公开(公告)号：US20160236347A1

公开(公告)日：2016-08-18

申请号：US15045460

申请日：2016-02-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Taku SHIKINA ,  Tamio NAKAMURA ,  Dai KONO ,  Takashi NISHIMURA

IPC: B25J9/16 ,  B25J5/00

CPC classification number: B25J9/162 ,  B25J5/007 ,  B25J9/1676 ,  B60K31/0008 ,  G01S17/42 ,  G01S17/936 ,  G05D1/0223 ,  G05D1/024 ,  G05D2201/0216 ,  Y10S901/01

Abstract: A movable object controlling apparatus includes an obstacle detecting device including circuitry detects an obstacle, and a controlling device including circuitry which sets a monitor region with respect to a movable object, controls a speed of the movable object based on detection of the obstacle by the obstacle detecting device in the monitor region, and changes a size of the monitor region based on the speed of the movable object.

Abstract translation: 可移动物体控制装置包括障碍物检测装置，其包括检测障碍物的电路，以及包括相对于可移动物体设置监视区域的电路的控制装置，基于障碍物的障碍物的检测来控制可移动物体的速度 在监视区域中检测设备，并且基于可移动物体的速度改变监视器区域的大小。

公开(公告)号：US20150120127A1

公开(公告)日：2015-04-30

申请号：US14527700

申请日：2014-10-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Taku SHIKINA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi NISHIMURA

IPC: G05D1/02 ,  G01S17/93 ,  B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1676 ,  G01S17/936 ,  G05B2219/40298 ,  G05D1/0225 ,  G05D1/0236 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/47

Abstract: A mobile unit according to an embodiment includes a main body, a moving mechanism, a sensor, a recognizer, a first movement adjuster, a second landmark recognizer, and a second movement adjuster. The moving mechanism moves the main body. The sensor detects a distance and a direction to an object around the main body. The recognizer recognizes a landmark based on a detection result of the sensor. The first movement adjuster controls the moving mechanism such that the main body is moved to a target position based on the landmark. If the distance to the landmark has become smaller than a first threshold, the second landmark recognizer recognizes a second landmark. The second movement adjuster controls the moving mechanism such that the main body is moved to the target position based on the second landmark.

Abstract translation: 根据实施例的移动单元包括主体，移动机构，传感器，识别器，第一移动调节器，第二地标识别器和第二移动调节器。 移动机构移动主体。 传感器检测与主体周围的物体的距离和方向。 识别器基于传感器的检测结果识别地标。 第一移动调节器控制移动机构，使得主体基于地标移动到目标位置。 如果到地标的距离变得小于第一阈值，则第二地标识别器识别第二地标。 第二移动调节器控制移动机构，使得主体基于第二标记移动到目标位置。

公开(公告)号：US20140277724A1

公开(公告)日：2014-09-18

申请号：US14207655

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi SUYAMA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi NISHIMURA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1674 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes: a robot including an operable working arm driven by an actuator; an operation load detection unit configured to detect an operation load of the actuator; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of a moving body other than the robot; and an abnormality determination unit that determines abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region in accordance with the operation load of the actuator.

Abstract translation: 本公开的机器人系统包括：机器人，包括由致动器驱动的可操作的工作臂; 操作负载检测单元，被配置为检测所述致动器的操作负载; 区域设定单元，其围绕机器人设定预定范围的区域; 移动体检测单元，被配置为检测除了所述机器人之外的移动体的位置; 以及异常判定单元，其在所述区域内检测到所述移动体的位置时，判定异常，其中，所述区域设定单元根据所述致动器的操作负荷改变所述区域的范围。

公开(公告)号：US20190099898A1

公开(公告)日：2019-04-04

申请号：US16124206

申请日：2018-09-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuichi SATO ,  Tamio NAKAMURA ,  Tetsuro IZUMI ,  Takashi NISHIMURA ,  Shohei OHNO

IPC: B25J15/06 ,  B25J9/16

Abstract: A manipulation unit includes a body, a tool holder, and a manipulated portion. The body has a first end, a second end opposite to the first end, and a peripheral surface connecting the first end and the second end. The first end is attachable to a robot arm. The tool holder is connected to the second end and configured to hold a tool. The manipulated portion is provided on the peripheral surface. The manipulated portion includes a manipulation surface and a surrounding portion. The robot arm is to be operated via the manipulation surface. The surrounding portion surrounds the manipulation surface such that the manipulation surface is recessed from the surrounding portion.

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：US20140316564A1

公开(公告)日：2014-10-23

申请号：US14135811

申请日：2013-12-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio NAKAMURA ,  Dai KOUNO ,  Takashi NISHIMURA

IPC: G05B19/19

CPC classification number: G05B19/19 ,  B25J5/007 ,  B25J9/0087 ,  G05B2219/39013 ,  Y10S901/01

Abstract: A mobile robot has a seating part, a moving apparatus to move the seating part, and a robot part with a base part to be attached to the seating part, a body capable of rotating around a vertical axis normal to an attaching surface which the seating part to be attached to the base part, and an arm connected to the body having a plurality of joints. The seating part has a first surface facing a work that is subject to the operation by the robot part and a second surface that is different from the first surface, and the arms are formed such that the positional relationship between the arms and the first surface is substantially identical to the positional relationship between the arms and the second surface according to the rotation of the body around the vertical axis.

Abstract translation: 移动式机器人具有座部，移动装置以移动座部，以及具有要附接到座部的基部的机器人部，能够垂直于垂直于轴线的安装面旋转的主体， 要连接到基部的部分，以及连接到具有多个关节的主体的臂。 座部具有面向受机器人部的操作的工件的第一表面和与第一表面不同的第二表面，并且臂形成为使得臂和第一表面之间的位置关系为 基本上与主体围绕垂直轴的旋转相同于臂和第二表面之间的位置关系。

公开(公告)号：US20140277725A1

公开(公告)日：2014-09-18

申请号：US14207656

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tamio NAKAMURA ,  Takashi SUYAMA ,  Takashi NISHIMURA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1674 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes a robot and a controller configured to control motion of the robot, and the controller includes: a motion mode storage unit storing a plurality of motion modes for controlling the robot to switch a motion state of the robot from a normal motion state to a special motion state when a predetermined first condition is satisfied; and a motion mode switching unit configured to switch the motion mode of the robot to another motion mode when, while a particular motion mode stored in the motion mode storage unit is in execution, a predetermined second condition for the particular motion mode is satisfied with a first condition for the particular motion mode satisfied.

Abstract translation: 本公开的机器人系统包括机器人和控制器，其被配置为控制机器人的运动，并且控制器包括：运动模式存储单元，其存储多个运动模式，用于控制机器人将机器人的运动状态从 当满足预定的第一条件时，向特殊运动状态的正常运动状态; 以及运动模式切换单元，其被配置为当所述运动模式存储单元中存储的特定运动模式正在执行时，将所述机器人的运动模式切换到另一运动模式，对于所述特定运动模式的预定第二条件满足以下条件： 特定运动模式的第一条件满足。

公开(公告)号：US20210053219A1

公开(公告)日：2021-02-25

申请号：US16997945

申请日：2020-08-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NISHIMURA ,  Issei AOYAMA ,  Tetsuro IZUMI ,  Shangning LI ,  Akihiro YAMAMOTO

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A robot system includes: a first robot; a second robot; and circuitry configured to: control the first and second robots to execute a collaborative operation on a work piece; and control, in response to a detection of an irregular state of the first robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the irregular state.

公开(公告)号：US20210221009A1

公开(公告)日：2021-07-22

申请号：US17225109

申请日：2021-04-08

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuichi SATO ,  Tamio NAKAMURA ,  Tetsuro IZUMI ,  Takashi NISHIMURA ,  Shohei OHNO

IPC: B25J15/06 ,  B25J9/16 ,  B25J13/02 ,  B25J9/00

Abstract: A manipulation unit includes a body, a tool holder, and a plurality of manipulated switches. The body has a first end, a second end opposite to the first end, and a cylindrical circumferential outer surface that extends from the first end to the second end and which is configured to be held to perform direct teaching to a robot. The first end is attachable to a leading end of a robot arm of the robot. The tool holder is connected to the second end and configured to hold a tool. The plurality of manipulated switches are configured to send signal to a robot controller to perform the direct teaching. The plurality of manipulated switches are provided on the body to be aligned along a circumferential direction of the cylindrical circumferential outer surface so that the direct teaching is performed with a hand which holds the cylindrical circumferential outer surface.

公开(公告)号：US20140277723A1

公开(公告)日：2014-09-18

申请号：US14207654

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NISHIMURA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi SUYAMA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes: a robot including an operable working arm; a motion speed detection unit configured to detect a motion speed of the working arm; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of the moving body other than the robot; and an abnormality determination unit configured to determine abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region according to the motion speed of the working arm.

Abstract translation: 本公开的机器人系统包括：机器人，其包括可操作的工作臂; 运动速度检测单元，被配置为检测工作臂的运动速度; 区域设定单元，其围绕机器人设定预定范围的区域; 移动体检测单元，被配置为检测除了所述机器人之外的所述移动体的位置; 以及异常判定单元，被配置为当检测到所述区域内的所述移动体的位置时确定异常，其中所述区域设置单元根据所述工作臂的运动速度改变所述区域的范围。