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：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。