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    Machining apparatus and method of producing workpiece
    1.
    发明授权
    Machining apparatus and method of producing workpiece 有权

    公开(公告)号：US10112299B2

    公开(公告)日：2018-10-30

    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: G06F19/00 ,  B25J9/16 ,  B25J9/00 ,  B25J9/06

    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.

    Robot
    2.
    发明授权
    Robot 有权

    公开(公告)号：US09764480B2

    公开(公告)日：2017-09-19

    申请号：US14503405

    申请日：2014-10-01

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Takenori Oka ,  Manabu Okahisa

    IPC: B25J17/00 ,  B25J9/00 ,  B25J9/04 ,  B25J9/06

    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.

    METHOD AND APPARATUS FOR MANUFACTURING A BENT MEMBER
    3.
    发明申请
    METHOD AND APPARATUS FOR MANUFACTURING A BENT MEMBER 审中-公开
    制造弯曲部件的方法和装置

    公开(公告)号：US20170072446A1

    公开(公告)日：2017-03-16

    申请号：US15281300

    申请日：2016-09-30

    Applicant: NIPPON STEEL & SUMITOMO METAL CORPORATION ,  SUMITOMO PIPE & TUBE CO., LTD. ,  KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Atsushi TOMIZAWA ,  Naoaki Shimada ,  Shinjiro Kuwayama ,  Saburo Inoue ,  Manabu Okahisa ,  Yusuke Kinoshita ,  Takashi Suyama

    IPC: B21D7/04 ,  B21D7/16

    Abstract: A bending apparatus has (a) a first manipulator which feeds a hollow metal blank of closed cross section in its lengthwise direction, (b) a second manipulator which supports a first support means disposed at a first position and a metal blank while feeding it, a heating means disposed at a second position downstream of the first position in the blank feed direction for heating all or part of the circumference of the blank, and a cooling means disposed at a third position downstream of the second position for cooling a portion of the heated blank, and (c) a third manipulator which constitutes a second support means disposed at a fourth position downstream of the third position in the feed direction of the blank and which moves two-dimensionally or three-dimensionally while supporting at least one location of the metal blank to bend the metal blank into a desired shape.

    Abstract translation: 弯曲装置具有：（a）第一操纵器，其在长度方向上供给封闭截面的中空金属坯料，（b）第二操作器，其支撑设置在第一位置的第一支撑装置和金属坯料，同时进给， 加热装置，其设置在坯料供给方向上的第一位置下游的第二位置处，用于加热坯料的全部或部分周边;以及冷却装置，其设置在第二位置的下游的第三位置处，用于冷却坯料的一部分 加热的坯料，和（c）构成第二支撑装置的第三操纵器，所述第二支撑装置设置在所述坯料的进给方向上位于所述第三位置下游的第四位置处，并且在支撑所述坯料的至少一个位置的同时二维或三维地移动 金属坯料将金属坯料弯曲成所需的形状。

    Seam welding robot
    4.
    发明授权
    Seam welding robot 有权
    接缝机器人

    公开(公告)号：US09434020B2

    公开(公告)日：2016-09-06

    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。

    Robot and manufacturing method of the same
    7.
    发明授权
    Robot and manufacturing method of the same 有权
    机器人和制造方法相同

    公开(公告)号：US09440363B2

    公开(公告)日：2016-09-13

    申请号：US14340488

    申请日：2014-07-24

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Manabu Okahisa ,  Takahiko Kanamori ,  Tatsuo Hiro

    IPC: B23K37/00 ,  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，末端执行器，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。

    Robot system, control device of robot, and robot control device
    9.
    发明授权
    Robot system, control device of robot, and robot control device 有权
    机器人系统，机器人控制装置，机器人控制装置

    公开(公告)号：US09346162B2

    公开(公告)日：2016-05-24

    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 ,  B25J9/00 ,  B25J13/08

    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。

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