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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。
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公开(公告)号：US20140277726A1
公开(公告)日：2014-09-18
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: 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。
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公开(公告)号：US20150012133A1
公开(公告)日：2015-01-08
申请号：US14490642
申请日：2014-09-18
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Yuji SAJIKAWA , Tomoyuki SHIRAKI , Atsushi ICHIBANGASE , Tomohiro MATSUO , Shinichi ISHIKAWA , Tomoki KAWANO
CPC classification number: B25J9/1676 , B25J9/1656 , B25J19/02 , B25J19/06 , F16P3/142 , H02P25/188 , H02P25/22
Abstract: The working robot includes a plurality of link members coupled rotatably around shafts, a motor driving the link members, and a controller switching a state of use of winding wires of the motor based on a result of sensing a moving object including a human in a predetermined area. The controller switches the state of use of the winding wires of the motor, to drive the link members in a first mode in which the number of revolutions or the torque of the motor is relatively large, when the moving object is not present; and switches the state of use of the winding wires of the motor, to drive the link members in a second mode in which the number of revolutions or the torque of the motor is relatively small, when the moving object is present.
Abstract translation: 工作机器人包括可围绕轴可旋转地联接的多个连杆构件，驱动连杆构件的马达，以及基于将包括人的运动物体以预定的方式感测的结果来切换马达的绕组线的状态的控制器 区。 所述控制器切换所述电动机的绕组线的使用状态，以在不存在所述移动物体的情况下以所述电动机的转数或所述转矩相对较大的第一模式驱动所述连杆部件; 并且切换电动机的绕组线的使用状态，以便当移动物体存在时以第二模式驱动连杆构件，其中电动机的转数或转矩相对较小。
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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。
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5.发明申请公开(公告)号：US20140259644A1
公开(公告)日：2014-09-18
申请号：US14179562
申请日：2014-02-13
Applicant: Kabushiki Kaisha Yaskawa Denki
Inventor： Tomohiro MATSUO , Shinichi ISHIKAWA , Tomoki KAWANO
IPC: B23P19/04
CPC classification number: B23P19/04 , B25J9/1687 , Y10T29/53061
Abstract: A control apparatus generally performs a control such that a robot picks up components from a component loading tray in order according to an assembling sequence and assembles the components. Meanwhile, when the robot fails to pick up the components according to the assembling sequence, the control apparatus controls the operation of the robot such that the robot first picks up a component having a high picking-up possibility and first assembles the corresponding picked-up components according to the assembling sequence between the corresponding picked-up components. Thereafter, the control apparatus changes a picking-up condition and controls the operation of the robot such that the robot picks up the components before assembling based on the changed picking-up condition and assembles the components.
Abstract translation: 控制装置通常执行控制，使得机器人根据组装顺序从部件装载盘中拾取部件并组装部件。 同时，当机器人根据组装顺序不能拾取部件时，控制装置控制机器人的操作，使得机器人首先拾取具有高拾取可能性的部件，并且首先组装相应的拾取 根据相应的拾取部件之间的组装顺序的部件。 此后，控制装置改变拾取条件并控制机器人的操作，使得机器人在组装之前基于改变的拾取条件拾取部件并组装部件。
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Patent Agency Ranking
公开(公告)号：US20150005940A1
公开(公告)日：2015-01-01
申请号：US14490647
申请日：2014-09-18
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Atsushi ICHIBANGASE , Yuji SAJIKAWA , Tomoyuki SHIRAKI , Tomohiro MATSUO , Shinichi ISHIKAWA , Tomoki KAWANO
CPC classification number: B25J13/08 , B25J9/102 , B25J18/00 , B25J19/06 , F16P3/12 , F16P3/142 , Y10S901/02
Abstract: Provided are a working robot and a robot system serving as a type coexisting with humans and improving reliability in safety. The working robot includes an arm, a driving mechanism, and a controller. The arm includes a plurality of link members that are coupled rotatably around shafts. The driving mechanism includes a driving source, and a plurality of power transmission paths capable of transmitting motive power from the driving source to the link members with mutually different numbers of revolutions or torques. The controller switches the power transmission paths, based on a sensing result for a moving object including a human body in a certain area.
Abstract translation: 提供作为与人共存的类型的作业机器人和机器人系统，并提高安全性的可靠性。 工作机器人包括臂，驱动机构和控制器。 臂包括可围绕轴可旋转地联接的多个连杆构件。 驱动机构包括驱动源和能够以相互不同的转数或扭矩将来自驱动源的动力传递到连杆构件的多个动力传递路径。 控制器基于在某个区域中包括人体的移动物体的感测结果来切换电力传输路径。
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公开(公告)号：US20130195584A1
公开(公告)日：2013-08-01
申请号：US13688219
申请日：2012-11-29
Applicant: Kabushiki Kaisha Yaskawa Denki
Inventor： Masatoshi FURUICHI , Yoshiki KIMURA , Tomohiro MATSUO , Yoshihiro KUSAMA
IPC: B25J9/04 , H01L21/677
CPC classification number: B25J9/042 , B25J9/1664 , H01L21/677 , H01L21/67766 , Y10S901/02 , Y10S901/15
Abstract: A conveying system according to an embodiment includes a robot and a controller. The controller includes a switching unit. The robot includes an arm unit formed of a hand and a plurality of arms connected rotatably with respect to one another, and a base unit. An arm on a rear end side is connected to the base unit rotatably about a rotation axis, and the hand is rotatably connected to an arm on a front end side. The switching unit switches cylindrical coordinate control for controlling the arm unit such that a trajectory of the hand overlaps with any one of lines radiating from the rotation axis and rectangular coordinate control for controlling the arm unit such that the trajectory of the hand overlaps with none of the lines at a predetermined timing.
Abstract translation: 根据实施例的输送系统包括机器人和控制器。 控制器包括切换单元。 机器人包括由手和相对于彼此可旋转地连接的多个臂形成的臂单元和基座单元。 后端侧的臂与旋转轴可旋转地连接在基座上，手可旋转地与前端侧的臂连接。 切换单元切换用于控制臂单元的圆柱坐标控制，使得手的轨迹与从旋转轴辐射的线中的任何一个重叠，并且用于控制臂单元的直角坐标控制，使得手的轨迹与 线在预定的时间。
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公开(公告)号：US20150081096A1
公开(公告)日：2015-03-19
申请号：US14549441
申请日：2014-11-20
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Tomoyuki SHIRAKI , Atsushi ICHIBANGASE , Yuji SAJIKAWA , Tomohiro MATSUO , Shinichi ISHIKAWA , Tomoki KAWANO
CPC classification number: B25J9/101 , B25J19/06 , F16P3/142 , Y10T74/1494
Abstract: A robot is provided with a base to be fixed to an installation surface, and an arm unit having a plurality of arm bodies sequentially and revolvably coupled with each other with one end coupled to the base through a joint unit. The arm unit has a stopper mechanism having a movable stopper member capable of restricting a revolving motion of the arm bodies to a predetermined revolving range. The movable stopper member is provided to one link of one of the pairs of links coupled through the joint unit, whereas the fixed stopper member, which is engaged with the movable stopper member, is provided to another link of the one of the pairs of links.
Abstract translation: 机器人设置有要固定到安装表面的基座，以及臂单元，其具有顺序地并且可旋转地彼此联接的多个臂体，其一端通过接合单元联接到基座。 臂单元具有止动机构，其具有能够将臂体的旋转运动限制在预定旋转范围的可动止动构件。 可移动止动构件设置在通过接头单元联接的一对连杆中的一个连杆上，而与可移动止动构件接合的固定止动构件设置在一对连杆中的另一个连杆 。
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公开(公告)号：US20150081095A1
公开(公告)日：2015-03-19
申请号：US14549453
申请日：2014-11-20
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Tomoyuki SHIRAKI , Atsushi ICHIBANGASE , Yuji SAJIKAWA , Tomohiro MATSUO , Shinichi ISHIKAWA , Tomoki KAWANO
CPC classification number: B25J9/1676 , B25J9/047 , B25J9/1674 , B25J13/088 , G05B9/02 , G05B2219/37522 , G05B2219/37546 , G05B2219/39413 , G05B2219/42329 , Y10S901/02 , Y10S901/29 , Y10S901/30 , Y10S901/49
Abstract: Provided is a robot further improved in safety. The robot includes at least one link which is rotatably coupled around an axis, a motor which rotates the link around the axis, a first sensor which detects a rotation state of the motor, and a second sensor which detects a rotation state of the link. The robot also includes a controller which controls the rotation of the link based on information from the first sensor. The controller determines an operation state of at least one of the first sensor and the second sensor, based on first information from the first sensor and second information from the second sensor.
Abstract translation: 提供了一种进一步提高安全性的机器人。 机器人包括绕轴线可旋转地联接的至少一个连杆，围绕轴线旋转连杆的马达，检测马达的旋转状态的第一传感器和检测连杆的旋转状态的第二传感器。 机器人还包括基于来自第一传感器的信息来控制链接的旋转的控制器。 控制器基于来自第一传感器的第一信息和来自第二传感器的第二信息确定第一传感器和第二传感器中的至少一个的操作状态。
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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。
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