| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 41 | 一种设有摆动延伸臂的通用机器人 | CN201610571878.X | 2016-07-18 | CN106002960A | 2016-10-12 | 付淑珍 |
| 本发明公开了一种设有摆动延伸臂的通用机器人，机器人小臂上设有延伸臂，所述延伸臂包括固定连接小臂的支架体、安装在支架体上的第一伸缩机构、铰接在第一伸缩机构上的摆动机构、滑行设置在摆动机构滑行槽内的第二伸缩机构。本发明的第一伸缩机构可拉长或缩短延伸臂及小臂和延伸臂的总长度，以适应各种工况；摆动机构可相对于摆动驱动机构作一定幅度的摆动，即赋予了小臂弯曲的功能，以适应各种工况。 | ||||||
| 42 | 伸缩臂及使用伸缩臂的构造物 | CN201380042763.6 | 2013-12-05 | CN104540649B | 2016-10-05 | 松岡德康 |
| 一种伸缩臂及使用伸缩臂的构造物，该伸缩臂(30)具有如下的构造：将两个刚性构件(31a、31b)在中央连结点(c)连结成可转动而形成呈X字形交叉的交叉单元(31)，然后将多个此交叉单元在一方向连成一排，且连结成可互相相对地转动而构成。各刚性构件(31a、31b)呈弯曲状，而使其两端连结点(d、e)相对于通过中央连结点(c)的长方向轴线成为从长方向轴线往一侧偏移后的位置，以使该伸缩臂(30)的伸缩轨迹呈弯曲线。 | ||||||
| 43 | 机器人臂的配线结构 | CN201410388035.7 | 2014-08-08 | CN104339369B | 2016-08-24 | 平野晓史 |
| 本发明提供一种机器人臂的配线结构，其包括：一对臂构件，相互平行地设置，分别呈中空轴状，并且分别具有第1端部和第2端部；线条体，以将所述一对臂构件中的至少一个臂构件沿其轴向穿过的方式从所述第1端部引入该臂构件内并在所述第2端部处从该臂构件引出；以及限制构件，设置于所述臂构件的轴向的至少中间区域，限制所述臂构件内的所述线条体在该臂构件的径向上移位。据此，虽然线条体布设于臂构件内部，但能够抑制因线条体与构成机器人臂的臂构件的内周面碰撞而发出的异响。 | ||||||
| 44 | 用于在电子装置制造中传输基板的机械手设备、驱动组件和方法 | CN201480070637.6 | 2014-12-26 | CN105848836A | 2016-08-10 | 伊贾·克雷默曼 |
| 披露了一种传输基板的机械手设备。所述机械手设备可包括上臂、前臂、腕部构件及末端执行器，所述前臂可相对于所述上臂独立旋转，所述腕部构件可相对于所述前臂独立旋转，所述末端执行器适合于承载基板。在某些方面中，独立旋转由机械手驱动组件提供，所述机械手驱动组件具有第二驱动滑轮，所述第二驱动滑轮经安装以在第一驱动滑轮上旋转。在另一个方面中，披露了机械手驱动组件，这些机械手驱动组件包括安装于基座及安装于腹板上的滑轮。如数个其他方面，提供了机械手驱动组件及运作的方法。 | ||||||
| 45 | 一种自由度机械手臂 | CN201610055633.1 | 2016-01-27 | CN105729442A | 2016-07-06 | 符建豪 |
| 本发明公开了一种自由度机械手臂，包括控制装置、底座和机械手臂，控制装置固定在底座下的边沿上，机械手臂穿过底座，机械手臂穿过底座与底座接触的套筒面积装有橡皮环，机械手臂下端连接能动装置，机械手臂在底座上部的位置设有定位卡口，机械手臂上端通过伸缩机构连接夹具。整个机械结构简单，易于控制，人工投入少，使用寿命长，移物灵活性强，大幅降低了成本投入，而且工作效率高，复位精准。 | ||||||
| 46 | 机器人 | CN201410366578.9 | 2014-07-29 | CN104339368B | 2016-05-18 | 高桥真义; 白木知行; 伊藤雅人; 榊芳梨; 金森贵彦 |
| 本发明提供一种机器人，其能够节省空间。实施方式涉及的机器人具备基座部、回转基座、臂部、平衡器以及装备缆线。上述回转基座相对于上述基座部连结成能够绕规定的回转轴回转。上述臂部相对于上述回转基座连结成基端部能够绕与上述回转轴大致垂直的旋转轴旋转。上述平衡器分别与上述回转基座和上述臂部连结。上述装备缆线被上述平衡器支承，并且沿着上述臂部配置在该平衡器的外侧。 | ||||||
| 47 | 机械手臂 | CN201610083945.3 | 2016-02-06 | CN105563522A | 2016-05-11 | 钱钟锋 |
| 本发明公开了一种机械手臂，其包括：第一手臂构件；第二手臂构件，第二手臂构件通过第一转轴与第一手臂构件转动地连接，第一转轴基本垂直于第一手臂构件及第二手臂构件的长度方向；第三手臂构件，第三手臂构件通过第二转轴与第二手臂构件转动地连接，第二转轴基本平行于第二手臂构件及第三手臂构件的长度方向；枢座；第四手臂构件，枢座转动连接第三手臂构件及第四手臂构件；拉丝，拉丝与第一手臂构件、第二手臂构件、第三手臂构件及第四手臂构件中的至少一个手臂构件固定连接。该机械手臂可以通过拉动拉丝使得与拉丝连接的手臂构件相对于另一个手臂构件转动，拉动拉丝的驱动装置可设在机械手臂外，从而减轻机械手臂的自重，简化机械手臂的结构。 | ||||||
| 48 | 机器人手、机器人、机器人系统、机器人手的控制方法 | CN201410281787.3 | 2014-06-20 | CN104249374B | 2016-03-16 | 小田胜 |
| 本发明涉及用于搬运物品的机器人手、具备机器人手的机器人、机器人系统、以及机器人手的控制方法。提供能够减少在抬起物品的情况下作用于机器人手的手腕部的负载力矩的机器人手。机器人手具备：基部；第一手臂，其安装于基部，具有用于把持物品的把持部，能够使该把持部在第一远位位置与第一近位位置之间移动，该第一远位位置是从基部向第一方向离开的位置，该第一近位位置是比第一远位位置更接近基部的位置；以及第二手臂，其安装于基部，具有平衡锤，能够使该平衡锤在第二远位位置与第二近位位置之间移动，该第二远位位置是从基部向与第一方向相反的一侧的第二方向离开的位置，该第二近位位置是比第二远位位置更接近基部的位置。 | ||||||
| 49 | 具备退避装置的对象物输送系统 | CN201410572933.8 | 2014-10-23 | CN104742109A | 2015-07-01 | 小田胜 |
| 本发明提供一种具备退避装置的对象物输送系统。对象物输送系统(10)包含配置于危险区域的外部的机器人(11)、以及安装于机器人的前端并能够进入危险区域的内部的对象物把持机构部(12)。对象物把持机构部将位于危险区域的内部的对象物取出至危险区域的外部，并且将位于危险区域的外部的对象物安装于危险区域的内部。并且，对象物输送系统(10)包含能够使至少局部位于危险区域的内部的对象物把持机构部退避至危险区域的外部的退避装置。 | ||||||
| 50 | 伸缩臂及使用伸缩臂的构造物 | CN201380042763.6 | 2013-12-05 | CN104540649A | 2015-04-22 | 松岡德康 |
| 一种伸缩臂及使用伸缩臂的构造物，该伸缩臂(30)具有如下的构造：将两个刚性构件(31a、31b)在中央连结点(c)连结成可转动而形成呈X字形交叉的交叉单元(31)，然后将多个此交叉单元在一方向连成一排，且连结成可互相相对地转动而构成。各刚性构件(31a、31b)呈弯曲状，而使其两端连结点(d、e)相对于通过中央连结点(c)的长方向轴线成为从长方向轴线往一侧偏移后的位置，以使该伸缩臂(30)的伸缩轨迹呈弯曲线。 | ||||||
| 51 | 机器人臂的配线结构 | CN201410388035.7 | 2014-08-08 | CN104339369A | 2015-02-11 | 平野晓史 |
| 本发明提供一种机器人臂的配线结构，其包括：一对臂构件，相互平行地设置，分别呈中空轴状，并且分别具有第1端部和第2端部；线条体，以将所述一对臂构件中的至少一个臂构件沿其轴向穿过的方式从所述第1端部引入该臂构件内并在所述第2端部处从该臂构件引出；以及限制构件，设置于所述臂构件的轴向的至少中间区域，限制所述臂构件内的所述线条体在该臂构件的径向上移位。据此，虽然线条体布设于臂构件内部，但能够抑制因线条体与构成机器人臂的臂构件的内周面碰撞而发出的异响。 | ||||||
| 52 | 机器人手、机器人、机器人系统、机器人手的控制方法 | CN201410281787.3 | 2014-06-20 | CN104249374A | 2014-12-31 | 小田胜 |
| 本发明涉及用于搬运物品的机器人手、具备机器人手的机器人、机器人系统、以及机器人手的控制方法。提供能够减少在抬起物品的情况下作用于机器人手的手腕部的负载力矩的机器人手。机器人手具备：基部；第一手臂，其安装于基部，具有用于把持物品的把持部，能够使该把持部在第一远位位置与第一近位位置之间移动，该第一远位位置是从基部向第一方向离开的位置，该第一近位位置是比第一远位位置更接近基部的位置；以及第二手臂，其安装于基部，具有平衡锤，能够使该平衡锤在第二远位位置与第二近位位置之间移动，该第二远位位置是从基部向与第一方向相反的一侧的第二方向离开的位置，该第二近位位置是比第二远位位置更接近基部的位置。 | ||||||
| 53 | 机器人 | CN201210127879.7 | 2012-04-26 | CN102756368A | 2012-10-31 | 桐原大辅; 星野真吾 |
| 本发明提供一种机器人。该机器人的多关节手臂具有：与第二肩部件连结的上臂部件；经由第一屈伸机构连结于上臂部件的第一前臂部件；以及经由第二屈伸机构连结于第一前臂部件前端部的手腕部件，第一前臂部件具有使第二屈伸机构旋转的第一扭转机构，手腕部件经由第二扭转机构连结机械手部并使第一扭转机构的旋转轴与第二扭转机构的旋转轴之间偏移。上臂部件具有收容凹部，在第一前臂部件相对于上臂部件弯曲，并且手腕部件相对于第一前臂部件弯曲的状态下，该收容凹部收容第一前臂部件、第一扭转机构、第二屈伸机构的至少一部分。 | ||||||
| 54 | SOFT ROBOTS, SOFT ACTUATORS, AND METHODS FOR MAKING THE SAME | PCT/US2016029584 | 2016-04-27 | WO2016176340A3 | 2016-12-08 | KOWALEWSKI TIMOTHY MARIUSZ; VAN DE VEN JAMES DONALD; GILBERTSON MARK DAVID; KORINEK GABRIEL RAY CROOKS; MCDONALD GILLIAN JO |
| A material-mapped actuator useful as, or as part of, a soft robot along with automated methods of design and manufacture. The actuator exhibits mechanical properties that spatially vary along a coordinate system of the actuator. The actuator body has an initial shape with a corresponding initial map of mechanical attributes consisting of locally-varying stiffness at each point in a volume of the actuator body. The actuator is configured to change to a different shape or distribution of mechanical properties upon being activated by an actuation medium. The map of mechanical attributes influences and determines the new shape or distribution. The material-mapped actuator can incorporate a spatially-varying distribution of mechanical properties that dictates multiple desired shapes as the actuation medium is applied, including an actuation sequence in which the actuator transitions from a first shape to a desired intermediate shape(s), and from the intermediate shape to a desired final shape. | ||||||
| 55 | Robotic Camera System | US15957748 | 2018-04-19 | US20180241938A1 | 2018-08-23 | Marius O. Buibas; Martin A. Cseh; Michael B. Maseda; Nicholas J. Morozovsky |
| A robot for capturing image frames of subjects in response to a request includes a base, a robot head, a camera, a vertical positioning mechanism, and a control system. The base has a transport mechanism for controllably positioning the robot along a lateral surface. The vertical positioning mechanism couples the robot head to the base and adjusts a vertical distance between the robot head and the support surface. The control system controls image capture of the camera, the transport mechanism, and the vertical positioning mechanism. | ||||||
| 56 | LINEAR EXTENSION-RETRACTION MECHANISM | US15918379 | 2018-03-12 | US20180207812A1 | 2018-07-26 | Woo-Keun YOON; Hikaru SANO |
| A linear extension and retraction mechanism has a plurality of first connection pieces connected bendably and a plurality of second connection pieces connected bendably. The first and second connection pieces become linearly rigid when joined together and return to a bent state when separated. The first connection piece has a main body part. A pair of bearing sections is provided on front both sides of the main body part, and a single bearing section is provided on a rear center of the main body part. In order to limit bending of the connected first connection pieces to a front surface side from a linearly aligned posture, a projection section protruding to the rear is provided on the bearing section on the rear of the main body part, and a receiving section adapted to receive the projection section is provided between the pair of bearing sections on the front of the main body part. | ||||||
| 57 | ROBOT APPARATUS | US15918426 | 2018-03-12 | US20180207803A1 | 2018-07-26 | Sosuke Takase; Masateru Kawaguchi; Woo-Keun Yoon; Shinji Kurihara |
| A robot system includes a robot arm mechanism equipped with an end effector; an operating device for operating a movement and a posture change of the end effector; and a control section for controlling the robot arm mechanism according to the input operation carried out via the operating device, in which the operating device equips a first operating button set and a second operating button set, the first operating button set is adapted for operating translational movement in which the end effector moves in positive and negative directions along each of three orthogonal axes of the robot coordinate system with a posture of the end effector on a robot coordinate system fixed, and the second operating button set is adapted for operating posture change motion in which the end effector rotates in positive and negative directions around each of three orthogonal axes of the hand coordinate system with an origin position of a hand coordinate system of the end effector on the robot coordinate system fixed. | ||||||
| 58 | ROBOT ARM MECHANISM | US15830298 | 2017-12-04 | US20180093383A1 | 2018-04-05 | Woo-Keun Yoon |
| This invention designs durability among components in accordance with maintenance man-hours and maintenance cost. A robot arm mechanism according to the present embodiment includes an arm section capable of changing state between a rigid state and a bent state; a supporting section that supports the arm section in the rigid state; a housing section that houses the arm section in the bent state; and a conveying section that sends the arm section out forward from the supporting section, draws back the arm section rearward to the supporting section, and conveys the arm section between the supporting section and the housing section. The supporting section includes a plurality of rollers for firmly sandwiching the arm section therebetween and supporting the arm section so as to be movable forward and rearward. At least one of a surface hardness and a strength of the plurality of rollers is the same as or lower than a surface hardness and/or a strength of the arm section. | ||||||
| 59 | METHOD, APPARATUS, AND SYSTEM FOR ROBOTIC ARTICLE HANDLING | US15703942 | 2017-09-13 | US20180086489A1 | 2018-03-29 | John Charles ROGERS; Carl Michael TRAYNOR |
| A robotic handling apparatus includes a vertical motion mechanism and a first arm member connected to the vertical motion mechanism. The first arm member is movable in a vertical direction by the vertical motion mechanism. The robotic handling apparatus includes a second arm member connected to the vertical motion mechanism via the first arm member, and a first drive unit configured to drive the second arm member to pivot about a first axis. An end effector is connected to the second arm to transfer an article from a first position to a second position by the motion of the vertical motion mechanism, first arm member, and second arm member, the first arm member being mounted to a side of the vertical motion mechanism relative to the vertical direction. | ||||||
| 60 | SUBSTRATE-PROCESSING APPARATUS AND METHOD OF MANUFACTURING SEMICONDUCTOR DEVICE | US15682730 | 2017-08-22 | US20170352556A1 | 2017-12-07 | Yasuaki KOMAE; Takashi NOGAMI; Tomoshi TANIYAMA; Shigeru ODAKE |
| A substrate processing apparatus includes a process chamber and a transfer device configured to transfer a plurality of substrates to a substrate retainer. The transfer device includes a base; a first moving unit capable of linear motion; a first drive unit to drive the first moving unit. The first drive unit includes a first pulley group; a first motor coupled to a first pulley; and a first connecting member coupling the first belt and the first moving unit. A second moving unit is capable of linear motion. A second drive unit is in an enclosure of the first moving unit and drives the second moving unit. The second drive unit includes a second pulley group; a second belt wound on the second pulley group, a second motor coupled to drive a second pulley; and a second connecting member coupling the second belt and the second moving unit. | ||||||
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