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    ROBOT SYSTEM, ROBOT, AND ROBOT CONTROL DEVICE
    1.
    发明申请
    ROBOT SYSTEM, ROBOT, AND ROBOT CONTROL DEVICE 审中-公开
    机器人系统，机器人和机器人控制装置

    公开(公告)号：US20140163735A1

    公开(公告)日：2014-06-12

    申请号：US14181729

    申请日：2014-02-17

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Ken'ichi YASUDA ,  Hideo NAGATA

    IPC: B25J9/16

    CPC classification number: B25J9/1633 ,  B25J9/1676 ,  B25J13/081 ,  G05B2219/39183 ,  G05B2219/40219

    Abstract: A robot system includes a robot and a robot control device. The robot includes a plurality of links connected to via a plurality of joint axes, servo motors that drive the joint axes, and a contact detection sensor that detects that one of the links touches an object. The robot control device includes a contact position determination unit that determines a contact position of the link based on an output of the contact detection sensor, a retracting direction vector calculation unit that calculates a retracting direction vector in a retracting direction of the link corresponding to the contact position, an assist torque calculation unit that calculates assist torque references for moving the links in the direction of the retracting direction vector, and a flexible control unit that adds the assist torque references to torque references for the servo motors to flexibly control the links.

    Abstract translation: 机器人系统包括机器人和机器人控制装置。 机器人包括通过多个关节轴连接的多个连杆，驱动关节轴的伺服电动机，以及检测该一个链接接触物体的接触检测传感器。 所述机器人控制装置包括接触位置确定单元，所述接触位置确定单元基于所述接触检测传感器的输出来确定所述链接的接触位置;回退方向向量计算单元，其计算所述链接对应于所述链接的所述链接的回退方向的退回方向向量; 接触位置，辅助扭矩计算单元，其计算用于沿所述缩回方向矢量的方向移动所述连杆的辅助转矩基准;以及柔性控制单元，其将所述辅助转矩基准与所述伺服电动机的转矩基准相加以灵活地控制所述连杆。

    POSITIONAL DISPLACEMENT DETECTOR, ROBOT HAND, AND ROBOT SYSTEM
    2.
    发明申请
    POSITIONAL DISPLACEMENT DETECTOR, ROBOT HAND, AND ROBOT SYSTEM 审中-公开
    位置移动探测器，机器手和机器人系统

    公开(公告)号：US20140145458A1

    公开(公告)日：2014-05-29

    申请号：US14169153

    申请日：2014-01-31

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Ryoichi NAGAI ,  Hideo NAGATA

    IPC: B25J19/02 ,  B25J15/00 ,  G01H17/00

    CPC classification number: B25J19/02 ,  B25J9/1612 ,  B25J13/083 ,  B25J15/0028 ,  G01H17/00 ,  G01L5/009 ,  G05B2219/39507 ,  G05B2219/40567 ,  Y10S901/31 ,  Y10S901/46

    Abstract: The positional displacement detector includes a contact member, a prohibition member, and a vibration detector. The contact member is configured to make contact with the object and deform with a positional displacement of the object. The prohibition member is configured to make contact with the deformed contact member to prohibit a deformation of a magnitude equal to or more than a predetermined magnitude from being caused to the contact member. The vibration detector is configured to detect a vibration generated when the contact member has made contact with the prohibition member.

    Abstract translation: 位置检测器包括接触构件，禁止构件和振动检测器。 接触构件被构造成与物体接触并且随着物体的位置偏移而变形。 禁止构件被构造成与变形的接触构件接触以防止对接触构件造成等于或大于预定大小的大小的变形。 振动检测器被配置为检测当接触构件与禁止构件接触时产生的振动。

    MOVEMENT ASSIST DEVICE
    3.
    发明申请
    MOVEMENT ASSIST DEVICE 审中-公开
    运动辅助装置

    公开(公告)号：US20150081036A1

    公开(公告)日：2015-03-19

    申请号：US14484276

    申请日：2014-09-12

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Yoshie NAKANISHI ,  Hideo NAGATA ,  Mikio OSAKI

    IPC: A61F2/68

    CPC classification number: A61F2/68 ,  A61F2002/701 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0255 ,  A61H1/0266 ,  A61H1/0277 ,  A61H1/0281 ,  A61H1/0285 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/165 ,  A61H2201/5048 ,  A61H2201/5061 ,  A61H2201/5071

    Abstract: A movement assist device includes: a motor including a stator and a rotator; two arm members connected to each of the stator and the rotator and configured to be connected to a predetermined part of a body of an equipped person; a signal acceptor configured to accept a trigger signal that triggers a driving of the motor; and a driving controller configured to drive the motor so that the two arm members expand in response to a trigger that the signal acceptor accepts a first one of the trigger signal.

    Abstract translation: 一种运动辅助装置，包括：电动机，包括定子和转子; 两个臂构件连接到每个定子和旋转器，并且构造成连接到装备人员的身体的预定部分; 信号接受器，被配置为接受触发电机驱动的触发信号; 以及驱动控制器，被配置为驱动所述电动机，使得所述两个臂构件响应于所述信号接收器接受所述触发信号中的第一个的触发而膨胀。

    FORCE SENSOR AND ROBOT
    5.
    发明申请
    FORCE SENSOR AND ROBOT 审中-公开
    力传感器和机器人

    公开(公告)号：US20140174239A1

    公开(公告)日：2014-06-26

    申请号：US14193369

    申请日：2014-02-28

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Hideo NAGATA ,  Ryoichi NAGAI ,  Yasuyuki INOUE ,  Yoshiaki KUBOTA

    IPC: G01L5/00 ,  B25J9/16 ,  G01L5/16

    CPC classification number: G01L5/0028 ,  B25J9/1633 ,  B25J13/085 ,  G01L5/16 ,  G01L5/162 ,  G05B2219/40586 ,  Y10S901/09 ,  Y10T74/20305

    Abstract: A force sensor and a robot that can suppress a load applied to load sensor elements are provided.A force sensor includes: a first base member one surface of which is fixed on a fixed member; a plurality of load sensor elements that is provided on another surface of the first base member to detect a load; a second base member that is disposed facing the other surface of the first base member to generate a preload to be applied to each of the load sensor elements toward the first base member; a preload adjusting unit that adjusts the magnitude of the preload generated by the second base member; and buffer bodies that receive a part of an external load to be applied to each of the load sensor elements from the outside.

    Abstract translation: 提供能够抑制施加到负载传感器元件的负载的力传感器和机器人。 力传感器包括：一个第一基体，其一个表面固定在固定构件上; 多个负载传感器元件，设置在所述第一基座部件的另一个表面上以检测负载; 第二基座构件，其面对所述第一基座构件的另一表面设置，以产生将被施加到每个所述负载传感器元件的预载荷朝向所述第一基座构件; 预压调节单元，其调节由所述第二基座构件产生的所述预载荷的大小; 以及从外部接收要施加到每个负载传感器元件的外部负载的一部分的缓冲体。

    ROBOT SYSTEM
    6.
    发明申请
    ROBOT SYSTEM 有权
    机器人系统

    公开(公告)号：US20140163737A1

    公开(公告)日：2014-06-12

    申请号：US14183378

    申请日：2014-02-18

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Hideo NAGATA ,  Tomoyuki SEKIYAMA ,  Yasuyuki INOUE

    IPC: B25J9/16

    CPC classification number: B25J9/1697 ,  G05B2219/39057 ,  G05B2219/40053 ,  G05B2219/40575 ,  G05B2219/40613

    Abstract: A robot system includes: a robot including a camera unit shooting an object in a container, a hand gripping the object, and a contact detector detecting that the hand contacts the container; and a robot control device, which includes a control unit causing the hand to contact the container; a contact detection unit detecting by the contact detector that the hand contacts the container, and finding a contact position thereof; a first processing unit calculating a position of the container from a stereo image of the container acquired by the camera unit; a second processing unit calculating a difference between the position of the container calculated by the first processing unit and the contact position found by the contact detection unit as a correction amount; and a third processing unit correcting information on a position in a height direction of the object in the container based on the correction amount.

    Abstract translation: 机器人系统包括：机器人，其包括拍摄容器中的物体的相机单元，夹持物体的手和检测到手接触容器的接触检测器; 以及机器人控制装置，其包括使所述手接触所述容器的控制单元; 接触检测单元，由接触检测器检测到手接触容器，并找到其接触位置; 第一处理单元，从由所述照相机单元获取的容器的立体图像计算所述容器的位置; 第二处理单元，计算由第一处理单元计算的容器的位置与由接触检测单元找到的接触位置之间的差作为校正量; 以及第三处理单元，基于校正量来校正在容器中的物体的高度方向上的位置的信息。

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