公开(公告)号：US09242371B2

公开(公告)日：2016-01-26

申请号：US14340495

申请日：2014-07-24

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yukio Hashiguchi ,  Shinji Murai ,  Tomoyuki Shiraki

IPC: G05B19/418 ,  B25J9/06 ,  B25J9/16

CPC classification number: B25J9/06 ,  B25J9/1674 ,  G05B19/4184 ,  G05B2219/39135 ,  G05B2219/40224 ,  G05B2219/50118 ,  Y02P90/12 ,  Y02P90/14

Abstract: To enable a recovery control program to be executed quickly by a robot controller without needing to equip the robot controller with a large-capacity storage device, provided is a robot system, including a first robot controller for controlling a first robot. The first robot controller includes a posture information obtaining unit for obtaining information indicating a posture of the first robot when an anomaly occurs in the first robot. The robot system further includes a recovery control program generating unit for generating, by computing, based on the posture of the first robot, a recovery control program for changing the posture of the first robot to a given standby posture.

Abstract translation: 为了使机器人控制器能够快速执行恢复控制程序，而不需要为机器人控制器配备大容量存储装置，所述机器人系统包括用于控制第一机器人的第一机器人控制器。 第一机器人控制器包括姿势信息获取单元，用于当在第一机器人中发生异常时获取指示第一机器人的姿势的信息。 机器人系统还包括：恢复控制程序生成单元，用于通过基于第一机器人的姿势计算用于将第一机器人的姿势改变为给定待机姿态的恢复控制程序。

公开(公告)号：US09102063B2

公开(公告)日：2015-08-11

申请号：US13956361

申请日：2013-08-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshiki Ito ,  Yuya Yasuda ,  Shinji Murai

IPC: G06F19/00 ,  B25J9/16

CPC classification number: B25J9/1669 ,  B25J9/1679 ,  G05B2219/40053

Abstract: A robot apparatus includes a robot main body, a distance determining section, an order determining section, and an operation controlling section. The robot main body transfers a plurality of to-be-processed objects in order so as to subject every predetermined number of the to-be-processed objects to processing, and includes a robot arm and a robot hand. The distance determining section determines an entire transfer distance of each of the to-be-processed objects. The order determining section determines a transfer order of the to-be-processed objects based on a determination result of the distance determining section so that every predetermined number of the to-be-processed objects has uniform transfer time. The operation controlling section controls operations of the robot arm and the robot hand so as to transfer the to-be-processed objects in accordance with the transfer order determined by the order determining section.

Abstract translation: 机器人装置包括机器人主体，距离确定部，顺序确定部和操作控制部。 机器人主体按顺序传送多个待处理对象，以使每个预定数量的待处理对象受到处理，并且包括机器人手臂和机器人手。 距离确定部分确定每个被处理对象的整个传送距离。 订单确定部分基于距离确定部分的确定结果确定待处理对象的传送顺序，使得每个预定数量的被处理对象具有均匀的传送时间。 操作控制部分控制机器人手臂和机器人手的操作，以便根据由顺序确定部确定的传送顺序传送被处理对象。

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。

公开(公告)号：US08936291B2

公开(公告)日：2015-01-20

申请号：US13760070

申请日：2013-02-06

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yuya Yasuda ,  Shinji Murai ,  Toshimitsu Irie ,  Fuminori Kutsukake

IPC: B66C1/42 ,  B25J15/08 ,  B25J9/00 ,  B25J15/00

CPC classification number: B25J15/08 ,  B25J9/00 ,  B25J15/0047 ,  Y10S901/39

Abstract: This robot hand includes a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped and bar-shaped claw members fixed to the first finger portion and the second finger portion. A plurality of claw members are fixed in parallel to at least either the first finger portion or the second finger portion.

Abstract translation: 该机器人手包括第一手指部分和第二手指部分，其在被抓握物体被抓握的方向上相对移动，杆形爪部件固定到第一手指部分和第二手指部分。 多个爪构件与第一手指部分或第二手指部分中的至少一个平行地固定。