公开(公告)号：US09833905B2

公开(公告)日：2017-12-05

申请号：US14571290

申请日：2014-12-16

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro Izumi ,  Yukio Hashiguchi ,  Takuya Fukuda ,  Ryoichi Nagai

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1687 ,  B25J9/0087 ,  B25J9/1682 ,  G05B2219/39124 ,  G05B2219/39529 ,  G05B2219/40028 ,  Y10S901/02 ,  Y10S901/05 ,  Y10S901/09

Abstract: After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.

公开(公告)号：US09158299B2

公开(公告)日：2015-10-13

申请号：US14191431

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai Kouno ,  Tamio Nakamura ,  Tetsuro Izumi ,  Ryoichi Nagai

IPC: B23Q3/155 ,  G05B19/418 ,  B25J9/16 ,  B25J9/00 ,  B25J21/00

CPC classification number: G05B19/41815 ,  B25J9/0084 ,  B25J9/1682 ,  B25J21/00 ,  G05B2219/31075 ,  Y02P90/16 ,  Y02P90/185

Abstract: A robot system includes a first cell and a second cell. The first cell includes a first robot, a first controller, and a first casing. The first robot performs work on a to-be-worked material. The first controller controls the first robot. The first casing accommodates the first robot and the first controller. The second cell includes a second robot, a second controller, and a second casing. The second robot performs work on a to-be-worked material. The second controller controls the second robot. The second casing accommodates the second robot and the second controller. When the first casing and the second casing are connected to each other, the first controller and the second controller respectively control the first robot and the second robot to work in a common operation area, where a first movable area and a second movable area overlap.

Abstract translation: 机器人系统包括第一单元和第二单元。 第一单元包括第一机器人，第一控制器和第一壳体。 第一个机器人对待加工材料进行工作。 第一个控制器控制第一个机器人。 第一壳体容纳第一机器人和第一控制器。 第二单元包括第二机器人，第二控制器和第二壳体。 第二个机器人对待处理的材料进行工作。 第二个控制器控制第二个机器人。 第二壳体容纳第二机器人和第二控制器。 当第一壳体和第二壳体彼此连接时，第一控制器和第二控制器分别控制第一机器人和第二机器人工作在第一可移动区域和第二可移动区域重叠的公共操作区域中。

公开(公告)号：US11123864B2

公开(公告)日：2021-09-21

申请号：US16459622

申请日：2019-07-02

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshihiro Iwasa ,  Ryoichi Nagai ,  Nathanael Mullennix ,  Shingo Ando ,  Kenichi Yasuda

IPC: B25J9/16 ,  B25J9/02

Abstract: A motion teaching apparatus includes a teaching motion detection device, a demonstration tool, and circuitry. A robot includes a leading end to move in a first coordinate system. A teaching motion detection device detects a position of the demonstration tool in a second coordinate system. The circuitry derives a relationship between the first and second coordinate system based on a position of the demonstration tool in the first coordinate system at at least one spot and based on the position of the demonstration tool in the second coordinate system at the at least one spot; obtains a transition of the position of the demonstration tool during the demonstration using the demonstration tool; and generates a motion command to control motion of the leading end of the robot based on the transition and the coordinate system relationship information.

公开(公告)号：US09329593B2

公开(公告)日：2016-05-03

申请号：US14191432

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro Izumi ,  Tamio Nakamura ,  Dai Kouno ,  Ryoichi Nagai

IPC: G05B19/418 ,  B25J9/16 ,  B25J9/00 ,  B25J21/00

CPC classification number: G05B19/41815 ,  B25J9/0084 ,  B25J9/1682 ,  B25J21/00 ,  G05B2219/39109 ,  G05B2219/39135 ,  G05B2219/40307

Abstract: A robot system includes a plurality of robots, a plurality of cells, a detection device, and a changer device. Each of the plurality of robots is configured to operate based on an operation command. The plurality of cells respectively accommodate the plurality of robots and are connectable to each other. The detection device is configured to detect that the plurality of cells are connected to each other. When the detection device detects that the plurality of cells are connected to each other, the changer device is configured to change at least one operation command among operation commands for the plurality of robots respectively accommodated in the connected cells.

Abstract translation: 机器人系统包括多个机器人，多个单元，检测装置和更换器装置。 多个机器人中的每一个被配置为基于操作命令进行操作。 多个单元分别容纳多个机器人并且可彼此连接。 检测装置被配置为检测多个小区彼此连接。 当检测装置检测到多个单元彼此连接时，更换器装置被配置为在分别容纳在连接的单元中的多个机器人的操作命令之间改变至少一个操作命令。

公开(公告)号：US09156164B2

公开(公告)日：2015-10-13

申请号：US14085794

申请日：2013-11-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo Ando ,  Ryoichi Nagai ,  Yasuyuki Inoue

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1664 ,  B25J13/085 ,  G05B2219/36429 ,  G05B2219/37357 ,  G05B2219/39188 ,  G05B2219/39325 ,  G05B2219/39343 ,  G05B2219/39347 ,  G05B2219/39348 ,  G05B2219/41387

Abstract: In a method for adjusting parameters of impedance control, an overshoot amount allowable value is set as an allowable maximum value of an overshoot amount of a time response of a force feedback from a force sensor provided for an end effector of a robot manipulator, and a setting time allowable value is set as an allowable maximum value of a setting time of the time response of the force feedback. A viscosity parameter with which the setting time is shortest is calculated while fixing the inertia parameter. An overshoot amount adjustment value and a setting time adjustment value which are obtained from a result of the calculating of the viscosity parameter are compared with the overshoot amount allowable value and the setting time allowable value, respectively, to determine whether a repeating process is finished or continued.

Abstract translation: 在调整阻抗控制参数的方法中，将过冲量允许值设定为来自设置在机器人机械手的端部执行器的力传感器的力反馈的时间响应的过冲量的容许最大值， 设定时间容许值被设定为力反馈的时间响应的设定时间的容许最大值。 在固定惯性参数的同时计算设定时间最短的粘度参数。 将从粘度参数的计算结果得到的过冲量调整值和设定时间调整值分别与过冲量允许值和设定时间容许值进行比较，以判断重复处理是否结束， 继续。

公开(公告)号：US09138893B2

公开(公告)日：2015-09-22

申请号：US14140520

申请日：2013-12-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi Nagai ,  Yukio Hashiguchi ,  Tetsuro Izumi

IPC: B25J13/08 ,  G05B19/04 ,  B25J9/00 ,  G05B19/425

CPC classification number: B25J9/0081 ,  G05B19/425

Abstract: A robot teaching system according to an embodiment includes a robot, a sensor, a screen generator, an adjuster, and a job generator. The sensor measures measured values relating to operations of the robot. The screen generator generates a teaching operation screen that includes guidance information intended for the teacher. The adjuster adjusts parameters for generating a job based on specified values relating to the operations of the robot and input in the teaching operation screen, and the measured values of the sensor associated with the specified values, the parameters defining an operation command including corrections of the operations of the robot. The job generator generates the job in which the parameters adjusted by the adjuster are incorporated.

Abstract translation: 根据实施例的机器人教学系统包括机器人，传感器，屏幕生成器，调节器和作业发生器。 传感器测量与机器人的操作相关的测量值。 屏幕生成器生成包括用于教师的指导信息的教学操作屏幕。 调整器基于与机器人的操作和教学操作画面中的输入相关的指定值以及与指定值相关联的传感器的测量值来调整用于生成作业的参数，定义包括校正的操作命令的操作命令的参数 机器人的操作。 作业发生器生成调整器调整的参数的作业。

公开(公告)号：US11230004B2

公开(公告)日：2022-01-25

申请号：US16591637

申请日：2019-10-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshihiro Iwasa ,  Ryoichi Nagai ,  Nathanael Mullennix ,  Shingo Ando

IPC: B25J9/00 ,  B25J9/16 ,  B25J13/08

Abstract: A robot system includes circuitry. The circuitry may be configured to acquire teaching position data including a plurality of teaching positions arranged in time series based on the demonstration data of the operator. The circuitry may be further configured to generate thinned position data obtained by removing at least one of the teaching positions from the teaching position data. The circuitry may be further configured to generate a position command based on the thinned position data. The circuitry may be further configured to operate the work robot based on the position command.

公开(公告)号：US09156160B2

公开(公告)日：2015-10-13

申请号：US14201931

申请日：2014-03-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi Nagai ,  Tamio Nakamura ,  Dai Kouno ,  Tetsuro Izumi

IPC: G05B19/418 ,  B25J9/00 ,  B25J9/16 ,  B25J21/00

CPC classification number: B25J9/0084 ,  B25J9/1682 ,  B25J9/1692 ,  B25J21/00 ,  Y10S901/08

Abstract: A robot system includes a plurality of robots, a control device, a common work table, and a calibration device. The control device is configured to control the plurality of robots. On the common work table, the plurality of robots are configured to work. Based on a position of a first robot having a calibrated coordinate relative to a position of a second robot among the plurality of robots, the calibration device is configured to calibrate a coordinate of the second robot.

Abstract translation: 机器人系统包括多个机器人，控制装置，公共工作台和校准装置。 控制装置被配置为控制多个机器人。 在公共工作台上，多个机器人被配置为工作。 基于具有相对于多个机器人中的第二机器人的位置的校准坐标的第一机器人的位置，校准装置被配置为校准第二机器人的坐标。

公开(公告)号：US09132554B2

公开(公告)日：2015-09-15

申请号：US14191427

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai Kouno ,  Tamio Nakamura ,  Tetsuro Izumi ,  Ryoichi Nagai

IPC: B25J19/00 ,  B25J15/00 ,  B25J15/08 ,  B25J9/16 ,  H05B33/08

CPC classification number: B25J9/1697 ,  G05B2219/37009 ,  G05B2219/37151 ,  H05B33/0854 ,  Y10S901/47

Abstract: A robot system includes robot, an image capture device, a plurality of illumination devices, and a control device. The robot is configured to perform a predetermined work on a to-be-processed material. The image capture device is configured to capture an image of the to-be-processed material and has a dynamic range. The plurality of illumination devices are configured to illuminate the to-be-processed material. The control device is configured to control at least one illumination device among the plurality of illumination devices to keep an amount of light received by the image capture device within the dynamic range of the image capture device.

Abstract translation: 机器人系统包括机器人，图像捕获装置，多个照明装置和控制装置。 机器人被配置为对要处理的材料执行预定的工作。 图像捕获装置被配置为捕获待处理材料的图像并且具有动态范围。 多个照明装置被配置为照亮被处理材料。 控制装置被配置为控制多个照明装置中的至少一个照明装置，以将由图像捕获装置接收的光量保持在图像拍摄装置的动态范围内。