公开(公告)号：US20190084156A1

公开(公告)日：2019-03-21

申请号：US16134969

申请日：2018-09-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya YASUDA ,  Tatsuya NAKATA ,  Tsuyoshi ITO ,  Kiminori NISHIMURA

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J5/00 ,  B25J5/02 ,  B25J9/16 ,  B25J9/1615 ,  G05B2219/40252

Abstract: A robot system includes a robot, a moving body, a determination circuit, a calculation circuit, and a control circuit. The robot includes a mount and a first arm. The determination circuit is configured to determine a lastly moved part of the robot which is lastly moved to make the robot take an operation posture. The calculation circuit is configured to calculate, based on the lastly moved part, an angle between a travel direction of the moving body and an orientation axis of the first arm when the robot in the operation posture is viewed along a height axis of the robot. The control circuit is configured to control the robot to work on a workpiece keeping the robot in the operation posture with the calculated angle while controlling the moving body to move in the travel direction.

公开(公告)号：US20220276617A1

公开(公告)日：2022-09-01

申请号：US17670511

申请日：2022-02-14

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tatsuya NAKATA ,  Kenta KIKUCHI ,  Yuki WATANABE ,  Sho TAJIMA ,  Tsuyoshi ITO

IPC: G05B13/02 ,  G06F3/04847 ,  B05C21/00

Abstract: A coating control system includes selection circuitry configured to select based on a user input a control target apparatus among a plurality of coating apparatuses which include different devices, parameter setting circuitry configured to determine a setting parameter according to the control target apparatus and set a value of the setting parameter based on a user input, and operation control circuitry configured to control the control target apparatus based on the value of the setting parameter.

公开(公告)号：US20220274259A1

公开(公告)日：2022-09-01

申请号：US17670514

申请日：2022-02-14

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tatsuya NAKATA ,  Kenta KIKUCHI ,  Yuki WATANABE ,  Sho TAJIMA ,  Tsuyoshi ITO

IPC: B25J11/00 ,  B05B13/04 ,  B25J9/16

Abstract: A coating control apparatus includes operation control circuitry configured to control a coating device whose position and orientation are controlled by a robot in accordance with a command from robot control circuitry, robot information acquisition circuitry configured to acquire, from the robot control circuitry, robot data indicating an operation state of the robot, and a data processor configured to relate coating data which indicates an operation state of the coating device to the robot data.

公开(公告)号：US20220097232A1

公开(公告)日：2022-03-31

申请号：US17643724

申请日：2021-12-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kensei ISHIZU ,  Makoto TABATA ,  Tatsuya NAKATA ,  Kenta KIKUCHI ,  Tsuyoshi ITO

IPC: B25J9/16 ,  B05B12/08 ,  B05B12/10 ,  B25J11/00 ,  B05C5/02 ,  B05C11/10

Abstract: A control system including a discharge control circuit configured to control an application device such that a coating is discharged from a discharge circuit; a robot control circuit configured to cause an articulated robot to change a position and an orientation of the discharge circuit such that the coating is applied to a workpiece; an application abnormality detection circuit configured to detect an abnormality in an application state of the coating on the basis of at least one of a state of the device or of the robot; an application position calculation circuit configured to calculate an application position of the coating; and an abnormality notification circuit configured to send a notification of a site of an abnormality in the application state on the workpiece on the basis of a detection result of the abnormality in the application state and a calculation result of the application position.