公开(公告)号：US20180065254A1

公开(公告)日：2018-03-08

申请号：US15807574

申请日：2017-11-09

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Ryuta KAGAWA ,  Hikaru INOUE ,  Tatsuo HIRO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/047 ,  B25J9/06 ,  B25J9/1643 ,  G05B2219/39082

Abstract: A robot system includes a robot and a motion control unit. The robot includes a bottom, a swiveling base, first to third arms. A bottom side of the first arm is supported on the swiveling base swivelably around a horizontal-direction second axis. A bottom side of the redundant arm is supported on a leading side of the first arm swivelably around an axis parallel to the second axis. A bottom side of the second arm is supported on a leading side of the redundant arm swivelably around a third axis parallel to the second axis. A bottom side of the third arm is supported on a leading side of the second arm rotatably around a fourth axis perpendicular to the third axis. The motion control unit activates the redundant arm so that a control point provided on the fourth axis linearly moves while maintaining a direction of the fourth axis.

公开(公告)号：US20160136813A1

公开(公告)日：2016-05-19

申请号：US14979554

申请日：2015-12-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tatsuo HIRO ,  Kuniaki KATAMINE ,  Ryuta KAGAWA ,  Yusuke KINOSHITA ,  Manabu OKAHISA ,  Masami NAKAKURA

IPC: B25J9/16 ,  B25J11/00 ,  B23K11/31

CPC classification number: B25J9/1664 ,  B25J9/0027 ,  B25J9/0084 ,  B25J9/161 ,  B25J9/1643 ,  Y10S901/02 ,  Y10S901/14

Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.

Abstract translation: 一种加工设备包括：机器人，包括第一臂部分，第二臂部分，末端部分，绕第二轴线摆动第一臂部分的第二致动器;绕第三轴线摆动第二臂部分的第三致动器;第七致动器 调节第二轴线与第三轴线之间的距离，以及设置在尖端部分上的端部执行器，并对工件进行加工。 机器人被定位成使得当第一臂部分围绕第二轴线旋转时，第一臂部分的末端部分或第二臂部分的基端部分的可移动范围与工件干涉，其中距离最长 在机器人精确面对工件的状态下。

公开(公告)号：US20150027261A1

公开(公告)日：2015-01-29

申请号：US14340488

申请日：2014-07-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Takahiko KANAMORI ,  Tatsuo HIRO

IPC: B25J18/04 ,  B25J19/00

CPC classification number: B25J18/04 ,  B25J19/0025 ,  B25J19/007 ,  Y10T29/49174 ,  Y10T74/20311

Abstract: A robot according to an aspect of an embodiment includes a robot arm, an attaching portion, an end effector, an end-effector-side cable, and a robot-side cable. The attaching portion is provided on a leading end of the robot arm. The end effector is attached to the attaching portion. The end-effector-side cable extends from the end effector. The robot-side cable is arranged along the robot arm and is connected to the end-effector-side cable by terminal connection at a position closer to the end effector than the attaching portion.

Abstract translation: 根据实施例的一个方面的机器人包括机器人臂，附接部分，端部执行器，末端执行器侧电缆和机器人侧电缆。 安装部设置在机器人手臂的前端。 端部执行器附接到附接部分。 末端执行器侧电缆从端部执行器延伸。 机器人侧电缆沿着机器人臂布置，并且通过端子连接在比附接部更靠近端部执行器的位置处连接到末端执行器侧电缆。