公开(公告)号：US20150032257A1

公开(公告)日：2015-01-29

申请号：US14340495

申请日：2014-07-24

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yukio HASHIGUCHI ,  Shinji MURAI ,  Tomoyuki SHIRAKI

IPC: B25J9/06

CPC classification number: B25J9/06 ,  B25J9/1674 ,  G05B19/4184 ,  G05B2219/39135 ,  G05B2219/40224 ,  G05B2219/50118 ,  Y02P90/12 ,  Y02P90/14

Abstract: To enable a recovery control program to be executed quickly by a robot controller without needing to equip the robot controller with a large-capacity storage device, provided is a robot system, including a first robot controller for controlling a first robot. The first robot controller includes a posture information obtaining unit for obtaining information indicating a posture of the first robot when an anomaly occurs in the first robot. The robot system further includes a recovery control program generating unit for generating, by computing, based on the posture of the first robot, a recovery control program for changing the posture of the first robot to a given standby posture.

Abstract translation: 为了使机器人控制器能够快速执行恢复控制程序，而不需要为机器人控制器配备大容量存储装置，所述机器人系统包括用于控制第一机器人的第一机器人控制器。 第一机器人控制器包括姿势信息获取单元，用于当在第一机器人中发生异常时获取指示第一机器人的姿势的信息。 机器人系统还包括：恢复控制程序生成单元，用于通过基于第一机器人的姿势计算用于将第一机器人的姿势改变为给定待机姿态的恢复控制程序。

公开(公告)号：US20150032244A1

公开(公告)日：2015-01-29

申请号：US14340504

申请日：2014-07-24

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yukio HASHIGUCHI ,  Shinji MURAI ,  Tomoyuki SHIRAKI

IPC: G05B19/418 ,  G05B15/02

CPC classification number: G05B19/4183 ,  G05B15/02 ,  G05B2219/2609 ,  Y02P90/10 ,  Y02P90/14

Abstract: To enable recording of which robot has participated in the manufacture of which product without fail, provided is a robot system, including: a robot controller for controlling a robot; and a production management computer, which is to be connected to the robot controller. The robot controller includes a robot information transmitting unit for transmitting robot identification information by which the robot is identified to the production management computer when the robot works on a work piece that is put on a work space for the robot. The production management computer includes: a work piece identification information obtaining unit for obtaining, when the work piece within the work space for the robot is switched, work piece identification information by which the work piece is identified; and a storage for storing the robot identification information in association with the work piece identification information.

Abstract translation: 为了使得能够记录哪个机器人参与制造哪个产品的机器人系统，其包括：机器人控制器，用于控制机器人; 以及要连接到机器人控制器的生产管理计算机。 机器人控制器包括机器人信息发送单元，用于当机器人工作在放置在机器人的工作空间上的工件上时，将机器人识别信息发送给生产管理计算机。 生产管理计算机包括：工件识别信息获取单元，用于当切换用于机器人的工作空间内的工件时，获取工件识别信息，通过该工件识别信息识别工件; 以及用于存储与工件识别信息相关联的机器人识别信息的存储器。

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

IPC: B25J9/16 ,  H02P25/18 ,  H02P25/22 ,  B25J19/02

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。

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

IPC: B25J13/08 ,  F16P3/12 ,  B25J18/00

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。

公开(公告)号：US20140196561A1

公开(公告)日：2014-07-17

申请号：US14155361

申请日：2014-01-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J18/04 ,  B25J17/02

CPC classification number: B25J18/04 ,  B25J9/1035 ,  B25J17/02 ,  B25J17/025 ,  Y10T74/20317 ,  Y10T74/20335

Abstract: A robot according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear.

Abstract translation: 根据实施例的机器人包括第一连杆，第二连杆，致动器和外部齿轮。 第二连杆可旋转地连接到第一连杆。 致动器旋转地驱动第二连杆。 外部齿轮连接到执行机构。 第二连杆包括与外齿轮接合的内齿轮。

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

IPC: B25J9/10 ,  B25J19/06

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 。

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

IPC: B25J9/16 ,  G05B9/02

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。

公开(公告)号：US20150032256A1

公开(公告)日：2015-01-29

申请号：US14340486

申请日：2014-07-24

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yukio HASHIGUCHI ,  Shinji MURAI ,  Tomoyuki SHIRAKI

IPC: G05B19/418 ,  B25J13/00

CPC classification number: G05B19/41815 ,  B25J13/006 ,  G05B19/41845 ,  G05B2219/32129 ,  G05B2219/39001 ,  G05B2219/39031 ,  Y02P90/08 ,  Y02P90/14 ,  Y02P90/16 ,  Y02P90/18 ,  Y10S901/14 ,  Y10S901/50

Abstract: To enable simple loading of an appropriate operation control program into a robot controller, provided is a robot system, including: a robot management computer; and robot controllers for controlling robots, respectively, in which the robot management computer includes: a robot information receiving unit for receiving set-up location information about a set-up location of each of the robots; a storage for storing an operation control program of the each of the robots in association with the set-up location information; and an operation control program transmitting unit for transmitting, to each of the robot controllers, the operation control program that is associated with the set-up location information received from the robot information receiving unit.

Abstract translation: 为了能够将适当的操作控制程序简单地加载到机器人控制器中，提供了一种机器人系统，其包括：机器人管理计算机; 以及分别用于控制机器人的机器人控制器，其中机器人管理计算机包括：机器人信息接收单元，用于接收关于每个机器人的设置位置的设置位置信息; 用于存储与设置位置信息相关联的每个机器人的操作控制程序的存储器; 以及操作控制程序发送单元，用于向每个机器人控制器发送与从机器人信息接收单元接收的建立位置信息相关联的操作控制程序。

公开(公告)号：US20140196562A1

公开(公告)日：2014-07-17

申请号：US14155364

申请日：2014-01-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J17/02 ,  B25J18/04

CPC classification number: B25J17/02 ,  B25J9/0024 ,  B25J9/104 ,  B25J18/04 ,  Y10T74/20323 ,  Y10T74/20335

Abstract: A robot includes a first actuator, a first rotating body, a second actuator, and a second rotating body. The first actuator rotationally drives a second wrist that is connected to a first wrist. The first rotating body transmits a drive force of the first actuator to a second wrist. The second actuator rotationally drives a third wrist that is connected to the second wrist. The second rotating body transmits a drive force of the second actuator to the third wrist. The first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body.

Abstract translation: 机器人包括第一致动器，第一旋转体，第二致动器和第二旋转体。 第一执行器旋转地驱动连接到第一腕的第二腕。 第一旋转体将第一致动器的驱动力传递到第二腕部。 第二执行器旋转地驱动连接到第二腕的第三腕。 第二旋转体将第二致动器的驱动力传递到第三腕部。 第一旋转体和第二旋转体配置在第一旋转体和第二旋转体的旋转轴彼此平行的位置，并且不会相互干涉，使得第一旋转体的位置在 当从与第二旋转体的旋转轴线垂直的方向观察时，第二旋转体的范围。

公开(公告)号：US20150039125A1

公开(公告)日：2015-02-05

申请号：US14446304

申请日：2014-07-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Tomoyuki SHIRAKI ,  Masato ITO ,  Kaori SAKAKI

IPC: B25J9/16

CPC classification number: B25J9/1628 ,  B25J19/0008 ,  B25J19/0025 ,  Y10S901/14 ,  Y10S901/42

Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a first attachment unit provided to the rotation base, arranged in an outside, in a rotation radius direction, of the rotation base and nearer to the stage unit than the first rotation axis, and formed so that one part of a balancer is attached thereto; and a second attachment unit provided to the arm unit and formed so that another part of the balancer is attached thereto.

Abstract translation: 机器人包括：舞台单元; 旋转基座，围绕预定旋转轴线以可旋转的方式连接到平台单元; 连接到所述旋转基座的臂单元，并且具有可围绕基本上垂直于所述旋转轴线的第一旋转轴线旋转的基端; 第一安装单元，设置在所述旋转底座上，所述旋转基座沿旋转半径方向布置在所述旋转底座的外侧，并且比所述第一旋转轴线更靠近所述台单元，并且形成为使得平衡器的一部分附接到所述第一安装单元; 以及第二安装单元，其设置在所述臂单元上并且形成为使得所述平衡器的另一部分附接到所述臂单元。