WIPO – 检索国际和国家专利汇编

1.WO/2024/096952WORKPIECE HANDLING ARCHITECTURE FOR HIGH WORKPIECE THROUGHPUT

WO - 10.05.2024

国际分类 H01L 21/677 申请号 PCT/US2023/032516 申请人 APPLIED MATERIALS, INC. 发明人 SCHALLER, Jason M.

A system for transferring semiconductor workpieces from a load lock to an orientation station and on to a platen is disclosed. The system comprises two load locks, two robots, and one orientation station. Each robot is associated with a respective load lock and follows a fixed sequence. The robot returns a processed workpiece to the load lock and also removes an unprocessed workpiece. The robot then moved to the orientation station, where it removes an aligned workpiece from the orientation station and deposits the unprocessed workpiece on the orientation station. Next, the robot moves to the platen, where it removes a processed workpiece and deposits the aligned workpiece. The robot then returns to the load lock and repeats this sequence.

2.WO/2024/095827OPERATION PATH SETTING DEVICE AND PROGRAM

WO - 10.05.2024

国际分类 B25J 13/00 申请号 PCT/JP2023/038334 申请人 KYOCERA CORPORATION 发明人 MIYAMOTO Takuya

This operation path setting device comprises a priority setting unit, a determination unit, and a path setting unit. The priority setting unit sets a priority of use of each of a plurality of operation path candidates. The determination unit selects at least one operation priority candidate from among the plurality of operation path candidates on the basis of the priorities of use, and performs an interference determination process for determining, with respect to the selected operation path candidate, whether a robot interferes with an obstacle. The path setting unit sets an operation path of the robot on the basis of the operation path candidate on which it is determined by the determination unit that the robot is not interfering with the obstacle.

3.WO/2024/093532机器人的控制方法、装置、机器人及存储介质

WO - 10.05.2024

国际分类 B25J 9/16 申请号 PCT/CN2023/118082 申请人 TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED 发明人 ZHOU, Cheng

一种机器人的控制方法，包括：在机器人的末端执行器（11）向目标物体（12）移动的过程中，控制机器人的末端执行器（11）与目标物体（12）产生碰撞(210)；控制末端执行器（11）与目标物体（12）产生相对旋转，以将目标物体（12）调整到适合末端执行器（11）抓取的目标位姿(220)；在目标物体（12）调整到目标位姿之后，控制末端执行器（11）抓取目标物体(230)；其中，从末端执行器（11）与目标物体（12）产生碰撞，到末端执行器（11）抓取目标物体（12）的完整阶段，末端执行器（11）处于运动状态。能够实现机器人动态抓取物体，提升机器人抓取物体的控制效率。还提供了一种控制装置、机器人、末端执行器、计算机程序。

4.WO/2024/095122PROCESS FOR THE AUTOMATED HANDLING OF PRODUCTS TO BE STORED IN A STORAGE WAREHOUSE

WO - 10.05.2024

国际分类 B65G 1/04 申请号 PCT/IB2023/060900 申请人 G.D S.P.A. 发明人 TAGLIAVINI, Marco

The invention relates to a process for the automated handling of products to be stored in a storage warehouse (30). The process comprises placing said products in a transport tray (14) provided at a product receiving station (10), separating the products from each other according to product type. Subsequently, the transport tray (14) is transferred from the product receiving station (10) to an intermediate automatic warehouse (20) by a first automatic driven vehicle (50) and is stored in a predefined location within the intermediate automatic warehouse (20). When the storage warehouse (30) is ready to receive the products placed in the transport tray (14), a request to withdraw the transport tray (14) is sent to the intermediate automatic warehouse (20) and, following the sending of this withdrawal request, the transport tray (14) is transferred from the intermediate automatic warehouse (20) to the storage warehouse (30) by an automatic driven vehicle (50) which may or may not coincide with the first automatic driven vehicle (50). Subsequently, the products are picked up from the transport tray (14) and put in a collection tray provided at the storage warehouse (30). This collection tray is then stored in a predefined location within the storage warehouse (30).

5.WO/2024/093422动力盒及控制臂

WO - 10.05.2024

国际分类 B25J 9/12 申请号 PCT/CN2023/112199 申请人 AGIBOT MEDTECH (SUZHOU) CO., LTD. 发明人 WANG, Yupu

本公开涉及一种动力盒及控制臂，动力盒包括固定板及多个电机，电机的机体设于固定板，输出轴伸出固定板，还包括控制器及与多个编码器，其中：编码器与电机一一对应，包括环形光栅盘及读数头，光栅盘套设于输出轴，光栅盘朝向固定板的表面上具有多圈刻度线，多圈刻度线同心，且在周向上相邻两圈的刻度线两两错位设置，读数头设于固定板且位于刻度线的正下方；控制器设于固定板，控制器与电机及读数头通信连接，控制器被配置为根据刻度信息控制电机的转动，刻度信息为读数头所采集的与刻度线对应的信息。减小了累计误差及精度损失，提升了精度可实现故障快速恢复，节省手术时间。

6.WO/2024/096152ROBOT

WO - 10.05.2024

国际分类 B25J 9/00 申请号 PCT/KR2022/016935 申请人 LG ELECTRONICS INC. 发明人 LEE, Seungyup

A robot is disclosed. A robot comprises: a body which provides an accommodation space therein and has an upper side that is partially open; and a head which is located on the open upper side and is rotatable with respect to the body, wherein the head may comprise: a housing which reciprocates in the body toward the open part of the body; a first motor which is fixed to the housing and provides a rotating force; and a cap which is connected to the first motor to rotate, and opens/closes the open part of the body due to the movement of the housing.

7.WO/2024/093858球形机器人

WO - 10.05.2024

国际分类 B62D 57/02 申请号 PCT/CN2023/127454 申请人 HANGZHOU CITY UNIVERSITY 发明人 WAN, Anping

一种球形机器人，包括球体(30)，球体(30)内部设有驱动机构(31)，所述的球体(30)包括行走环(7)和球面(11)；所述的驱动机构(31)包括设置在球体(30)内部的支撑环(1)，所述的支撑环(1)内设有基座(32)，基座(32)上设有视觉模块(2)和主控板(3)。该球形机器人具有较好的结构稳定性和动态平衡性，能够适用于多种复杂场景。

8.WO/2024/096183PICKING SYSTEM INCLUDING SERVER FOR ASSIGNING TASK AND ROBOT FOR PERFORMING DELIVERY ACCORDING TO ASSIGNED TASK

WO - 10.05.2024

国际分类 B25J 11/00 申请号 PCT/KR2022/018755 申请人 TWINNY CO., LTD. 发明人 JEON, Seol Hee

Disclosed is a task performance method of a system configured to perform a task on a delivery object using a plurality of robots assisting a worker. The task performance method of a system includes assigning, by the server, at least one task of a plurality of tasks stored in advance to a first robot among the plurality of robots, determining, by the server, a path for arranging the first robot to a first location in which at least one delivery object related to the task assigned to the first robot is stored, guiding, by the server, the first robot to the first location according to the determined path, and guiding, by the server, the first robot arranged in the first position to a second position.

9.WO/2024/094774GREIF- ODER SPANNVORRICHTUNG ZUM GREIFEN ODER SPANNEN VON GEGENSTÄNDEN IN UNTERSCHIEDLICHEN BETRIEBSMODI UND VERFAHREN HIERFÜR

WO - 10.05.2024

国际分类 B25J 9/16 申请号 PCT/EP2023/080509 申请人 SCHUNK SE & CO. KG SPANNTECHNIK GREIFTECHNIK AUTOMATISIERUNGSTECHNIK 发明人 NEITZLE, Sebastian

Greif- oder Spannvorrichtung (10) zum Greifen oder Spannen von Gegenständen und zugehöriges Verfahren (200), mit wenigstens einer und vorzugsweise zwei aufeinander zu und voneinander weg verfahrbaren Grundbacken (14, 16), mit einem Antrieb (22) zum Antreiben der wenigstens einen Grundbacke (14, 16), mit einer Steuereinheit (20), umfassend einen Controller (72) zum Erzeugen von den Antrieb (22) ansteuernden Steuersignalen (80, 82, 84), einen Speicher (74), in dem Befehle und Kenngrößen (75) hinterlegt sind und eine Kommunikationsschnittstelle (70) zum Empfangen von vorgebbaren Greifparametern (78), wobei die Steuereinheit (20) derart eingerichtet ist, dass im Speicher (74) Befehle für wenigstens zwei unterschiedliche Betriebsmodi zum Betreiben der Greif- oder Spannvorrichtung (10) gespeichert sind, die dann, wenn sie durch den Controller (72) abgearbeitet werden, den Controller (72) dazu veranlassen Steuersignale (80, 82, 84) für den jeweiligen Betriebsmodus zu erzeugen, wobei die Auswahl für welchen Betriebsmodi Steuersignale (80, 82, 84) erzeugt werden in Abhängigkeit von mindestens einem vorgebbaren Greifparameter (78) und von mindestens einer im Speicher (74) hinterlegten Kenngrößen (75) erfolgt.

10.WO/2024/095120PROCESS FOR THE AUTOMATED HANDLING OF PRODUCTS WITHIN A PLANT

WO - 10.05.2024

国际分类 B25J 9/16 申请号 PCT/IB2023/060898 申请人 G.D S.P.A. 发明人 GIUSTI, Andrea

The invention relates to a plant (100) comprising a workstation (32a) which in turn comprises a first robotic arm (34) and a plurality of gripping tools (45) and to a process for the automated handling of products (20) within the plant (100). The process provides for arranging the products (20) randomly on a service plane (37) of the workstation (32a); acquiring an image of the products (20) arranged on the service plane (37) and obtaining, by processing said image, geometric characteristics of each of the products (20) arranged on the service plane (37). For each of said products (20), the process also provides for identifying, on the basis of the respective geometric characteristics which have been obtained, a respective gripping tool (45) among said plurality of gripping tools (45); associating the respective identified gripping tool with the first robotic arm (34); and moving the first robotic arm (34) to grasp the product (20) by the respective gripping tool (45), moving the grasped product (20) from said service plane (37) to an operating station (39) of the plant (100) and releasing the product (20) in said operating station (39) by the respective gripping tool (45).

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