US 12,128,545 B2
Robot
Ippei Shimizu, Kobe (JP); and Hiroyuki Okada, Kakogawa (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/024,505
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Aug. 29, 2021, PCT No. PCT/JP2021/031633
§ 371(c)(1), (2) Date Mar. 3, 2023,
PCT Pub. No. WO2022/050207, PCT Pub. Date Mar. 10, 2022.
Claims priority of application No. 2020-148893 (JP), filed on Sep. 4, 2020.
Prior Publication US 2023/0321850 A1, Oct. 12, 2023
Int. Cl. B25J 17/02 (2006.01); B25J 11/00 (2006.01)
CPC B25J 11/0095 (2013.01) [B25J 17/02 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A robot, comprising:
an arm that is movable;
a hand that is installed to the arm to project therefrom and configured to hold and transfer a substrate; and
a tilter configured to tilt an orientation of the hand, without the tilter changing an orientation of the arm, such that a distal portion of the hand is higher than a proximal portion of the hand,
wherein the hand includes a holder, and
wherein, with the tilter, the holder is configured to hold the substrate in contact with a top surface and a bottom surface of the substrate and apply a force to only one of two halves of the substrate bisected,
wherein the tilter comprises:
a top plate;
a bottom plate; and
a height adjuster between the top plate and the bottom plate,
wherein the height adjuster comprises exactly two sets of threaded elements which when twisted cause the hand to tilt.