Abstract: A substrate transport robot includes: a base installed inside a transport chamber; an arm; a first hand and a second hand rotatable about a vertical hand axis and configured to support a substrate; and a controller. The controller performs: a first transfer process of causing the first hand to enter from the transport chamber into a storage chamber, and transferring the substrate between the first hand and a placing portion in the storage chamber; an exit process of causing the first hand to exit the storage chamber into the transport chamber; and a second transfer process of causing the second hand to enter from the transport chamber into the storage chamber. In the exit process, the hand axis moves away from a center line of an opening, such that the hand axis is farther from the center line than a reference position of the first hand is.
August 22, 2019
Date of Patent:
June 8, 2021
KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS (USA), INC.
Abstract: A robot and a working method by the robot is capable of favorably carrying out a specific work without requiring a jig for fixing an object, such as a workpiece etc., a device for adjusting the posture of the object, etc. One example of the robot includes a first robotic arm having at a tip end a hand part according to a specific work to be performed to an object, and a second robotic arm having at a tip end a hand part according to an assisting work to assist the specific work. The first robotic arm is configured to perform the specific work to the object. The second robotic arm is configured to perform the assisting work to regulate a movement of the object in a given direction, when the first robotic arm performs the specific work.
Abstract: A manipulation device and a manipulation system of a simpler configuration. A manipulation device includes an input part configured to receive an input of an operational instruction by an operator in order to operate a manipulating target, and a speaker configured to receive a signal based on vibration detected at the manipulating target and generate vibration based on the received signal. The vibration generated by the speaker is transmitted to the operator through at least a part of the input part.
Abstract: A railcar bogie includes: a cross beam extending in a car width direction; a first traction motor supported by a first car longitudinal direction portion of the cross beam; a second traction motor supported by a second car longitudinal direction portion of the cross beam; and a coupling member arranged under the cross beam and between the first traction motor and the second traction motor and coupling the first traction motor and the second traction motor to each other.
Abstract: An AUV includes: an underwater vehicle main body configured to sail along an inspection object located in water or on the bottom of the water; an arm extending from the underwater vehicle main body; an inspection tool portion including a contact portion configured to contact the inspection object and an inspection device configured to inspect the inspection object; and a passive joint provided between the arm and the inspection tool portion and configured to allow passive rotation of the inspection tool portion relative to the arm about at least one axis.
Abstract: A robot system includes an operating device that receives an operation instruction from an operator, a real robot that is installed in a work space and performs a series of works constituted of a plurality of steps, a camera configured to image the real robot, a display device configured to display video information of the real robot imaged by the camera and a virtual robot, and a control device, in which the control device is configured to operate the virtual robot displayed on the display device based on instruction information input from the operating device, and thereafter operate the real robot in a state that the virtual robot is displayed on the display device when operation execution information to execute an operation of the real robot is input from the operating device.
Abstract: An articulated robot includes: different types of joint units, each including a stationary body, a stationary body-side mechanical connector for connection to another unit, a displaceable body coupled to the stationary body by a coupler, a displaceable body-side mechanical connector for connection to another unit, and an actuator to displace the displaceable body relative to the stationary body; and a control unit including a controller to control the actuator and a control unit mechanical connector for connection to another unit, wherein displacement undergone by the displaceable body-side mechanical connector relative to the stationary body-side mechanical connector differs depending on the type of the joint unit, the stationary body-side mechanical connector includes a first connection structure, the displaceable body-side mechanical connector and the control unit mechanical connector each include a second connection structure, and the first and the second connection structure are connectable to each other
August 24, 2018
May 27, 2021
KAWASAKI JUKOGYO KABUSHIKI KAISHA
Koji MUNETO, Shinji KITAMURA, Atsushi KAMEYAMA
Abstract: A surgical robot includes: a plurality of manipulator arms; a platform to which the plurality of manipulator arms are coupled; a positioner configured to change the position and posture of the platform; a controller configured to control the positioner; and a user interface. The user interface includes: first manipulation tools each configured to receive an input of manipulation which selects one of a plurality of operating modes for changing the position and posture of the platform; and a single second manipulation tool configured to receive an input of manipulation information regarding the position and posture. The controller generates a command regarding the position and posture of the platform based on the acquired manipulation information and the selected operating mode and operates the positioner based on the generated command.
Abstract: A hydraulic drive system includes a hydraulic pump, a boom-dedicated control valve, a turning-dedicated control valve, a boom-dedicated operation unit, a turning-dedicated operation unit, and a driving control unit.
November 20, 2018
May 27, 2021
KAWASAKI JUKOGYO KABUSHIKI KAISHA
Akihiro KONDO, Hideyasu MURAOKA, Jun UMEKAWA
Abstract: A joint structure for a robot includes a first link and a second link rotatably coupled to each other through a joint part and a linear-motion actuator coupling the first link to the second link at a part separated from the joint part. The linear-motion actuator has a casing, and a pair of first shaft parts integrally formed with an outer surface of the casing. The first link is supported by the first shaft part so as to be pivotable with respect to the linear-motion actuator. The first link relatively pivots to the second link by the linear-motion actuator reciprocating.
Abstract: A hybrid straddle vehicle comprises a hybrid traveling driving power unit including an engine and a traveling motor, the hybrid traveling driving power unit being configured to generate driving power for allowing the hybrid straddle vehicle to travel; a fuel tank which stores therein fuel to be supplied to the engine; and a battery unit which stores therein electric power to be supplied to the traveling motor. An outer end of the fuel tank in a vehicle width direction is located outward of the battery unit in the vehicle width direction.
Abstract: An angular transmission error identification system that identifies an angular transmission error of a speed reducer of a robot arm including a joint that is rotationally driven by a motor via the speed reducer, including an identification unit that calculates amplitude and phase parameters of an angular transmission error identification function, which is a periodic function that models an angular transmission error of the speed reducer and has the parameters, and identifies the error using the function, wherein the unit calculates an amplitude parameter corresponding to a gravitational torque current value which is a value acting on a joint when the error is identified using a first or second amplitude function according to a value of the gravitational torque current value, and calculates a phase parameter corresponding to the gravitational torque current value using a first or second phase function according to a value of the gravitational torque current value.
Abstract: An AUV support system includes: a surface ship; an underwater station configured to support an AUV which autonomously sails in water; and a cable connecting the surface ship and the underwater station. The cable includes: a first cable portion extending downward from the surface ship through a water surface when the underwater station is suspended in the water by the cable from the surface ship that is in a stop state on the water; a second cable portion extending upward from a lower end portion of the first cable portion when the underwater station is suspended as above; and a third cable portion extending downward from an upper end portion of the second cable portion and connected to the underwater station when the underwater station is suspended as above.
Abstract: A wave power generation system includes a wave receiving member, ram cylinder hydraulic pump device, change value sensor, accumulator device, hydraulic motor, power generator, and controller. The member is arranged near a virtual reflection surface that reflects a coming incident wave. The controller sets a torque command used when the generator generates electric power. Based on a differential value of a change value detected by the sensor and changes in accordance with a swing amount of the member, the controller determines whether the member is swinging toward a first or second side in a swing direction. When the controller determines the member is swinging toward the second side by receiving force of a reflected wave reflected by the virtual reflection surface, the controller changes the torque command from the command set when the controller determines the member is swinging toward the first side by receiving force of the incident wave.
February 6, 2019
Date of Patent:
May 18, 2021
THE UNIVERSITY OF TOKYO, KAWASAKI JUKOGYO KABUSHIKI KAISHA
Abstract: A flexible gear coupling includes two external gears and two internal gears meshing with the respective two external gears. A tooth root crowning radius of each external gear is smaller than a tooth tip crowning radius of the external gear. The external gear is formed such that a reference tooth height that is a tooth height at a tooth width direction middle position is smaller than an end tooth height that is a tooth height at a tooth width direction end position. A ratio of the end tooth height to the reference tooth height is set to 1.21 or more, and/or a ratio Rc/Rb of the tooth root crowning radius to the tooth tip crowning radius is set to 0.37 or less.
Abstract: A gas turbine engine, in which a compressed gas from a compressor is burned in a combustor and obtained combustion gas drives a turbine, includes: a compressed gas supply portion configured to supply the compressed gas obtained from the compressor to the combustor; an annular dividing guide body disposed in a diffuser that forms an upstream-side portion of the compressed gas supply portion, the dividing guide body being configured to divide the compressed gas in a radial direction; and a guide support body that supports the dividing guide body on an inner diameter side wall of the compressed gas supply portion.
Abstract: A casing that can be compatible with plural types of substrates and a method for mounting a substrate to a casing are provided. The casing includes, in the inside of the casing, a substrate support portion and a substrate support body. The substrate support portion has a first support portion that can support a first substrate at a first substrate support position in the casing. The substrate support body has a second support portion that can support a second substrate at the first substrate support position.
Abstract: A substrate conveying robot has a robot arm including an end effector having a substrate holding unit holding a substrate, arm drive unit for driving the robot arm, an elevating drive unit for elevatingly driving the end effector, a robot control unit controlling the arm drive unit, the elevating drive unit, and the substrate holding unit, and a substrate detection unit having a substrate detection unit which detects a vertical position of the substrate and elevates coordinately with an elevating operation of the end effector. By this configuration, a vertical position of a substrate to be conveyed is detected with high accuracy so that a robot operation can be controlled based on the detection result.
Abstract: A hydraulic circuit of a construction machine includes: a first pump line that connects a delivery port of a pump to a pump port of a first direction-switching valve; a second pump line that is branched off from the first pump line and is connected to a pump port of a second direction-switching valve; and a priority valve provided on the second pump line. The priority valve is configured to: fully open the second pump line when a pressure difference between a delivery pressure of the pump and a load pressure of a first actuator is greater than a setting value; and decrease an opening degree of the second pump line in accordance with decrease in the pressure difference when the pressure difference is less than the setting value.