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1. 发明授权

US6121743A Dual robotic arm end effectors having independent yaw motion 有权
标题翻译：具有独立偏航运动的双机器人臂端执行器
公开(公告)号：US6121743A
公开(公告)日：2000-09-19
申请号：US129110
申请日：1998-08-04
申请人： Genco Genov, deceased , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
发明人： Genco Genov, deceased , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
IPC分类号： B25J9/06 , B25J9/04 , B25J9/10 , B25J9/16 , B25J9/18 , B25J17/00 , G05B19/18 , H01L21/677 , H01L21/68
CPC分类号： B25J9/042 , B25J9/1615 , G05B2219/40242 , G05B2219/45031 , Y10S414/137
摘要： An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. At least two independent end effectors are pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding independent yaw motors for rotating the end effectors independently.
摘要翻译：在包括至少两个连杆的机器人臂结构中提出了一个改进。围绕最近端部的近端部分处的主轴设置θ运动。 R运动从主轴径向延伸，从而链节的最远端的远端部分可以沿径向延伸的直线移动。至少两个独立的端部执行器枢转地安装成相对于最远端连杆的远端部分围绕平行于主轴线的端部执行器轴线旋转。通过添加独立的偏转马达来独立旋转末端执行器来改善结构。

2. 发明授权

US06037733A Robot having multiple degrees of freedom 失效
标题翻译：机器人有多个自由度
公开(公告)号：US06037733A
公开(公告)日：2000-03-14
申请号：US79850
申请日：1998-05-15
申请人： Genco Genov , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
发明人： Genco Genov , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
IPC分类号： B25J9/10 , B25J9/06 , B25J9/16 , B25J9/18 , G05B19/18
CPC分类号： B25J9/1615 , G05B2219/40242 , Y10S414/136 , Y10S414/137 , Y10S700/90
摘要： An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R, .theta., Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R, .theta., Z and yaw, roll and/or pitch motions. Non-radial straight line motion and indeed, in certain embodiments any desired three-dimensional motion, is thereby enabled as is picking up of workpieces such as semiconductor wafers, flat panel displays and data storage disks, which are misaligned in cassettes or at workstations and/or are in cassettes which are misaligned and/or aligned and set up at an angle relative to the usual plane of operation of the arm.
摘要翻译：在包括至少两个连杆的机器人臂结构中提出了一个改进。围绕最近端部的近端部分处的主轴设置θ运动。 R运动从主轴径向延伸，从而链节的最远端的远端部分可以沿径向延伸的直线移动。端部执行器枢转地安装成相对于最远端连杆的远端部分围绕平行于主轴线的端部执行器轴线旋转。通过添加一个或多个偏转马达，滚动马达和俯仰马达来改善该结构，以使臂的手腕围绕各个轴线旋转。传感器阵列感测R，θ，Z和偏航，滚动和/或俯仰运动，并创建和发送代表它的电子信号到计算机控制器，该计算机控制器监视和控制R，θ，Z和偏航，滚动和/或俯仰运动。因此，非径向直线运动，实际上在某些实施例中，任何期望的三维运动都能够像在半导体晶片，平板显示器和数据存储盘等工件上拾取一样，这些工件在盒式磁带或工作站中是不对准的， /或在相对于通常的手臂操作平面成一定角度的未对准和/或排列和设置的盒中。

3. 发明授权

US06489741B1 Robot motion compensation system 有权
标题翻译：机器人运动补偿系统
公开(公告)号：US06489741B1
公开(公告)日：2002-12-03
申请号：US09635732
申请日：2000-08-09
申请人： Genco Genov , Zlatko M. Sotirov , Eugene Bonev
发明人： Genco Genov , Zlatko M. Sotirov , Eugene Bonev
IPC分类号： G05B1300
CPC分类号： B25J9/1615 , B25J9/163 , B25J9/1638 , G05B2219/39006 , G05B2219/39176 , G05B2219/39298 , G05B2219/40243 , G05B2219/40296 , G05B2219/40419 , G05B2219/45026 , G05B2219/45056
摘要： Motion of a substrate-transporting robot arm is controlled in order to compensate for inaccuracies and deflections encountered during operation. The compensation is effected by synchronizing elevational and planar motions of the robot arm such that the trajectory of the substrate is made coincident with the object axis of the substrate. The substrate may be a semiconductor wafer, an LCD panel or an end effector of the robot arm. The synchronized motion is achieved using a controller issuing control signals to arm actuating means based on synchronization algorithms developed during analytical or experimental robot learning sessions.
摘要翻译：控制基板输送机器人手臂的运动，以补偿操作过程中遇到的不准确和偏差。补偿通过使机器人手臂的垂直和平面运动同步，使得基板的轨迹与基板的物体轴线一致。衬底可以是机器人臂的半导体晶片，LCD面板或端部执行器。基于在分析或实验机器人学习过程中开发的同步算法，使用控制器发出控制信号来实现同步运动。

4. 发明授权

US5789890A Robot having multiple degrees of freedom 失效
标题翻译：机器人有多个自由度
公开(公告)号：US5789890A
公开(公告)日：1998-08-04
申请号：US788898
申请日：1997-01-23
申请人： Genco Genov , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
发明人： Genco Genov , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
IPC分类号： B25J9/10 , B25J9/06 , B25J9/16 , B25J9/18 , G05B19/18 , B25J5/00 , G05B19/10
CPC分类号： B25J9/1615 , G05B2219/40242 , Y10S414/136 , Y10S414/137 , Y10S700/90
摘要： An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more of a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R, .theta., Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R, .theta., Z and yaw, roll and/or pitch motions. Non-radial straight line motion and indeed, in certain embodiments any desired three-dimensional motion, is thereby enabled as is picking up of workpieces such as semiconductor wafers, flat panel displays and data storage disks, which are misaligned in cassettes or at workstations and/or are in cassettes which are misaligned and/or aligned and set up at an angle relative to the usual plane of operation of the arm.
摘要翻译：在包括至少两个连杆的机器人臂结构中提出了一个改进。围绕最近端部的近端部分处的主轴设置θ运动。 R运动从主轴径向延伸，从而链节的最远端的远端部分可以沿径向延伸的直线移动。端部执行器枢转地安装成相对于最远端连杆的远端部分围绕平行于主轴线的端部执行器轴线旋转。通过添加偏转马达，滚动马达和俯仰马达中的一个或多个来改善结构，用于围绕各个轴旋转手腕。传感器阵列感测R，θ，Z和偏航，滚动和/或俯仰运动，并创建和发送代表它的电子信号到计算机控制器，该计算机控制器监视和控制R，θ，Z和偏航，滚动和/或俯仰运动。因此，非径向直线运动，实际上在某些实施例中，任何期望的三维运动都能够像在半导体晶片，平板显示器和数据存储盘等工件上拾取一样，这些工件在盒式磁带或工作站中是不对准的， /或在相对于通常的手臂操作平面成一定角度的未对准和/或排列和设置的盒中。

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