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1. 发明授权

US08958907B2 Robot arm apparatus 有权
标题翻译：机器人手臂装置
公开(公告)号：US08958907B2
公开(公告)日：2015-02-17
申请号：US13426050
申请日：2012-03-21
申请人： Toru Saeki , Yasumichi Mieno , Yuji Urabe , Toshio Kamigaki , Yoji Masui
发明人： Toru Saeki , Yasumichi Mieno , Yuji Urabe , Toshio Kamigaki , Yoji Masui
IPC分类号： G06F19/00 , H01L21/68 , H01L21/677 , H01L21/687
CPC分类号： H01L21/681 , H01L21/67742 , H01L21/68707 , Y10S414/135 , Y10S414/137 , Y10S414/141
摘要： A robot arm apparatus includes an arm mechanism including a base member and a link pivotally connected to the base member for pivotal motion in a horizontal plane through a rotational shaft. The link holds a regular circular transport object at its distal end. The apparatus also includes an edge detector, provided on the base member, that detects two edges of the regular circular transport object as the link pivotally rotates with respect to the base member, a pivotal angle detector that detects a pivotal angle of the link with respect to the base member, and a center position calculator that calculates a center position of the regular circular transport object with respect to the link. The calculation is based on two pivotal angles detected by the pivotal angle detector when the edge detector detects the two edges of the regular circular transport object.
摘要翻译：机器人手臂装置包括臂机构，其包括基部构件和枢转地连接到基座构件的连杆，用于通过旋转轴在水平面中的枢转运动。该链路在其远端保持规则的圆形运输物体。该装置还包括边缘检测器，该边缘检测器设置在基部构件上，当检测到相对于基座构件枢转地旋转时，其检测到规则的圆周运送物体的两个边缘;枢轴角度检测器，其检测连杆的枢转角度以及中心位置计算器，其计算相对于链接的规则圆形运送物体的中心位置。当边缘检测器检测到规则圆形传送物体的两个边缘时，该计算基于由枢转角度检测器检测到的两个枢转角度。

2. 发明申请

US20120253511A1 ROBOT ARM APPARATUS 有权
标题翻译：机器人ARM设备
公开(公告)号：US20120253511A1
公开(公告)日：2012-10-04
申请号：US13426050
申请日：2012-03-21
申请人： Toru SAEKI , Yasumichi Mieno , Yuji Urabe , Toshio Kamigaki , Yoji Masui
发明人： Toru SAEKI , Yasumichi Mieno , Yuji Urabe , Toshio Kamigaki , Yoji Masui
IPC分类号： B25J9/06 , B25J18/00
CPC分类号： H01L21/681 , H01L21/67742 , H01L21/68707 , Y10S414/135 , Y10S414/137 , Y10S414/141
摘要： A robot arm apparatus includes an arm mechanism including a base member and a link pivotally connected to the base member for pivotal motion in a horizontal plane through a rotational shaft. The link holds a regular circular transport object at its distal end. The apparatus also includes an edge detector, provided on the base member, that detects two edges of the regular circular transport object as the link pivotally rotates with respect to the base member, a pivotal angle detector that detects a pivotal angle of the link with respect to the base member, and a center position calculator that calculates a center position of the regular circular transport object with respect to the link. The calculation is based on two pivotal angles detected by the pivotal angle detector when the edge detector detects the two edges of the regular circular transport object.
摘要翻译：机器人手臂装置包括臂机构，其包括基部构件和枢转地连接到基座构件的连杆，用于通过旋转轴在水平面中枢转运动。该链路在其远端保持规则的圆形运输物体。该装置还包括边缘检测器，该边缘检测器设置在基部构件上，当检测到相对于基座构件枢转地旋转时，其检测到规则的圆周运送物体的两个边缘;枢轴角度检测器，其检测连杆的枢转角度以及中心位置计算器，其计算相对于链接的规则圆形运送物体的中心位置。当边缘检测器检测到规则圆形传送物体的两个边缘时，该计算基于由枢转角度检测器检测到的两个枢转角度。

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