A robot arm mechanism capable of structurally eliminating or reducing a singular point posture within a movable range has a plurality of joints. The first joint is a rotational joint that rotates on a first axis, a second joint is a rotational joint that rotates on a second axis, and a third joint is a linear motion joint that moves along a third axis. The first joint, the second joint and the third joint are arranged in order from a base. The first joint is arranged so that the first axis is perpendicular to the base. The second joint is offset with respect to the first joint in a direction (Z axis direction) of the first axis and a direction (Y axis direction) perpendicular to the first axis.

A method and system for printing an image on a 3D surface is provided, wherein a printing robot is controlled to first carry out an encoder pattern capture run. During this run a print head of the robot is controlled to track an encoder pattern, which may be slightly distorted, on the 3D surface while inertial data from an inertial data measurement unit that is fixed to the print head is stored together with orientational and positional data derived from an image captured of a portion of the encoder pattern that is captured by a camera mounted on the printing head. Next, during a printing run, the print head is controlled such that the camera tracks the encoder pattern for a second time, while printing by the print head and/or a position of the print head is adjusted based on the inertial and orientational and positional data that were stored during the encoder pattern capture run.

A construction robot for a ceiling is provided. The construction robot includes: a robot base having an upper plate; a targeting unit on the upper plate, wherein the targeting unit moves a robotic arm assembly combined with the targeting unit, and wherein the robotic arm assembly includes: a first robotic arm where a drill is mounted, wherein a first elevating unit of the first robotic arm is elevated or lowered according to information on the ceiling, a second robotic arm where an anchor bolt inserting equipment is mounted, wherein a second elevating unit of the second robotic arm is elevated or lowered according to the information, and a third robotic arm where an impact wrench is mounted, wherein a third elevating unit of the third robotic arm is elevated or lowered likewise; and a loading unit on the upper plate or the targeting unit for providing anchor bolt assemblies.

Aspects of the disclosure provided herein generally provide a substrate processing system that includes at least one processing module that includes a plurality of process stations coupled thereto and a substrate transferring device disposed within a transfer region of the processing module for transferring a plurality of substrates to two or more of the plurality of process stations. The methods and apparatuses disclosed herein are useful for performing vacuum processing on substrates wherein one or more substrates are transferred within the transfer region of processing module that is in direct communication with at least a portion of a processing region of a plurality of separately isolatable process stations during the process of transferring the one or more substrates. In some embodiments, a substrate is positioned and maintained on the same substrate support member during the process of transferring the substrate within the processing module and while the substrate is being processed in each of the plurality of process stations.

An apparatus including a drive having motors and at least two coaxial drive shafts; an arm connected to the drive, where the arm is configured to support at least one substrate thereon; and a transmission connected between the drive and the arm, where the transmission includes an eccentric bearing and a linkage, where the linkage is connected between a first one of the coaxial drive shafts and the arm, where the eccentric bearing is connected to a second one of the coaxial drive shafts, where the arm comprises an aperture, where the eccentric bearing is located in the aperture, and where the eccentric bearing is configured to contact the arm in the aperture.

Provided is a conveyance device capable of achieving high-speed conveyance of a workpiece through arm weight reduction and inertial moment reduction. The conveyance device 100 capable of rotating and linearly moving an arm 121 comprises: a rotary motion mechanism 101 which has a first rotary shaft 108 capable of rotating about a first axis 103; a rotation transmission mechanism 109 which is connected to the first rotary shaft 108 and is capable of rotating the arm 121 when the rotation transmission mechanism 109 is caused to rotate about a second axis 106 in response to rotation of the first rotary shaft 108; and a linear movement mechanism 104 which is capable of linearly moving the arm 121. The linear movement mechanism 104 is disposed on the inner side of the rotation transmission mechanism 109 in such a manner as not to rotate in response to rotation of the first rotary shaft 108.

A head for a swing arm assembly is provided for a spot welding machine. The head can accommodate a tip dresser or a tip exchanger.

A horizontal articulated robot includes a base, a first arm configured to turn around a turning axis that passes through the base, a second arm provided in the first arm and configured to slide with respect to the first arm to extend and contract, and a driving source configured to generate a driving force for causing the second arm to slide with respect to the first arm. When the second arm contracted, the second arm overlaps the base in a plan view from an axial direction of the turning axis. The driving source is provided in the first arm. The driving source deviates from the base in the plan view.

A robot includes an arm that rotates about a rotation axis, a motor that is provided in the arm, and an amplifier unit that includes an amplifier substrate which drives the motor and that is provided in the motor, in which, when a longitudinal direction of the arm as seen from an axial direction that is parallel to the rotation axis is a first direction and a direction orthogonal to the first direction is a second direction, the amplifier unit and the motor are arranged in a direction different from the second direction.

The invention discloses an automatic-sensing transfer device based on an edge-tracing alignment algorithm, which is characterized by comprising a device body, a rotating device, a lifting device, a stretchable device, a sensing device, a gripping device and a control device. The rotating device, the stretchable device, the lifting device, the sensing device, the gripping device and the control device are all arranged on the device body. The control device is connected to the rotating device, the stretchable device, the lifting device, the gripping device and the sensing device. Accurate positioning of the gripping device can be realized through the transfer device, so that the production efficiency is improved.