae

发明人： Takayuki Yazawa ,  Yoshihisa Masuzawa ,  Takao Nakae

IPC分类号： B66C23/00 ,  B25J9/06 ,  B25J15/00 ,  H01L21/687 ,  H01L21/677 ,  B25J9/04

CPC分类号： B25J15/0014 ,  B25J9/043 ,  B25J9/06 ,  H01L21/67742 ,  H01L21/68707 ,  Y10S901/27

摘要： An industrial robot is provided with the first hand, the second hand, the arm and the main unit section. The base end portion of the first hand and the base end portion of the second hand are joined to the front end portion of the arm such that they overlap with each other in the top-bottom direction. The first hand and the second hand are independently rotatable with respect to the arm and also rotatable about the common center of rotation with respect to the arm in the view from the top-bottom direction. Also, the first hand and the second hand are formed being bent in the view from the top-bottom direction, and also formed to have line symmetry about a predetermined imaginary line passing through the center of rotation in the view from the top-bottom direction.

摘要翻译： 工业机器人设置有第一只手，第二只手，手臂和主单元部分。 第一只手的基端部和第二只手的基端部在臂的前端部接合，使得它们在上下方向上彼此重叠。 第一只手和第二只手可相对于臂独立地旋转，并且在从顶部 - 底部方向的视野中可相对于手臂绕公共旋转中心旋转。 此外，第一只手和第二只手形成为从上下方向在视图中弯曲，并且还形成为在从上下方向观看的通过旋转中心的预定假想线上形成线对称 。