公开(公告)号：US20150032243A1

公开(公告)日：2015-01-29

申请号：US14514391

申请日：2014-10-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi SHIINO ,  Keigo ISHIBASHI ,  Toshiaki IKEDA ,  Toshiyuki HARADA ,  Shoji KOYAKUMARU

IPC: G05B19/418 ,  B25J9/16

CPC classification number: G05B19/4189 ,  B23D17/00 ,  B25J9/0093 ,  B25J9/1602 ,  G05B19/4182 ,  G05B2219/31227 ,  H05K13/0061 ,  Y02P90/083 ,  Y02P90/28 ,  Y10S901/02 ,  Y10S901/30 ,  Y10S901/47

Abstract: A robot system according to an aspect of the embodiment includes at least one robot, a transporter, and a controller. The robot performs multi-axial operation based on an operation instruction by the controller. The transporter has a pair of guides arranged parallel to each other along a predetermined transport direction, the guides having a variable spacing therebetween, transports a workpiece to a working position of the robot while restricting the movement of the workpiece present in an area between the pair of guides toward the direction of the spacing, and sandwiches and holds the workpiece by the pair of guides at the working position. The controller instructs the robot to perform the operation to apply predetermined processing to the workpiece held at the working position.

Abstract translation: 根据本实施例的一个方面的机器人系统包括至少一个机器人，运送器和控制器。 机器人根据控制器的操作指令执行多轴操作。 运送器具有沿着预定输送方向彼此平行布置的一对引导件，导向件之间具有可变的间隔，将工件运送到机器人的工作位置，同时限制存在于该对之间的区域中的工件的移动 的引导件朝向间隔的方向，并且通过在工作位置处的一对引导件夹持和保持工件。 控制器指示机器人执行对保持在工作位置的工件进行预定处理的操作。

公开(公告)号：US20200016755A1

公开(公告)日：2020-01-16

申请号：US16435565

申请日：2019-06-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Osamu HARADA ,  Toshiyuki HARADA ,  Kentaro YOTSUJI

IPC: B25J9/16 ,  B25J9/00 ,  B25J18/04 ,  B25J9/06

Abstract: A transfer robot includes one arm, another arm, and a motor. The one arm has a first connection portion. The other arm has a second connection portion that is connected to the first connection portion of the one arm via a shaft such that the other arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor is provided inside the first connection portion of the one arm. The motor includes a rotor rotatable around the shaft axis to rotate the one arm or the other arm around the shaft axis.

公开(公告)号：US20140283357A1

公开(公告)日：2014-09-25

申请号：US14217474

申请日：2014-03-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshiyuki HARADA ,  Ken OKAWA ,  Kenji MATSUFUJI ,  Shinji OGASAWARA ,  Toshiaki IKEDA

IPC: B23P21/00

CPC classification number: B23P21/004 ,  Y10T29/49829 ,  Y10T29/53417

Abstract: A workpiece assembly system includes a first manual station in which a person performs an operation of providing a first component set onto a pallet; a first robot station in which a robot performs an operation of assembling the first component set into a workpiece on a surface plate; and a conveyor that conveys the pallet and the surface plate from the first robot station to a subsequent manual station. After the robot has removed the first component set from the pallet and before the robot finishes the operation in the first robot station, the pallet is conveyed to the subsequent manual station prior to the surface plate.

Abstract translation: 工件组装系统包括：第一手动工位，人在其中进行将第一组件设置在托盘上的操作; 第一机器人站，其中机器人执行将第一组件组装到工作台上的操作; 以及将托盘和表面板从第一机器人站传送到随后的手动站的输送机。 在机器人从托盘移除第一组件之后，并且在机器人在第一机器人站完成操作之前，托盘在表板之前被传送到随后的手动站。

公开(公告)号：US20140283353A1

公开(公告)日：2014-09-25

申请号：US14217476

申请日：2014-03-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshiyuki HARADA ,  Toshiaki IKEDA ,  Ken OKAWA ,  Shinji OGASAWARA ,  Akihiro SHIOTA

IPC: G05B19/418 ,  B23P21/00

CPC classification number: G05B19/41805 ,  B23P21/00 ,  B23P21/004 ,  Y10T29/49826 ,  Y10T29/534

Abstract: A workpiece assembly line includes assembly units that assemble a workpiece, and a workpiece transfer unit that allows transfer of the workpiece between the workpiece transfer unit and each assembly unit. The assembly units are disposed around the workpiece transfer unit. The workpiece is transferred between the assembly units via the workpiece transfer unit.

Abstract translation: 工件组装线包括组装工件的组装单元和允许工件在工件传送单元和每个组装单元之间传送的工件传送单元。 组装单元设置在工件传送单元周围。 工件通过工件传送单元在组件单元之间传送。

公开(公告)号：US20140277657A1

公开(公告)日：2014-09-18

申请号：US14183527

申请日：2014-02-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryosuke TSUTSUMI ,  Ken OKAWA ,  Toshiyuki HARADA ,  Akihiro SHIOTA ,  Kenji MATSUFUJI

IPC: G05B19/418

CPC classification number: G05B19/4188 ,  G05B19/41805 ,  G05B19/41865 ,  G05B19/41875 ,  G05B2219/31001 ,  Y02P90/04 ,  Y02P90/10 ,  Y02P90/20 ,  Y02P90/22 ,  Y02P90/24

Abstract: A manufacturing system includes: a plurality of processing devices capable of outputting processing information including a processing detail performed to a work; a processing tool capable of outputting backup information including a processing detail performed to the work; and a management device configured create management information by associating the processing information and the backup information with identification information identifying the work.

Abstract translation: 一种制造系统包括：能够输出包括对作业执行的处理细节的处理信息的多个处理装置; 一种能够输出备份信息的处理工具，该备份信息包括对工作执行的处理细节; 并且管理装置通过将处理信息和备份信息与识别作品的识别信息相关联来创建管理信息。

公开(公告)号：US20140271080A1

公开(公告)日：2014-09-18

申请号：US14192745

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryosuke TSUTSUMI ,  Toshiyuki HARADA ,  Kenji MATSUFUJI ,  Toshiaki IKEDA

IPC: B66C1/34

CPC classification number: B66C1/34 ,  B25J9/0084 ,  B25J19/00 ,  B25J19/002 ,  Y10S901/48

Abstract: A crane tool includes: a hook portion for hanging a work, attached to one arm section in a first robot arm having a base, a plurality of arm sections connected to the base in series, and a plurality of joints adapted to swing the arm sections, respectively, the crane tool; a counterweight portion; and a joint portion connecting the hook portion to the counterweight portion. The counterweight portion is located such that a joint swinging the arm section to which the hook portion is attached is interposed between the hook portion and the counterweight portion in substantially a horizontal direction.

Abstract translation: 一种起重机工具包括：挂钩工件的钩部，其连接到具有底座的第一机器人手臂中的一个臂部分上，多个臂部分串联连接到基座;以及多个接头，其适于使臂部分摆动 ，分别为起重机工具; 配重部分; 以及将钩部连接到配重部的接合部。 配重部分的位置使得摆动钩部分的臂部分在大致水平方向上插入在钩部和配重部之间。

公开(公告)号：US20150261206A1

公开(公告)日：2015-09-17

申请号：US14724815

申请日：2015-05-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi SHIINO ,  Katsunori URABE ,  Takahisa IKENAGA ,  Toshiyuki HARADA

IPC: G05B19/409 ,  B32B43/00 ,  B25J9/16

CPC classification number: G05B19/409 ,  B25J9/1612 ,  B25J9/1694 ,  B25J9/1697 ,  B32B38/10 ,  B32B41/00 ,  B32B43/006 ,  B32B2038/1891 ,  G05B2219/39432 ,  H05K3/3447 ,  H05K2203/1383

Abstract: A robot system according to an aspect of an embodiment includes a touch panel (display device), a camera, a tape position identification unit (identification unit), a fine adjustment unit, and an instruction unit. The camera captures images of a workpiece with and without a member thereon to be handled by a robot. The tape position identification unit identifies a position of the member based on image data captured by the camera. The fine adjustment unit is provided as an interface by which an operator conducts a fine adjustment of a teaching point for the robot based on the position of the member while viewing the workpiece displayed on the touch panel. The instruction unit instructs the robot to perform an operation for a predetermined process on the basis of teaching information generated by reflecting the teaching point finely adjusted through the fine adjustment unit.

Abstract translation: 根据实施例的一个方面的机器人系统包括触摸面板（显示装置），照相机，磁带位置识别单元（识别单元），微调单元和指令单元。 摄像机捕获具有和不具有要由机器人处理的构件的工件的图像。 磁带位置识别单元基于由照相机拍摄的图像数据来识别该成员的位置。 微调单元被提供作为接口，通过该接口，操作者在观察触摸面板上显示的工件的同时基于构件的位置对机器人的教导点进行微调。 指令单元根据通过微调微单元微调的教导点产生的教学信息，指示机器人执行预定处理的操作。

公开(公告)号：US20150039126A1

公开(公告)日：2015-02-05

申请号：US14516580

申请日：2014-10-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi SHIINO ,  Keigo ISHIBASHI ,  Toshiaki IKEDA ,  Toshiyuki HARADA ,  Shoji KOYAKUMARU

IPC: B25J9/16

CPC classification number: B25J9/16 ,  B25J9/1679 ,  B25J11/00 ,  H05K3/00 ,  H05K2203/0191 ,  H05K2203/0264 ,  Y10S901/27 ,  Y10S901/31

Abstract: A robot system according to an aspect of the present embodiment includes a robot (a first robot) and a controller. The robot has a robot hand (hand) equipped with one set of gripping claws that grips a tape member stuck on a workpiece to be processed. The controller instructs the robot to perform operation of peeling off the tape member while gripping the end of the tape member with the gripping claws.

Abstract translation: 根据本实施例的一个方面的机器人系统包括机器人（第一机器人）和控制器。 机器人具有装备有一组抓爪的机器人手（手），该夹持爪抓住粘贴在待加工工件上的胶带构件。 控制器指示机器人执行剥离带部件的操作，同时用抓爪夹住带部件的端部。

公开(公告)号：US20140288712A1

公开(公告)日：2014-09-25

申请号：US14218983

申请日：2014-03-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shinji OGASAWARA ,  Ken OKAWA ,  Toshiyuki HARADA ,  Akihiro SHIOTA ,  Toshiaki IKEDA

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1687 ,  B25J11/005 ,  G05B2219/45091

Abstract: A robot device is provided, which includes an arm body having a screw-fastening mechanism, a detector for detecting a force applied to the arm body, and a controller for controlling the arm body based on a detection result of the detector at the time of a screw-fastening operation by the screw-fastening mechanism.

Abstract translation: 提供了一种机器人装置，其包括具有螺钉紧固机构的臂体，用于检测施加到臂体的力的检测器，以及用于根据检测器的检测结果控制臂体的控制器， 通过螺钉紧固机构进行螺丝紧固操作。

公开(公告)号：US20140259613A1

公开(公告)日：2014-09-18

申请号：US14210449

申请日：2014-03-14

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Akihiro SHIOTA ,  Toshiyuki HARADA ,  Kenji MATSUFUJI ,  Ken OKAWA ,  Shinji OGASAWARA

IPC: B23P21/00

CPC classification number: B23P21/006 ,  B23P19/00 ,  B23P21/004 ,  Y10T29/49826 ,  Y10T29/53417

Abstract: A workpiece assembling apparatus includes: a conveyor configured to convey a workpiece; a plurality of robots arranged along the conveyor, the plurality of robots being configured to perform a same work on a workpiece conveyed by the conveyor; a parts-supplier configured to supply parts to the plurality of robots; and a controller configured to control the robots and the conveyor, wherein the controller controls the robot disposed at a downstream side to perform an unfinished work of the robot disposed at an upstream side in addition to a predetermined work in a case where the robot disposed at the upstream side has not completed a predetermined work.

Abstract translation: 工件组装装置包括：输送机，其被配置为输送工件; 沿输送机布置的多个机器人，多个机器人构造成对由输送机输送的工件执行相​​同的作业; 被配置为向所述多个机器人提供零件的零件供应器; 以及控制器，其被配置为控制所述机器人和所述输送机，其中，所述控制器控制设置在下游侧的机器人，以在机器人设置在所述机器人的情况下除了预定的工作之外，进行设置在上游侧的机器人的未完成的作业 上游侧尚未完成预定的工作。