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1. 发明授权

US06354167B1 Scara type robot with counterbalanced arms 失效
标题翻译：具有平衡臂的Scara型机器人
公开(公告)号：US06354167B1
公开(公告)日：2002-03-12
申请号：US09603600
申请日：2000-06-26
申请人： Jeffrey M. Snow
发明人： Jeffrey M. Snow
IPC分类号： B25J1800
CPC分类号： B25J9/042 , B25J9/046 , B25J9/104 , B25J19/002 , Y10S414/13 , Y10T74/20305 , Y10T74/20317 , Y10T74/20323
摘要： A SCARA type robot with counterbalanced arms and tilting base. This apparatus enables accurate planar movement of a probe. Weak or flexible foundations or footings do not affect positioning accuracy of the probe. Positioning accuracy, relative to the movement plane, of a probe is unaffected by positions of the arms. At any angle of the probe movement plane the counterbalanced arms allow the same size drive motors, torque transmission devices, and drive electronics. These features make the invention very useful for on-site or portable near-field testing of antennas. A manipulator may be used in place of the probe. Most of the benefits will be retained if load variations on the manipulator are kept small.
摘要翻译：具有平衡臂和倾斜底座的SCARA型机器人。该装置能够精确地平移探针。弱或灵活的基础或基础不会影响探头的定位精度。相对于移动平面的探针的定位精度不受臂的位置的影响。在探头移动平面的任何角度，平衡臂允许相同尺寸的驱动电机，扭矩传递装置和驱动电子装置。这些特征使得本发明对于天线的现场或便携式近场测试非常有用。可以使用操纵器代替探针。如果操纵器上的负载变化很小，大部分的益处将被保留。

2. 发明授权

US06336375B1 Coordinate positioning machine 有权
标题翻译：坐标定位机
公开(公告)号：US06336375B1
公开(公告)日：2002-01-08
申请号：US09599609
申请日：2000-06-23
申请人： David R McMurtry , Nicholas A James
发明人： David R McMurtry , Nicholas A James
IPC分类号： B25J1800
CPC分类号： B23Q1/5462 , B23Q1/626 , G05B2219/37275 , G05B2219/50162 , Y10T74/20305 , Y10T74/20335 , Y10T74/20341
摘要： A coordinate positioning machine comprises a fixed structure including a table and a supporting frame, rigidly connected together. A movable arm is suspended from the frame by means of three powered telescopic struts, each of which is universally pivotally connected to both the arm and the frame. As a consequence, the movable arm is able to move with three rotational degrees of freedom. Movement of the arm with each of these degrees of freedom is constrained by a passive device, connected to the arm and the fixed structure, and which eliminates all rotational movement of the arm, while simultaneously permitting translation thereof.
摘要翻译：坐标定位机包括一个固定结构，包括一个刚性连接在一起的工作台和一个支撑框架。可移动臂通过三个动力伸缩支柱悬挂在框架上，每个支撑杆通常可枢转地连接到臂和框架。因此，可移动臂能够以三个旋转自由度移动。具有这些自由度中的每一个的臂的运动受到连接到臂和固定结构的无源装置的限制，并且消除了臂的所有旋转运动，同时允许其平移。

3. 发明授权

US06212968B1 SCARA robot 有权
标题翻译： SCARA机器人
公开(公告)号：US06212968B1
公开(公告)日：2001-04-10
申请号：US09353730
申请日：1999-07-14
申请人： Kenichiro Hiruma , Shinji Suzuki , Rika Miyazawa , Yoshihito Sakashita , Haruhiko Tanaka , Kikue Hosono
发明人： Kenichiro Hiruma , Shinji Suzuki , Rika Miyazawa , Yoshihito Sakashita , Haruhiko Tanaka , Kikue Hosono
IPC分类号： B25J1800
CPC分类号： B25J9/1602 , G05B2219/36399 , G05B2219/40301 , Y10T74/20317
摘要： Disclosed is a SCARA robot having a robot body, a mount movable vertically of the robot body, a first arm having one end operatively connected to the mount such that the first arm may turningly move in a horizontal plane, a second arm having one end operatively connected to the opposite end of the first arm such that the second arm may turningly move in a horizontal plane, and an R shaft rotatably mounted on the free end of the second arm, wherein stepping motors 12, 22, 32 and 42 are provided to move the first and second arms, the R-shaft and the mount respectively, and encoders are provided to count the stepping pulses of the stepping motors. The counted pulses are feedbacked to CPU1 so that the CPU1 may correct errors when the errors are detected between the counted number of pulses and a required number of pulses. When the errors are detected, the stepping motors may be stopped and the errors may be indicated.
摘要翻译：公开了一种具有机器人主体的机器人主体，可在机器人主体上垂直移动的安装件的第一臂，第一臂，其一端可操作地连接到安装件，使得第一臂可在水平面内转动，第二臂可操作地具有一端连接到第一臂的相对端，使得第二臂可以在水平面中转动，以及可旋转地安装在第二臂的自由端上的R轴，其中步进电动机12,22,32和42设置成分别移动第一和第二臂，R轴和安装座，并提供编码器来对步进电机的步进脉冲进行计数。计数的脉冲被反馈到CPU1，使得CPU1可以在计数的脉冲数与所需的脉冲数之间检测到错误时校正错误。当检测到错误时，可能停止步进电机并且可能会指示错误。

4. 发明授权

US06561056B2 Linear handling unit 有权
标题翻译：线性处理单元
公开(公告)号：US06561056B2
公开(公告)日：2003-05-13
申请号：US09733558
申请日：2000-12-08
申请人： Giuseppe Maffeis
发明人： Giuseppe Maffeis
IPC分类号： B25J1800
CPC分类号： F16C29/0671 , F15B15/1404 , F15B15/1471 , F16C29/005 , F16C29/0604 , F16C29/0616 , F16C29/12 , F16C33/61 , Y10T74/20305
摘要： A linear handling unit is provided with a first body (11), which carries opposite linear bearings (16) in the front and a fluid-type linear actuator (19). A second body carries, longitudinally, two lateral studs (29) for guiding and for coupling with the linear bearings for the movements of one body on the other. The linear actuator is connected to the second body. The studs (29) are arranged in two parallel, flexible-expandable flanges (26) integral with the second body carrying the studs. An adjusting bar (31) is arranged between the studs.
摘要翻译：线性处理单元设置有第一主体（11），其在前部承载相对的直线轴承（16）和流体型线性致动器（19）。第二主体纵向地承载两个横向螺柱（29），用于引导和用于与一个主体在另一个主体的移动的线性轴承联接。线性致动器连接到第二主体。螺柱（29）布置成两个平行的，柔性可扩张的凸缘（26），其与承载螺栓的第二主体成一体。螺栓之间布置有调节杆（31）。

5. 发明授权

US06558107B1 Robot arm mechanism 有权
标题翻译：机器人手臂机构
公开(公告)号：US06558107B1
公开(公告)日：2003-05-06
申请号：US09431140
申请日：1999-11-01
申请人： Chohei Okuno
发明人： Chohei Okuno
IPC分类号： B25J1800
CPC分类号： B25J9/107 , Y10S414/13 , Y10T74/20317
摘要： A robot arm mechanism includes a handling member for supporting and handling an object, a robot arm made up of at least four arm links, and a robot arm driving mechanism for driving the robot arm to assume its contracted and extended position. The robot arm comprises first and second arm links and a link retaining mechanism pivotably retaining the first and second arm links. The link retaining mechanism comprises first and second joint cross linkages similar in shape and each having two arms crossed to each other. The first joint cross linkage is integrally connected with one of the first and second arm links of the robot arm. The second joint cross linkage is integrally connected with the other one of the first and second arm links of the robot arm. This leads to the advantage of providing a robot arm mechanism exempt from driven gears, belts and pulleys forming part of a synchronous motion mechanism necessitated by conventional robot arm mechanisms to ensure that no dust is produced and fallen in a vacuum working chamber of highly pure air.
摘要翻译：机器人臂机构包括用于支撑和处理物体的处理构件，由至少四个臂连杆构成的机器人手臂，以及用于驱动机器人手臂以承受收缩和延伸位置的机器人手臂驱动机构。机器人臂包括第一和第二臂连杆以及可枢转地保持第一和第二臂连杆的连杆保持机构。连杆保持机构包括形状相似的第一和第二接头交叉连杆，并且每个具有彼此交叉的两个臂。第一关节交叉联动机构与机器人手臂的第一和第二臂连杆中的一个连接。第二关节交叉连接件与机器人臂的第一和第二臂连杆中的另一个一体连接。这导致了提供机器人手臂机构的优点，其免除从动齿轮，皮带和皮带轮，其形成常规机器人臂机构所需的同步运动机构的一部分，以确保在高纯度空气的真空工作室中不产生灰尘并落下。

6. 发明授权

US06520733B1 Substrate transport and apparatus 失效
标题翻译：基材运输和仪器
公开(公告)号：US06520733B1
公开(公告)日：2003-02-18
申请号：US09710889
申请日：2000-11-14
申请人： Hiroki Taniyama , Hiroyuki Ataka
发明人： Hiroki Taniyama , Hiroyuki Ataka
IPC分类号： B25J1800
CPC分类号： H01L21/67276 , H01L21/67742 , H01L21/67754 , Y10S134/902
摘要： A substrate transporting method including inputting process data and determining whether a number of units required for processing a wafer is an odd number or an even number. Depending on the number of units required for processing the wafer, steps of transporting the wafer, taking out the wafer from a cassette section, loading the wafer, unloading the wafer and loading the wafer into a cassette section are performed via predetermined arms and with predetermined processing units.
摘要翻译：一种基板传送方法，包括输入处理数据并确定处理晶片所需的单元数量是奇数还是偶数。根据处理晶片所需的单元数量，传送晶片的步骤，从盒部分取出晶片，装载晶片，卸载晶片并将晶片装载到盒部分中，经由预定的臂并且预定的处理单位。

7. 发明授权

US06662673B1 Linear motion apparatus and associated method 失效
标题翻译：线性运动装置及相关方法
公开(公告)号：US06662673B1
公开(公告)日：2003-12-16
申请号：US09684500
申请日：2000-10-06
申请人： Donald J. K. Olgado
发明人： Donald J. K. Olgado
IPC分类号： B25J1800
CPC分类号： C25D7/123 , C25D17/001 , C25D21/00 , H01L21/2885 , H01L21/67028 , H01L21/67051 , H01L21/6708 , H01L21/67126 , H01L21/6723 , H05K3/241 , Y10T29/49826 , Y10T74/20305
摘要： A guide apparatus comprising a plurality of guide linkages. Each one of the plurality of guide linkages comprises a pair of linkage members, each pair of the linkage members are rotatably connected about a guide pivot axis. The guide pivot axis of each guide linkage is arranged in a direction opposed to the direction of the guide pivot axis of the remainder of the guide linkages. In one aspect, each guide linkage is arranged between a robot platform or a cassette and a base such that extending each of the plurality of guide linkages acts to linearly displace the robot platform relative to the base while limiting tilting of the robot platform or the cassette. In another aspect a robot can extend its end effectors while limiting tilting of the end effectors.
摘要翻译：一种引导装置，包括多个引导连杆。多个引导连杆中的每一个包括一对连杆构件，每对连杆构件围绕导向枢转轴线可旋转地连接。每个引导连杆的引导枢转轴线布置在与引导连杆的其余部分的引导枢转轴线的方向相反的方向上。在一个方面，每个引导联动装置被布置在机器人平台或盒和基座之间，使得延伸多个引导连接件中的每个引导连杆起作用以使机器人平台相对于基座线性移位，同时限制机器人平台或盒的倾斜。在另一方面，机器人可以延伸其末端执行器，同时限制末端执行器的倾斜。

8. 发明授权

US06481309B2 Transfer arm 有权
标题翻译：转臂
公开(公告)号：US06481309B2
公开(公告)日：2002-11-19
申请号：US09739400
申请日：2000-12-19
申请人： Toshihiko Mitsuyoshi
发明人： Toshihiko Mitsuyoshi
IPC分类号： B25J1800
CPC分类号： B25J9/107 , B25J9/1065 , Y10S414/13 , Y10T74/20305
摘要： A transfer arm is formed of a first short link, a first parallel link pivotally connected to the first short link, a second short link pivotally connected to the other ends of the first parallel link, a second parallel link pivotally connected to the second short link, and a third short link pivotally connected to the second parallel link. A linear guide is integrally formed with the first short element to extend in a direction perpendicular to the first short link. One link element of the second parallel link extends and is linearly slidably attached to the linear guide. A holding plate is connected to the third short link to be moved linearly according to a rotation of a drive shaft connected to the first parallel link while deforming parallelograms formed by the first and second parallel lines.
摘要翻译：传递臂由第一短连杆，枢转地连接到第一短连杆的第一平行连杆，枢转地连接到第一平行连杆的另一端的第二短连杆构成，第二平行连杆枢转地连接到第二短连杆以及枢转地连接到第二平行连杆的第三短连杆。线性引导件与第一短元件一体地形成，以在垂直于第一短连接件的方向上延伸。第二平行连杆的一个连接元件延伸并且线性地可滑动地附接到线性引导件。保持板连接到所述第三短连杆，以根据连接到所述第一平行连杆的驱动轴的旋转线性移动，同时使由所述第一和第二平行线形成的平行四边形变形。

9. 发明授权

US06279413B1 Articulated robot 失效
标题翻译：铰接式机器人
公开(公告)号：US06279413B1
公开(公告)日：2001-08-28
申请号：US09434160
申请日：1999-11-04
申请人： Akihiro Terada , Toshinari Tamura , Hisashi Ogawa , Takahiro Hase
发明人： Akihiro Terada , Toshinari Tamura , Hisashi Ogawa , Takahiro Hase
IPC分类号： B25J1800
CPC分类号： B25J19/0029 , Y10S414/13 , Y10S414/131 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： A first arm (3) of a articulated robot has a double arm structure composed of a first arm piece (3a) and a second arm piece (3b). The first arm piece (3a) transmits a drive force, and a housing (4a) of a second arm (4) is rotatably mounted to the first arm piece (3a) at the end thereof. The second arm piece (3b) houses cables and pipes or the like, and a cover (4b) of the housing (4a) is rotatably mounted to the second arm piece at the end thereof. The cover (4b) is fixed to the housing (4a) through a fixing tool (6). The housing (4a) is permitted to be opened by separating the housing (4a) and the cover (4b) from each other by causing the second arm piece (3b) to rotate relatively to the first arm piece (3a) after the removal of the fixing tool (6).
摘要翻译：铰接机器人的第一臂（3）具有由第一臂片（3a）和第二臂片（3b）组成的双臂结构。第一臂片（3a）传递驱动力，第二臂（4）的壳体（4a）在其末端可旋转地安装到第一臂片（3a）。第二臂片（3b）容纳电缆和管子等，并且壳体（4a）的盖子（4b）在其末端可旋转地安装到第二臂片。盖（4b）通过固定工具（6）固定到壳体（4a）上。通过使第二臂片（3b）相对于第一臂片（3a）相对于第一臂片（3a）旋转，通过使壳体（4a）和盖（4b）彼此分离来允许壳体（4a）打开，固定工具（6）。

10. 发明授权

US06170358B2 Indexing mechanism 失效
标题翻译：索引机制
公开(公告)号：US06170358B2
公开(公告)日：2001-01-09
申请号：US09265879
申请日：1999-03-11
申请人： Stephen P Hunter , Colin M Felgate
发明人： Stephen P Hunter , Colin M Felgate
IPC分类号： B25J1800
CPC分类号： G01B5/008 , B23Q16/10 , G01B5/012 , Y10T74/1471 , Y10T74/1476
摘要： An indexing mechanism is provided to enable discrete angular displacement of a first body 10 relative to a second body 12. An intermediate body 22 is provided, and is rotatable relative to both the first and second bodies 10,12. Mutually engageable detent elements on the first and intermediate 10,22, and intermediate and second 22,12 bodies, provide indexing of the first body 10 relative to the intermediate body 22 and the intermediate body relative to the second body 12 respectively. The angular separations of adjacent indexed positions provided by the first and second sets of detent elements differ such that the first body 10 is indexable relative to the second body 12 in finer indexing increments than are provided by either the first or second detent elements individually. The detent elements may be provided by rings of gear teeth (Hirth Couplings), or circular arrays of elements providing mutually convergent surfaces (such as a ring of balls) that are engageable by three or more further elements (such as rollers).
摘要翻译：提供分度机构以使第一主体10相对于第二主体12能够离散的角位移。中间体22设置成可相对于第一和第二主体10,12转动。分别在第一和中间10,22以及中间和第二个22,12主体上的相互啮合的制动元件相对于第二主体12分别提供相对于中间体22和中间体的第一主体10的分度。由第一组和第二组止动元件提供的相邻的分度位置的角度间隔不同，使得第一主体10相对于第二主体12可转动的精度比分别由第一或第二定位元件提供的更精细的分度增量。制动元件可以由齿轮齿（Hirth联轴器）的环或提供可由三个或更多个其它元件（例如辊）接合的相互收敛的表面（例如球环）的圆形阵列提供。

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