公开(公告)号：US20150013492A1

公开(公告)日：2015-01-15

申请号：US14503405

申请日：2014-10-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takenori OKA ,  Manabu OKAHISA

IPC: B25J17/00 ,  B25J9/04

CPC classification number: B25J17/00 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/046 ,  B25J9/06 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20329

Abstract: A robot includes a body, a first arm, and a second arm. The first arm includes one joint, an adjacent joint that is adjacent to the one joint, and another adjacent joint that is adjacent to the adjacent joint. When the first arm is extended in a vertical orientation relative to the body, the one joint of the first arm has a rotation axis that is offset by a first distance in a first horizontal direction from a rotation axis of the adjacent joint of the first arm, and the another adjacent joint of the first arm has a rotation axis that is offset by a second distance in a second horizontal direction from the rotation axis of the adjacent joint of the first arm. The first horizontal direction is opposite to the second horizontal direction.

Abstract translation: 机器人包括主体，第一臂和第二臂。 第一臂包括一个接头，与一个接头相邻的相邻接头，以及与相邻接头相邻的另一相邻接头。 当第一臂相对于身体以垂直方向延伸时，第一臂的一个关节具有旋转轴线，该旋转轴线在第一水平方向上偏离第一臂的相邻接头的旋转轴线的第一距离 并且第一臂的另一个相邻接头具有从第一臂的相邻接头的旋转轴线沿第二水平方向偏移第二距离的旋转轴线。 第一水平方向与第二水平方向相反。

公开(公告)号：US20140121837A1

公开(公告)日：2014-05-01

申请号：US14149810

申请日：2014-01-08

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yukio HASHIGUCHI ,  Shingo ANDO ,  Takuya FUKUDA ,  Takenori OKA ,  Shinji MURAI ,  Takeomi HIDAKA ,  Manabu OKAHISA

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/0087 ,  B25J13/085

Abstract: A robot system includes a robot arm, one or more actuators that are provided in the robot arm to drive the robot arm, a sensor unit that detects an external force applied to at least one of the robot arm and the actuators, and a controller that controls an operation of each of the actuators and limits a torque instruction value for each of the actuators on the basis of a detection result of the sensor unit.

Abstract translation: 机器人系统包括机器人臂，设置在机器人手臂中以驱动机器人臂的一个或多个致动器，检测施加到机器人臂和致动器中的至少一个的外力的传感器单元，以及控制器， 控制每个致动器的操作，并且基于传感器单元的检测结果来限制每个致动器的转矩指令值。

公开(公告)号：US20150121983A1

公开(公告)日：2015-05-07

申请号：US14529209

申请日：2014-10-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Masami NAKAKURA ,  Teppei SONODA

IPC: B21B31/16

CPC classification number: B21B31/16 ,  B21B37/58 ,  B21D5/16 ,  B21D19/043 ,  B21D39/021 ,  B21D39/023 ,  B25J9/1633 ,  B25J9/1679 ,  G05B2219/39329 ,  G05B2219/40052 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/41 ,  Y10T29/49908

Abstract: A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.

Abstract translation: 机器人系统包括端部执行器，机器人臂和控制器。 末端执行器包括压力辊和直线运动机构。 线性运动机构构造成相对于压制表面移动压力辊。 机器人臂构造成支撑端部执行器。 控制器构造成控制直线运动机构以移动压力辊，使压力辊抵抗压制表面的按压力大致均匀。

公开(公告)号：US20140061168A1

公开(公告)日：2014-03-06

申请号：US13956360

申请日：2013-08-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masami NAKAKURA ,  Teppei SONODA ,  Manabu OKAHISA

IPC: B23K11/06

CPC classification number: B23K11/061 ,  B23K11/063

Abstract: A seam welding robot includes a robot arm and a welding unit that is coupled to the robot arm. The welding unit includes a pair of roller electrodes. The pair of roller electrodes rotates following motion of the robot arm while sandwiching and pressurizing welding targets. The welding unit passes a welding electric current between the pair of roller electrodes to seam-weld the welding targets.

Abstract translation: 缝焊机器人包括机器人臂和联接到机器人手臂的焊接单元。 焊接单元包括一对辊电极。 一对辊电极在夹持并加压焊接对象的同时，随着机器人臂的运动而旋转。 焊接单元将一对辊电极之间的焊接电流通过焊接焊接对象。

公开(公告)号：US20160121480A1

公开(公告)日：2016-05-05

申请号：US14872149

申请日：2015-10-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Masami NAKAKURA

IPC: B25J9/06 ,  B25J9/16 ,  B25J15/00 ,  B25J11/00

CPC classification number: B25J9/06 ,  B25J9/1643 ,  B25J9/1664 ,  B25J9/1666 ,  B25J11/005 ,  B25J15/0019 ,  Y10S901/02

Abstract: A machining apparatus includes a robot and a controller. A target acquirer acquires a target value of a position and posture of a distal end of the robot. With a movement target value of a distance adjustment actuator of the robot being fixed, a first calculator calculates movement target values of first to third actuators and posture adjustment actuators of the robot corresponding to the target value of the position and posture. A determiner determines whether a movement target value of one of the actuators is within an allowable range. When out of the allowable range, a second calculator calculates the movement target values of the actuators corresponding to the target value of the position and posture to cause the movement target value to fall within the range. An outputter controls the actuators in accordance with the respective movement target values.

Abstract translation: 一种加工装置包括机器人和控制器。 目标获取器获取机器人的远端的位置和姿势的目标值。 利用机器人的距离调节致动器的移动目标值被固定，第一计算器计算与位置和姿势的目标值相对应的机器人的第一至第三致动器和姿势调节致动器的移动目标值。 确定器确定一个致动器的运动目标值是否在允许范围内。 当超出允许范围时，第二计算器计算与位置和姿势的目标值相对应的致动器的运动目标值，以使移动目标值落在该范围内。 输出器根据相应的移动目标值来控制致动器。

公开(公告)号：US20180065254A1

公开(公告)日：2018-03-08

申请号：US15807574

申请日：2017-11-09

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Ryuta KAGAWA ,  Hikaru INOUE ,  Tatsuo HIRO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/047 ,  B25J9/06 ,  B25J9/1643 ,  G05B2219/39082

Abstract: A robot system includes a robot and a motion control unit. The robot includes a bottom, a swiveling base, first to third arms. A bottom side of the first arm is supported on the swiveling base swivelably around a horizontal-direction second axis. A bottom side of the redundant arm is supported on a leading side of the first arm swivelably around an axis parallel to the second axis. A bottom side of the second arm is supported on a leading side of the redundant arm swivelably around a third axis parallel to the second axis. A bottom side of the third arm is supported on a leading side of the second arm rotatably around a fourth axis perpendicular to the third axis. The motion control unit activates the redundant arm so that a control point provided on the fourth axis linearly moves while maintaining a direction of the fourth axis.

公开(公告)号：US20160136813A1

公开(公告)日：2016-05-19

申请号：US14979554

申请日：2015-12-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tatsuo HIRO ,  Kuniaki KATAMINE ,  Ryuta KAGAWA ,  Yusuke KINOSHITA ,  Manabu OKAHISA ,  Masami NAKAKURA

IPC: B25J9/16 ,  B25J11/00 ,  B23K11/31

CPC classification number: B25J9/1664 ,  B25J9/0027 ,  B25J9/0084 ,  B25J9/161 ,  B25J9/1643 ,  Y10S901/02 ,  Y10S901/14

Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.

Abstract translation: 一种加工设备包括：机器人，包括第一臂部分，第二臂部分，末端部分，绕第二轴线摆动第一臂部分的第二致动器;绕第三轴线摆动第二臂部分的第三致动器;第七致动器 调节第二轴线与第三轴线之间的距离，以及设置在尖端部分上的端部执行器，并对工件进行加工。 机器人被定位成使得当第一臂部分围绕第二轴线旋转时，第一臂部分的末端部分或第二臂部分的基端部分的可移动范围与工件干涉，其中距离最长 在机器人精确面对工件的状态下。

公开(公告)号：US20150027262A1

公开(公告)日：2015-01-29

申请号：US14340494

申请日：2014-07-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Takahiko KANAMORI

IPC: B25J18/00

CPC classification number: B25J18/00 ,  B25J19/0025 ,  Y10S901/27 ,  Y10T29/49174 ,  Y10T74/20311

Abstract: A robot in an embodiment includes a robot body, an end effector, a cable, and one or more coupling portions. The end effector is connected to the robot body. The cable is composed of a plurality of sub cables, arranged along the robot body, and connected to the end effector. Each of the coupling portion is provided between one sub cable and an adjacent sub cable of the sub cables to couple the one and adjacent sub cables together.

Abstract translation: 实施例中的机器人包括机器人主体，端部执行器，电缆以及一个或多个联接部分。 末端执行器连接到机器人主体。 电缆由沿着机器人主体布置并连接到末端执行器的多个子电缆组成。 每个联接部分设置在子电缆的一个子电缆和相邻的副电缆之间，以将一个和相邻的子电缆耦合在一起。

公开(公告)号：US20150027261A1

公开(公告)日：2015-01-29

申请号：US14340488

申请日：2014-07-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Takahiko KANAMORI ,  Tatsuo HIRO

IPC: B25J18/04 ,  B25J19/00

CPC classification number: B25J18/04 ,  B25J19/0025 ,  B25J19/007 ,  Y10T29/49174 ,  Y10T74/20311

Abstract: A robot according to an aspect of an embodiment includes a robot arm, an attaching portion, an end effector, an end-effector-side cable, and a robot-side cable. The attaching portion is provided on a leading end of the robot arm. The end effector is attached to the attaching portion. The end-effector-side cable extends from the end effector. The robot-side cable is arranged along the robot arm and is connected to the end-effector-side cable by terminal connection at a position closer to the end effector than the attaching portion.

Abstract translation: 根据实施例的一个方面的机器人包括机器人臂，附接部分，端部执行器，末端执行器侧电缆和机器人侧电缆。 安装部设置在机器人手臂的前端。 端部执行器附接到附接部分。 末端执行器侧电缆从端部执行器延伸。 机器人侧电缆沿着机器人臂布置，并且通过端子连接在比附接部更靠近端部执行器的位置处连接到末端执行器侧电缆。