公开(公告)号：US20150104283A1

公开(公告)日：2015-04-16

申请号：US14576208

申请日：2014-12-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kazuyoshi NOGAMI ,  Tamio NAKAMURA ,  Takashi NISHIMURA ,  Takashi SUYAMA ,  Nobukazu MIYAUCHI

IPC: B25J9/00 ,  B25J9/06 ,  B25J18/00 ,  B25J9/16

CPC classification number: B25J9/0096 ,  B25J9/0087 ,  B25J9/06 ,  B25J9/16 ,  B25J18/00 ,  G05B2219/40333 ,  Y10S901/02 ,  Y10S901/15 ,  Y10T74/20305

Abstract: A robot system according to embodiments includes a robot including an arm, and a work table. On the work table, an object used for work performed by the robot by using the arm is placed. The arm of the robot includes a first arm portion, a second arm portion, and a third arm portion. The first arm portion supports an end effector to be rotatable about a first rotation axis at a distal end thereof. The second arm portion supports a base end of the first arm portion to be swingable about a second rotation axis substantially perpendicular to the first rotation axis. The third arm portion supports a base end of the second arm portion to be swingable about a third rotation axis substantially perpendicular to the second rotation axis.

Abstract translation: 根据实施例的机器人系统包括包括臂和工作台的机器人。 在工作台上放置用于通过使用臂由机器人执行的工作的对象。 机器人的臂包括第一臂部分，第二臂部分和第三臂部分。 第一臂部支撑端部执行器，以在其远端处围绕第一旋转轴线旋转。 第二臂部分支撑第一臂部分的基端可围绕基本上垂直于第一旋转轴线的第二旋转轴线摆动。 第三臂部分支撑第二臂部分的基端围绕基本上垂直于第二旋转轴线的第三旋转轴线摆动。

公开(公告)号：US20140207279A1

公开(公告)日：2014-07-24

申请号：US14159448

申请日：2014-01-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Nobukazu MIYAUCHI ,  Tamio NAKAMURA ,  Zenta NAKAMOTO ,  Dai KOUNO

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J13/084 ,  B25J19/06 ,  G06F3/0421 ,  Y10S901/09 ,  Y10S901/47

Abstract: A robot apparatus includes an arm that includes an outer skin and a detector that detects the deformation of the outer skin. The detector includes a sending unit that sends a signal, a receiving unit that receives the signal, and a transmission route that is provided along the outer skin so as to lead the signal. The detector detects the deformation of the outer skin based on whether a signal reaches the receiving unit.

Abstract translation: 机器人装置包括具有外皮的臂和检测外皮变形的检测器。 检测器包括发送信号的发送单元，接收信号的接收单元以及沿着外皮提供以便引导信号的传输路由。 检测器根据信号是否到达接收单元来检测外皮的变形。

公开(公告)号：US20140137687A1

公开(公告)日：2014-05-22

申请号：US14083312

申请日：2013-11-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kazuyoshi NOGAMI ,  Nobukazu MIYAUCHI

IPC: B25J18/00

CPC classification number: B25J18/00 ,  B25J9/102 ,  B25J19/0004 ,  Y10S901/23 ,  Y10T74/20317

Abstract: A robot includes an arm body. The arm body includes a multi-joint structure. A motor is configured to generate a rotation driving force for driving specific ones of arm elements. A brake device comprises a brake shaft arranged in parallel with a motor shaft. A reduction device is configured to reduce a speed of rotation of the motor shaft and to transmit the rotation to the specific arm elements. A first transmission mechanism includes a first brake pulley provided on the brake shaft, a motor pulley provided on the motor shaft, and a first belt wound between the first brake pulley and the motor pulley. A second transmission mechanism includes a second brake pulley provided on the brake shaft, a reduction device pulley provided on the input shaft of the reduction device, and a second belt wound between the second brake pulley and the reduction device pulley.

Abstract translation: 机器人包括一个臂体。 臂体包括多关节结构。 电动机构造成产生用于驱动特定臂元件的旋转驱动力。 制动装置包括与马达轴平行布置的制动轴。 减速装置构造成减小电动机轴的旋转速度并将旋转传递到特定的臂元件。 第一传动机构包括设在制动轴上的第一制动轮，设在马达轴上的马达皮带轮和卷绕在第一制动滑轮与马达皮带轮之间的第一皮带。 第二传动机构包括设置在制动轴上的第二制动滑轮，设置在减速装置的输入轴上的减速装置滑轮以及卷绕在第二制动滑轮和减速装置皮带轮之间的第二皮带。

公开(公告)号：US20140142752A1

公开(公告)日：2014-05-22

申请号：US14083316

申请日：2013-11-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kazuyoshi NOGAMI ,  Nobukazu MIYAUCHI

IPC: B25J9/12

CPC classification number: B25J9/12 ,  B25J19/063

Abstract: A robot device includes a robot and a controller. The robot includes a base, an arm body, and a plurality of actuators. The arm body comprises a multi joint structure composed of a plurality of arm elements. The plurality of actuators is configured to drive the plurality of arm elements. The controller is configured to control operations of the plurality of actuators. Each of the plurality of arm elements includes a frame member and an elastic outer skin. The frame member is configured to constitute a support structure at least for gravity. The elastic outer skin is constituted by an elastic body and arranged so as to form a surface outer skin of the arm element while covering the frame member.

Abstract translation: 机器人装置包括机器人和控制器。 机器人包括基座，臂本体和多个致动器。 臂体包括由多个臂元件组成的多关节结构。 多个致动器构造成驱动多个臂元件。 控制器被配置为控制多个致动器的操作。 多个臂元件中的每一个包括框架构件和弹性外皮。 框架构件被构造成至少构成重力作用的支撑结构。 弹性外皮由弹性体构成，并且布置成在覆盖框架构件的同时形成臂元件的表面外皮。

公开(公告)号：US20140137691A1

公开(公告)日：2014-05-22

申请号：US14083303

申请日：2013-11-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kazuyoshi NOGAMI ,  Nobukazu MIYAUCHI

IPC: B25J17/02

CPC classification number: B25J17/02 ,  B25J9/102 ,  B25J17/025 ,  Y10S901/19 ,  Y10S901/26 ,  Y10S901/29 ,  Y10T74/20335

Abstract: A robot includes a base, an arm portion, and a wrist portion with a multi-joint structure. The wrist portion includes a first wrist element, a second wrist element, a third wrist element, a first bevel gear set, and a second bevel gear set. The first wrist element is supported around a first axis line orthogonal to a longitudinal direction of the wrist portion. The second wrist element is supported swingably around a second axis line orthogonal to the longitudinal direction of the wrist portion. The third wrist element is supported rotatably around a third axis line along the longitudinal direction of the wrist portion. The first bevel gear set is configured to reduce a rotation speed of a first driving motor driving the first wrist element. The second bevel gear set is configured to reduce a rotation speed of a second driving motor for driving the second wrist element.

Abstract translation: 机器人包括基座，臂部和具有多关节结构的腕部。 腕部包括第一腕部元件，第二腕部元件，第三腕部元件，第一锥齿轮组和第二锥齿轮组。 第一腕部元件围绕与手腕部的长度方向正交的第一轴线支撑。 第二腕部元件围绕与手腕部的长度方向正交的第二轴线可摆动地支撑。 第三腕部沿着腕部的长度方向围绕第三轴线被可旋转地支撑。 第一锥齿轮组被构造成减小驱动第一腕部元件的第一驱动马达的旋转速度。 第二伞齿轮组被配置为减小用于驱动第二腕部元件的第二驱动马达的旋转速度。

公开(公告)号：US20140137686A1

公开(公告)日：2014-05-22

申请号：US14083307

申请日：2013-11-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kazuyoshi NOGAMI ,  Nobukazu MIYAUCHI

IPC: B25J18/00

CPC classification number: B25J18/00 ,  B25J9/126 ,  Y10S901/23 ,  Y10T74/20317

Abstract: A robot includes a plurality of arm elements, a joint portion, and a motor. The joint portion is configured to connect the adjacent arm elements to each other so that they are movable with respect to each other. The motor is configured to generate a driving force to the joint portion. The outer shell of the motor is connected to the arm element, capable of transmitting stress to the arm element, and the motor is connected to the arm element or the joint portion, capable of transmitting stress to the arm element or the joint portion.

Abstract translation: 机器人包括多个臂元件，接合部和马达。 接头部分构造成将相邻的臂元件彼此连接，使得它们能够相对于彼此移动。 马达构造成产生对接合部的驱动力。 马达的外壳与臂元件连接，能够向臂元件施加应力，马达与臂元件或接头部连接，能够将应力传递到臂元件或接头部。

公开(公告)号：US20140137689A1

公开(公告)日：2014-05-22

申请号：US14083310

申请日：2013-11-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kazuyoshi NOGAMI ,  Nobukazu MIYAUCHI

IPC: B25J18/00

CPC classification number: B25J18/00 ,  B25J1/08 ,  B25J9/0087 ,  B25J19/0029 ,  H01R13/567 ,  H01R13/5825 ,  Y10S901/27 ,  Y10T74/20329

Abstract: A robot includes a base and a robot main body. The robot main body includes a plurality of structural members driven by a plurality of actuators. The base includes a housing into which a control cable drawn, a first opening portion provided on a lower surface of the housing, and a second opening portion provided on a side surface of the housing. The first opening portion is configured capable of selectively attaching/detaching either one of a first connector plate including a connector to which a tip end portion of the control cable can be attached and a first lid portion not including the connector. The second opening portion is configured capable of selectively attaching/detaching either one of a second connector plate including a connector to which a tip end portion of the control cable can be attached and a second lid portion not including the connector.

Abstract translation: 机器人包括基座和机器人主体。 机器人主体包括由多个致动器驱动的多个结构构件。 底座包括一个壳体，一个控制电缆被拉出，壳体的下表面上设有一个第一开口部分和一个设在壳体侧面上的第二开口部分。 第一开口部被构造成能够选择性地附接/分离包括可以附接控制电缆的末端部分的连接器的第一连接器板和不包括连接器的第一盖部分。 第二开口部被构造成能够选择性地附接/拆卸包括可以附接控制电缆的末端部分的连接器的第二连接器板和不包括连接器的第二盖部分。