公开(公告)号：US09162359B2

公开(公告)日：2015-10-20

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: G05B19/04 ,  G05B19/18 ,  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：US09126334B2

公开(公告)日：2015-09-08

申请号：US14207660

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio Nakamura ,  Dai Kouno ,  Takashi Suyama ,  Takashi Nishimura ,  Tomohiro Matsuo ,  Shinichi Ishikawa ,  Tomoki Kawano

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1612 ,  B25J9/1674 ,  B25J19/06 ,  F16P3/147 ,  G05B2219/40202

Abstract: A robot system is provided, which includes a robot having an operable operation arm, an attachment detector for detecting one or more attachments, each attached to a wearing article equipped by a movable body, and a motion-control changer for changing a motion control of the robot based on a detection result detected by the attachment detector.

Abstract translation: 提供了一种机器人系统，其包括具有可操作操作臂的机器人，用于检测一个或多个附件的附件检测器，每个附件附接到由可移动体装备的穿着物品，以及运动控制变换器，用于改变运动控制 基于由附件检测器检测到的检测结果的机器人。

公开(公告)号：US09032811B2

公开(公告)日：2015-05-19

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: G01L1/24 ,  B25J9/16 ,  B25J13/08 ,  B25J19/06 ,  G06F3/042

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：US11577399B2

公开(公告)日：2023-02-14

申请号：US16748820

申请日：2020-01-22

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi Kumagai ,  Tamio Nakamura

IPC: B25J9/16 ,  B25J19/04

Abstract: A robot system includes a robot, a vision sensor, a target position generation circuit, an estimation circuit, and a control circuit. The robot includes an end effector and is configured to work via the end effector on a workpiece which is disposed at a relative position and which is relatively movable with respect to the end effector. The vision sensor is configured to take an image of the workpiece. The target position generation circuit is configured to, based on the image, generate a target position of the end effector at every generation interval. The estimation circuit is configured to, at least based on relative position information related to the relative position, estimate a change amount in the relative position at every estimation interval. The control circuit is configured to control the robot to move the end effector based on the target position and the change amount.

公开(公告)号：US09403276B2

公开(公告)日：2016-08-02

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: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G05B19/4061

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。

公开(公告)号：US09186791B2

公开(公告)日：2015-11-17

申请号：US14201933

申请日：2014-03-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai Kouno ,  Tetsuro Izumi ,  Tamio Nakamura ,  Takashi Nishimura

IPC: B25J5/00 ,  B25J9/16 ,  B25J13/08

CPC classification number: B25J5/007 ,  B25J9/162 ,  B25J9/1633 ,  B25J13/083 ,  B25J13/085 ,  G05D1/0242 ,  G05D2201/0216 ,  Y10S901/01

Abstract: A mobile robot includes a truck capable of traveling by servo control, a robot arm mounted on the truck, and a control portion servo-controlling the traveling of the truck. The control portion is configured to set a servo gain of the servo control for the truck to a robot arm operation gain during the operation of the robot arm.

Abstract translation: 移动机器人包括能够通过伺服控制行进的卡车，安装在卡车上的机器人手臂，以及伺服控制卡车行驶的控制部。 所述控制部构成为，在所述机器人手臂的动作期间，将所述卡车的伺服控制的伺服增益设定为机器人手臂的运行增益。

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：US20190299399A1

公开(公告)日：2019-10-03

申请号：US16367518

申请日：2019-03-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro Izumi ,  Shohei Ohno ,  Takashi Nishimura ,  Tamio Nakamura

IPC: B25J9/10 ,  B25J13/00 ,  B25J9/16

Abstract: A robot system includes a robot including leading end, base, and multi-articular arm, and circuitry that controls the atm to move the end based on motion control program specifying transition over time of target position and posture of the end, the transition including correction target portion starting and ending in the transition; controls the arm to move the end in response to guided manipulation applying external force to the robot while the circuitry controls the arm; obtains relative command information based on the target position and posture at start of the correction portion and specifying the target position and posture at points in the correction portion including start and end in the correction portion; and controls the arm to move the end from the position and posture based on the information, beginning at time when movement of the arm controlled by the circuitry in response to the manipulation has ended.

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：US11007655B2

公开(公告)日：2021-05-18

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

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.