| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 101 | Apparatus for producing rapid movement and smooth braking and a precisely defined final position of a movable robot arm | US122369 | 1980-02-19 | US4319864A | 1982-03-16 | Roland Kaufeldt |
| A method and an apparatus for producing rapid movement and smooth braking and a precisely defined final position of a movable robot arm. For moving the robot arm from a first operative position to a second operative position the robot arm is first driven by a rapidly rotating motor until it comes close to its second operative position, at which time a slowly rotating motor with an associated coupling takes over the drive and reduces the driving speed of the robot arm progressively. When the robot arm reaches its final position a brake is actuated so as to clamp said robot arm. | ||||||
| 102 | Work transfer device | US27113872 | 1972-07-12 | US3870164A | 1975-03-11 | HAASE HAROLD A |
| A transfer means including a work gripping arm for moving the work to selected positions, the transfer means having stop or positioning shock absorbers. There can be shock absorbers for either direction of movement, and there can be a plurality of settable stops and adjustable positioners so that various selected positions can be achieved.
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| 103 | Robot system | US3709379D | 1971-02-17 | US3709379A | 1973-01-09 | KAUFELDT R |
| A system for accurately damping and thereafter stopping highspeed displacement of robot arms in individual directions with substantially no play simultaneously with transmission of a signal for initiating displacement of other robot arms during the damping.
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| 104 | STORE AND ROBOT SYSTEM | US15899702 | 2018-02-20 | US20190080278A1 | 2019-03-14 | Atsushi SUGAHARA; Kazuma KOMODA; Daisuke YAMAMOTO; Takafumi SONOURA; Haruna ETO; Akihito OGAWA; Junya TANAKA; Hideichi NAKAMOTO |
| A store of an embodiment includes a shelf, a conveyor, an elevator mechanism, a robot hand, and a robot mechanism. In the shelf, products can be displayed. The conveyor is arranged along the shelf. The conveyor is configured to convey a container in which the product is placed. The elevator mechanism is configured to move the container up and down. The robot hand is capable of griping the product. The robot mechanism is configured to perform positioning of the robot hand. The robot mechanism is configured to overlap at least a part of the conveyor in a top view. | ||||||
| 105 | Link-type transfer robot | US14647366 | 2013-11-26 | US10137570B2 | 2018-11-27 | Kenji Hirota; Shinichi Imai; Shiro Hara; Hitoshi Maekawa |
| The present invention provides a transfer robot which has a simple structure and a small occupied area in an operation.A transfer robot of the present invention includes a support member fixed to a side wall or the like, a transfer arm by which a hand member is held capable of linear movement, and first and second link members. One end portions of the first and second link members are rotatably linked to the support member, respectively. Another end portions of the first and second link members are rotatably linked to the transfer arm, respectively. The hand member holds/transfers a work. A rotational driving force applied to a linking portion between the support member and the first link member is transmitted to the transfer arm by a predetermined mechanism and linearly moves the hand member. The transfer arm moves by rotating the first link member or the second link member. | ||||||
| 106 | Robot arm mechanism | US15605376 | 2017-05-25 | US10131058B2 | 2018-11-20 | Woo-Keun Yoon |
| A purpose is to prevent a first connection piece string from colliding against a second connection piece string in a robot arm mechanism including a linear extension and retraction joint. In the robot arm mechanism having the linear extension and retraction joint, the linear extension and retraction joint includes an arm section, and an ejection section for supporting the arm section, the arm section includes a first connection piece string 21 made by a plurality of first connection pieces, and a second connection piece string made by a plurality of second connection pieces, the second connection piece string is sent out forward from the ejection section together with the first connection piece string in a state where the second connection piece string is joined to the first connection piece string, and a flexible guide rail for separating the first connection piece string from the second connection piece string and guiding the second connection piece string to the ejection section is interposed between the first connection piece string and the second connection piece string behind the ejection section. | ||||||
| 107 | Extensible and retractable arm mechanism, and robot arm | US15262015 | 2016-09-12 | US10005189B2 | 2018-06-26 | Woo-Keun Yoon |
| An extendable and retractable arm mechanism includes a first structure group formed by coupling a plurality of first structures and a second structure group formed by coupling a plurality of second structures. Each of the first structures includes lock part for fixing the second structures. When the first structure group and the second structure group extend, the lock part fixes the second structures to the first structures. | ||||||
| 108 | Robot arm mechanism and stepping motor control device | US15498972 | 2017-04-27 | US09999972B2 | 2018-06-19 | Woo-Keun Yoon |
| An object of the present invention is to prevent unnecessary driving stop of a stepping motor. A robot arm section includes a robot arm, a stepping motor 31a, a motor driver 31b, an encoder 31c and a step-out detection section 31e. The robot arm has a joint J1. The stepping motor generates power for operating the joint. The motor driver drives the stepping motor according to a target angle. The encoder outputs an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle. The step-out detection section detects a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse. When the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at the time point at which the grace time elapses. | ||||||
| 109 | CONVEYING ROBOT | US15726997 | 2017-10-06 | US20180117759A1 | 2018-05-03 | Takeshi HASUO |
| Installation space is made compact, a speed at which a workpiece is conveyed is enhanced, and interference with peripheral equipment is easily avoided. Provided is a conveying robot including: a base; a turning base that is provided so as to be rotatable about a first axis which is substantially vertical (perpendicular) with respect to the base; a first arm that is provided so as to be pivotable about a second axis substantially horizontal with respect to the turning base; and a second arm that is provided on the first arm so as to be movable along a longitudinal direction of the first arm and that supports, at a distal end thereof, a wrist unit that can hold a workpiece to be conveyed. | ||||||
| 110 | REMOTELY CONTROLLED PACKABLE ROBOT | US15704223 | 2017-09-14 | US20180079070A1 | 2018-03-22 | David C. Meeker; Timothy J. Mason; Andrew Kirouac; Ryan Wasserman |
| A remotely controlled packable robot features a chassis with a top surface and a bottom surface, a pair of main tracks for maneuvering the chassis, and an open channel under the robot defined by the bottom surface of the chassis and the main tracks. A robot arm is foldable from a stored position in the open channel underneath the robot chassis to a deployed position extending upwards from the top surface of the chassis. A camera assembly may be foldable from a stowed position in the open channel underneath the robot chassis next to the robot arm to a deployed position extending upwards from the top surface of the chassis. | ||||||
| 111 | ROBOT FOR MACHINE TOOL AND MACHINE TOOL | US15689594 | 2017-08-29 | US20180056503A1 | 2018-03-01 | Shoichi MORIMURA |
| There is provided a robot for machine tool which can work with a large power and torque when necessary while not attaching a large-size motor to the robot and while having a thin arm, as well as a machine tool having the robot. An in-machine robot of a machine tool includes an input shaft, a transfer shaft, a bevel gear, and an end effector. The input shaft is connected to a tool of the machine tool, and a driving force of the tool is transferred to the end effector. The end effector is a hand or the like, and a workpiece is gripped or rotated with the hand using the driving force of the tool. A plurality of the input shafts are provided, and a suitable input shaft is connected to the tool as appropriate. | ||||||
| 112 | Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism | US14823971 | 2015-08-11 | US09833911B2 | 2017-12-05 | Woo-Keun Yoon |
| A multi-joint arm mechanism includes an arm supporting member a first, second and third joints. The third joint has a linear extension and retraction axis. The third joint includes flat-shaped first structures bendably coupled to one another, second structures having a C-shaped section and bendably coupled to one another, a supporting member supporting the stiffened first and second structures, and a drive member sending and drawing the stiffened first and second structures. The first and the second structures are linearly stiffened by being in contact with each other and return to a bent state by being separated from each other. The second structures are bent toward the bottom parts and conveyed into the arm supporting member. The first structures are bent in a same direction as the second structures and conveyed into the arm supporting member. The first structures are stored in the arm supporting member along the second structures. | ||||||
| 113 | CONNECTION PIECE, LINEAR EXTENSION AND RETRACTION MECHANISM, AND ROBOT ARM MECHANISM | US15657883 | 2017-07-24 | US20170320218A1 | 2017-11-09 | Woo-Keun YOON; Hikaru SANO; Shinji KURIHARA |
| A linear extension and retraction mechanism includes a first connection piece string including a plurality of first connection pieces; a second connection piece string including a plurality of second connection pieces; a linear gear consisted of a plurality of teeth and provided on a back face of each of the first connection piece;an ejection section adapted to support a columnar body formed by joining together the first and second connection piece strings and; and a drive gear adapted to be meshed with the linear gears, wherein gear-end teeth located adjacent to each other across a junction between adjacent first connection piece string are provided in such a way as not to overlap each other when viewed along a center axis of the columnar body. | ||||||
| 114 | ROBOT SYSTEM AND ROBOT DEVICE | US15631347 | 2017-06-23 | US20170297205A1 | 2017-10-19 | Sosuke TAKASE |
| A robot system includes a work bench on which a work piece is placed, and a robot device. The robot device includes: a base; and an arm section that has torsional rotatability around a first axis approximately along a center line of the base, bending rotatability around a second axis that is orthogonal to the first axis, and linear extensibility and retractability along a third axis that is orthogonal to the second axis. Work is performed in collaboration with a worker on the work piece by means of an end effector that is mounted at a tip of the arm section. The base is disposed so that a moveable region of the arm section accompanying rotation around the first axis and the second axis and linear extension and retraction along the third axis overlaps with a working region of the worker. | ||||||
| 115 | LINEAR EXTENSION AND RETRACTION MECHANISM AND ROBOT ARM MECHANISM | US15634595 | 2017-06-27 | US20170291309A1 | 2017-10-12 | Woo-Keun YOON; Hikaru SANO |
| A linear extension and retraction mechanism includes a plurality of first connection pieces coupled together bendably; and a plurality of second connection pieces coupled together bendably, wherein back faces of the first connection pieces and back faces of the second connection pieces are overlapped each other, thereby generally forming a columnar body by constraining bending, and the columnar body is relaxed when the first and second connection pieces are separated from each other, the linear extension and retraction mechanism further including an ejection section adapted to support the columnar body. | ||||||
| 116 | ROBOT ARM MECHANISM | US15605330 | 2017-05-25 | US20170259435A1 | 2017-09-14 | Woo-Keun YOON |
| A purpose is to reduce the risk of an arm section dropping off an ejection section in a robot arm mechanism having a linear motion joint. A robot arm mechanism including a linear extension and retraction joint includes a linear motion joint including an arm section and a mechanism for linearly extending and retracting the arm section; a stepping motor configured to generate power for linearly extending and retracting the arm section; a motor driver configured to drive the stepping motor; an encoder configured to output an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle; and a control section configured to control the driver unit to generate a static torque when a length of the arm section corresponding to a count of the encoder pulse reaches a threshold value set for preventing a drop of the arm section. | ||||||
| 117 | POINT OF CONTROL REMOTE-ACTUATION APPARATUS AND METHODS | US15482361 | 2017-04-07 | US20170210014A1 | 2017-07-27 | Robert L. Stevenson |
| Apparatus and methods for remote (at a distance) actuation of points of control, such as valves and switches. Controlling a switch or valve at a distance is achieved by a support member having a movable portion, with the moveable portion including an elongate member, and a drive mechanism in communication with the moveable portion. A motor, hand crank, or other force transmission apparatus acts to move the drive mechanism and thus the movable portion and elongate member such that a valve or switch is actuated at a distance. | ||||||
| 118 | Robot hand and robot device | US14036086 | 2013-09-25 | US09539728B2 | 2017-01-10 | Takashi Nammoto; Kazuhiro Kosuge; Kengo Yamaguchi; Kosuke Hara |
| A robot hand includes a finger unit that includes a first knuckle section that is supported to a predetermined base section and a second knuckle section that is supported to the first knuckle section; a drive section that includes a male screw that is rotatable around a predetermined screw axis by a predetermined drive source and a female screw that is screw-coupled with the male screw and moves in an axial direction of the screw axis according to rotation of the male screw, in which the female screw and the first knuckle section are connected to each other so that the first knuckle section moves in association with movement of the female screw; and a link section that connects the first knuckle section and the second knuckle section so that the second knuckle section moves in association with movement of the first knuckle section. | ||||||
| 119 | Substrate transfer antechamber mechanism | US14647685 | 2013-10-29 | US09524895B2 | 2016-12-20 | Shiro Hara; Hitoshi Maekawa |
| There is provided a substrate transfer antechamber mechanism for a compact manufacturing apparatus that produces various types of devices in small volume using a small-diameter processing substrate at low cost. A container placement table, on which a wafer transfer container housing a semiconductor wafer is placed, is provided on an upper surface of an apparatus antechamber for a compact semiconductor manufacturing apparatus, and the apparatus antechamber includes therein a wafer elevating mechanism and a horizontal transfer mechanism. The wafer elevating mechanism moves down while holding from below a delivery bottom of the wafer transfer container, on which the semiconductor wafer remains placed, to transfer the semiconductor wafer into the apparatus antechamber. The horizontal transfer mechanism transfers the semiconductor wafer into a processing chamber using a transfer arm that receives the semiconductor wafer from the delivery bottom and extends. | ||||||
| 120 | Robotic arm | US14728765 | 2015-06-02 | US09481096B2 | 2016-11-01 | Andrew A. Goldenberg; Brent Bailey; Matthew Gryniewski; Xiaojia He; Yi Yang |
| A robotic arm includes a first link and a first joint. The first link has internal link cables extending from one end to an opposed end thereof. The first joint is operably connected to the first link at one end thereof. The first joint has a hollow drive shaft, an off axis drive 121 and a first joint motor and first joint internal cables extending through the hollow drive shaft. The link cables and the first joint cables are operably connected. The robotic arm may further include a second joint operably connected to the first link. The second joint module has an active side, a passive side with electronic connectors, second joint internal cables, and a second joint motor and the active side is mechanically connected to the link and the electronic connectors of the passive side are operably connected to the link cables. | ||||||
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