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    Systems and methods incorporating an end effector with a rotatable and/or pivotable body and/or an optical sensor having a light path that extends along a length of the end effector
    4.
    发明授权
    Systems and methods incorporating an end effector with a rotatable and/or pivotable body and/or an optical sensor having a light path that extends along a length of the end effector 失效
    将末端执行器与可旋转和/或可枢转的主体和/或光学传感器结合的系统和方法具有沿着末端执行器的长度延伸的光路

    公开(公告)号：US06822413B2

    公开(公告)日：2004-11-23

    申请号：US10391306

    申请日：2003-03-18

    申请人： Sean D. Simondet

    发明人： Sean D. Simondet

    IPC分类号： B25J1502

    CPC分类号： H01L21/67766 ,  B25J9/1692 ,  B25J19/025 ,  H01L21/67265 ,  H01L21/67769 ,  H01L21/67778

    摘要： Robot system incorporates a versatile end effector that can be used to transport wafers, map wafers, and autocalibrate the movements of the robotic system. Typically, the end effector of the invention is rotatably and/or pivotably coupled to a robotic arm and includes an optical sensor system whose light path preferably includes a directional component that extends along a lengthwise axis of the end effector. Preferably the end effector is independently movable about at least two axes. These characteristics, singly or in combination, allow the end effector to carry out transport, mapping, and autocalibration functions within a relatively small volume either horizontally, vertically, or at other desired orientations.

    摘要翻译： 机器人系统结合了多功能的末端执行器，可用于运输晶片，映射晶片，并自动校准机器人系统的运动。 通常，本发明的末端执行器可旋转地和/或可枢转地耦合到机器臂并且包括光学传感器系统，其光路优选地包括沿着端部执行器的纵向轴线延伸的方向分量。 优选地，末端执行器可以围绕至少两个轴线独立地移动。 这些特征，单独或组合地允许末端执行器在水平，垂直或其他期望取向的相对较小的体积内进行运输，映射和自动校准功能。

    Detection assembly for detecting dispensed material
    5.
    发明授权
    Detection assembly for detecting dispensed material 失效

    公开(公告)号：US06541757B2

    公开(公告)日：2003-04-01

    申请号：US09789653

    申请日：2001-02-21

    申请人： Leonard H. Bieman ,  Edward W. Roney

    发明人： Leonard H. Bieman ,  Edward W. Roney

    IPC分类号： G06M700

    CPC分类号： B05C5/0216 ,  B23K9/1274 ,  B25J19/023 ,  B25J19/025 ,  G06T1/0007

    摘要： The subject invention is an optical detection assembly (26) for detecting dispensed material (28). The detection assembly (26) includes a housing (38) having a number of optical sensors (42) mounted to the housing (38). A material applicator (30) is mounted within a central opening (44) of the housing (38) and extends through the opening (44) such that the sensors (42) substantially surround the applicator (30) to continuously detect the material (28) being dispensed through the applicator (30). The subject invention also includes the method of detecting the material (28) being dispensed upon a workpiece (32) utilizing a robotic apparatus (20) having an articulated arm (24) with the housing (38) mounted to the arm (24).

    Substrate transport apparatus and transport teaching system
    6.
    发明申请
    Substrate transport apparatus and transport teaching system 有权
    基板运输装备和运输教学系统

    公开(公告)号：US20010002447A1

    公开(公告)日：2001-05-31

    申请号：US09725553

    申请日：2000-11-29

    申请人： Dainippon Screen Mfg. Co., Ltd.

    发明人： Yasuo Kawamatsu ,  Yoshihiko Watanabe ,  Yasuhiko Hashimoto

    IPC分类号： G05B013/00 ,  G05B019/042

    CPC分类号： H01L21/6835 ,  B25J19/025 ,  H01L21/681 ,  H01L21/68707 ,  H01L2924/3025

    摘要： To provide a substrate transport device and a transport teaching system which can automatically perform a teaching processing in order to reduce the burden of an operator and to eliminate a positional shift accurately and efficiently in a short time. Optical connectors 251, 252, 253 and 254 of a jig 200 and optical connectors 256, 257, 258 and 259 fixedly provided on a substrate transport device are opposed to each other and optical axes are coincident with each other. A lens having a high condensation ratio is provided in each optical connector. A light signal is output from optical sensor heads 231 and 241 through an optical fiber F2, each optical connector and an optical fiber F1, and a light signal input to optical sensor heads 232 and 242 is guided into the substrate transport device. Then, an arm 31b is automatically moved in a three-axis direction. Thus, an edge position of a detected portion 122 is detected to acquire positional information so that teaching information is obtained.

    摘要翻译： 为了提供能够自动执行教学处理的基板输送装置和运输教学系统，以减少操作者的负担，并在短时间内精确有效地消除位置偏移。 固定设置在基板输送装置上的夹具200的光连接器251,252,253和254以及固定地设置在基板输送装置上的光连接器256,257,258,259彼此相对并且光轴彼此重合。 在每个光学连接器中设置具有高冷凝率的透镜。 光信号通过光纤F2从光学传感器头231和241输出，每个光学连接器和光纤F1以及输入到光学传感器头232和242的光信号被引导到衬底传送装置中。 然后，臂31b沿三轴方向自动移动。 因此，检测到检测部分122的边缘位置以获取位置信息，从而获得教学信息。

    Method for controlling robot, storage medium and electronic device
    8.
    发明授权
    Method for controlling robot, storage medium and electronic device 有权

    公开(公告)号：US11766776B2

    公开(公告)日：2023-09-26

    申请号：US17032351

    申请日：2020-09-25

    申请人： CLOUDMINDS (SHENZHEN) ROBOTICS SYSTEMS CO., LTD.

    发明人： William Xiao-qing Huang ,  Yong Zhang ,  Xubin Wei

    IPC分类号： B25J9/16 ,  B25J13/00 ,  B25J19/02 ,  G08C23/06 ,  H04B10/25

    CPC分类号： B25J9/161 ,  B25J13/006 ,  B25J19/025 ,  G08C23/06 ,  H04B10/25

    摘要： Embodiments of the present application provide a method based on an optical fiber communication network for controlling a robot, a storage medium and an electronic device. The method includes: converting an acquired electrical control signal of the robot to an optical control signal; broadcasting the optical control signal over a downlink of the optical fiber communication network; filtering the optical control signal based on a port identifier to obtain an optical control signal corresponding to the port identifier; converting the optical control signal corresponding to the port identifier to an electrical control signal; and sending the electrical control signal to an actuator of the robot. According to the embodiments of the present application, the number of wirings inside the robot is reduced, the wiring complexity is reduced, and the bandwidth for communication and anti-electromagnetic interference capabilities in the control system are improved.

    APPARATUS, SYSTEM AND METHOD FOR PROVIDING AN END EFFECTOR
    9.
    发明公开
    APPARATUS, SYSTEM AND METHOD FOR PROVIDING AN END EFFECTOR 审中-公开

    公开(公告)号：US20230278235A1

    公开(公告)日：2023-09-07

    申请号：US18117716

    申请日：2023-03-06

    申请人： JABIL INC.

    发明人： Jeroen Bosboom ,  Babak Naderi ,  Richard Munro ,  Tatiana Pankova Major

    IPC分类号： B25J15/00 ,  B25J11/00 ,  H01L21/687

    CPC分类号： B25J15/0014 ,  B25J11/0095 ,  H01L21/68707 ,  B25J19/025

    摘要： The disclosure provides an apparatus, system and method for providing an end effector. The end effector may be capable of accommodating semiconductor wafers of varying sizes, and may include: a wafer support; a bearing arm capable of interfacing with at least one robotic element, and at least partially bearing the wafer support at one end thereof; a plurality of support pads on the wafer support for physically interfacing with a one of the semiconductor wafers; and a low friction moving clamp driven bi-directionally along a plane at least partially provided by the bearing arm, wherein the low friction moving clamp retractably applies force to a proximal edge of the semiconductor wafer.