公开(公告)号：US09317771B2

公开(公告)日：2016-04-19

申请号：US14184638

申请日：2014-02-19

Applicant: KYUSHU INSTITUTE OF TECHNOLOGY ,  KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshiaki Ejima ,  Shuichi Enokida ,  Masakazu Sadano ,  Hisashi Ideguchi ,  Tomoyuki Horiuchi ,  Toshiyuki Kono

IPC: G06K9/00 ,  G06K9/46 ,  G06T7/00 ,  G06K9/62

CPC classification number: G06K9/4633 ,  G06K9/00214 ,  G06K9/6211 ,  G06T7/75

Abstract: In an object detecting method according to an embodiment, external reference points are set in external space of a model of an object and an internal reference point is set in internal space of the model. A table is stored in which feature quantities on a local surface of the model are associated with positions of the external reference points and the internal reference point. The feature quantity on the local surface of the model is calculated, and the position of the reference point whose feature quantity is identical to the calculated feature quantity is acquired from the table and is converted into a position in a real space. When the converted position is outside the object, the position is excluded from information for estimation and the position and the attitude of the object are estimated.

Abstract translation: 在根据实施例的对象检测方法中，外部参考点被设置在对象的模型的外部空间中，并且内部参考点被设置在模型的内部空间中。 存储表，其中模型的局部表面上的特征量与外部参考点和内部参考点的位置相关联。 计算模型的局部表面的特征量，并从表中获取特征量与计算出的特征量相同的参考点的位置，并将其转换为实际空间中的位置。 当转换的位置在物体外部时，该位置被排除在用于估计的信息之外，并且估计物体的位置和姿态。

公开(公告)号：US09302395B2

公开(公告)日：2016-04-05

申请号：US13609254

申请日：2012-09-11

Applicant: Ryuji Ando ,  Kazunori Hino ,  Akihiro Furutani

Inventor： Ryuji Ando ,  Kazunori Hino ,  Akihiro Furutani

IPC: B25J19/06 ,  B25J11/00 ,  B25J9/04 ,  H01L21/677 ,  H01L21/687

CPC classification number: B25J11/0095 ,  B25J9/042 ,  H01L21/67742 ,  H01L21/68707 ,  Y10S414/141 ,  Y10S901/49

Abstract: A robot system according to an aspect of the embodiments includes a plurality of work holding units and a heat insulating member. The work holding units each hold a work to be conveyed on one surface and are arranged vertically one over another in some cases during conveying of the work. The heat insulating member is provided on another surface side of at least one of the work holding units.

Abstract translation: 根据实施例的一个方面的机器人系统包括多个工件保持单元和隔热构件。 工件保持单元各自在一个表面上保持要被输送的工件，并且在工作的传送期间在一些情况下垂直地布置。 绝热构件设置在至少一个工件保持单元的另一表面侧。

公开(公告)号：US20160095233A1

公开(公告)日：2016-03-31

申请号：US14955041

申请日：2015-12-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Michinori KUSUMI

IPC: H05K5/00 ,  H05K7/14

CPC classification number: H05K5/0017 ,  H05K7/1405 ,  H05K7/1411 ,  H05K7/1418 ,  H05K7/1432

Abstract: This disclosure discloses a motor control device configured to control a motor. The motor control device includes a housing including an opening part, a printed circuit board inserted into the housing and extracted from the housing through the opening part and including an engaged part on an edge on one side in an insertion-extraction direction, and an engaging member. The engaging member is disposed on a wall part of the housing on the one side in the insertion-extraction direction. The engaging member engages with the engaged part of the printed circuit board inserted into the housing to regulate movement of the printed circuit board in the insertion-extraction direction. The engaging member is operated toward the one side or another side in the insertion-extraction direction from an outside of the housing to release an engagement with the engaged part.

Abstract translation: 本公开公开了一种被配置为控制电动机的电动机控制装置。 电动机控制装置包括壳体，该壳体包括开口部分，插入壳体中的印刷电路板，并且通过开口部分从壳体中提取并且在插入方向上的一侧的边缘上包括接合部分， 会员。 接合构件在插入方向的一侧设置在壳体的壁部上。 接合构件与插入到壳体中的印刷电路板的被接合部分接合，以调节印刷电路板沿插入方向的移动。 接合构件从壳体的外侧沿着插入取出方向朝向一侧或另一侧操作以释放与被接合部的接合。

公开(公告)号：US20160083199A1

公开(公告)日：2016-03-24

申请号：US14857763

申请日：2015-09-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yoshitaka NISHIZAKA ,  Ken NAKAMURA ,  Tomoki KAWANO ,  Yutaro UCHIDA

IPC: B65G47/90

CPC classification number: B65G47/905 ,  B25J9/0093 ,  B25J9/1697 ,  B25J19/021 ,  B25J19/023 ,  B65G47/907 ,  G05B19/4182 ,  G05B2219/37555 ,  G05B2219/39102 ,  G05B2219/40007 ,  Y02P90/083 ,  Y10S901/02

Abstract: A robot system includes a conveyor, a robot, and a controller. The conveyor is configured to convey a workpiece. The robot includes a plurality of holders configured to hold the workpiece. The controller is configured to control the robot to hold the workpiece conveyed on the conveyor and transfer the workpiece to a predetermined place using at least one holder among the plurality of holders. The controller includes a divided area setter and an allocator. The divided area setter is configured to set a plurality of divided areas on the conveyor in a width direction of the conveyor, and is configured to store the plurality of divided areas in a storage. The allocator is configured to allocate the plurality of holders respectively to the plurality of divided areas so as to hold the workpiece when the workpiece is conveyed in the plurality of divided areas.

Abstract translation: 机器人系统包括输送机，机器人和控制器。 输送机构造成输送工件。 机器人包括构造成保持工件的多个保持器。 所述控制器被配置成控制所述机器人来保持在所述输送机上输送的工件，并且使用所述多个保持器中的至少一个保持器将所述工件传送到预定位置。 控制器包括分区区域设定器和分配器。 分割区域设定器被配置为在输送机的宽度方向上在输送机上设置多个分割区域，并且被配置为将多个分割区域存储在存储器中。 分配器被配置为分配多个保持器到多个分割区域，以便在多个分割区域中传送工件时保持工件。

公开(公告)号：US20160074271A1

公开(公告)日：2016-03-17

申请号：US14946785

申请日：2015-11-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI ,  KAGOSHIMA UNIVERSITY

Inventor： Keijiro MISU ,  Hiromitsu AKAE ,  Toshiyuki KlTANO ,  Mitsunori KAWABE ,  Hidenori TOMISAKI ,  Kazumi KAWAHIRA ,  Megumi SHIMODOZONO ,  Yong YU ,  Ryota HAYASHI

IPC: A61H1/00

CPC classification number: A61H1/008 ,  A61H1/005 ,  A61H1/0281 ,  A61H23/02 ,  A61H2201/10 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1642 ,  A61H2201/1664 ,  A61H2201/5023 ,  A61H2203/0431 ,  A61H2205/00 ,  A61H2205/06 ,  A61N1/36003

Abstract: A training device for training a limb includes target parts to be touched with the limb and a force generator that generates a lifting force acting upward on the limb by electricity in a manner allowing the limb to move upward and downward.

Abstract translation: 用于训练肢体的训练装置包括要与肢体接触的目标部件和产生以肢体向上和向下移动的方式通过电力向上作用在肢体上的提升力的力发生器。

公开(公告)号：US20160074270A1

公开(公告)日：2016-03-17

申请号：US14946781

申请日：2015-11-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI ,  KAGOSHIMA UNIVERSITY

Inventor： Mitsunori KAWABE ,  Toshiyuki KITANO ,  Keijiro MISU ,  Ken-ichi SADAKANE ,  Hidenori TOMISAKI ,  Kazumi KAWAHIRA ,  Megumi SHIMODOZONO ,  Ryota HAYASHI

IPC: A61H1/00

CPC classification number: A61H1/006 ,  A61H1/005 ,  A61H1/0281 ,  A61H23/02 ,  A61H2201/10 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1642 ,  A61H2201/1664 ,  A61H2201/5023 ,  A61H2203/0431 ,  A61H2205/00 ,  A61H2205/06 ,  A61N1/0492 ,  A61N1/36003 ,  A61N1/36014

Abstract: A training device is for training a limb. The training device includes switches that are manipulated with the limb and a load reliever that generates a counter force against the weight of the limb in a manner allowing the limb to move upward and downward.

Abstract translation: 训练装置用于训练肢体。 训练装置包括用肢体操作的开关和负载缓解器，其以允许肢体向上和向下移动的方式产生抵抗肢体的重量的反作用力。

公开(公告)号：US09281723B2

公开(公告)日：2016-03-08

申请号：US13541025

申请日：2012-07-03

Applicant: Kenji Watanabe ,  Toshiyuki Yamagishi ,  Takashi Nomiyama ,  Naotake Yoshizawa

Inventor： Kenji Watanabe ,  Toshiyuki Yamagishi ,  Takashi Nomiyama ,  Naotake Yoshizawa

IPC: H02K1/27 ,  H02K21/12

CPC classification number: H02K1/2766 ,  H02K1/27 ,  H02K1/276 ,  H02K21/12

Abstract: A rotary electric machine includes a stator; and a rotor including an iron core, which has a tubular connecting portion surrounding a shaft and 10 magnetic pole portions integrally formed with the connecting portion corresponding to a pole number, and a plurality of permanent magnets arranged between the magnetic pole portions. The iron core includes axially-penetrated magnet accommodating air gaps formed between the magnetic pole portions at the radial outer side of the connecting portion, and the permanent magnets are installed in the respective magnet accommodating air gaps such that a radial outer surface of each of the permanent magnets makes close contact with an inner surface of each of the magnet accommodating air gaps and such that a gap exists between a radial inner surface of each of the permanent magnets and the connecting portion.

Abstract translation: 旋转电机包括定子; 以及具有铁芯的转子，其具有围绕轴的管状连接部和与所述极数对应的连接部一体形成的10个磁极部，以及配置在所述磁极部之间的多个永磁体。 铁芯包括在连接部分的径向外侧处形成在磁极部分之间的轴向穿透的磁体容纳气隙，并且永久磁铁安装在各自的磁体容纳气隙中，使得每个的径向外表面 永磁体与每个磁体容纳气隙的内表面紧密接触，并且在每个永磁体的径向内表面和连接部分之间存在间隙。

公开(公告)号：US20160065099A1

公开(公告)日：2016-03-03

申请号：US14934151

申请日：2015-11-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yusuke OKA ,  Tadashi OKUBO

IPC: H02P5/74 ,  H02P29/02 ,  G01D5/20 ,  H02P6/16

CPC classification number: H02P5/74 ,  G01D5/20 ,  H02P5/50 ,  H02P6/16 ,  H02P29/0241

Abstract: This disclosure discloses a motor driving system including a motor with an encoder and a motor driving device configured to control and drive the motor based on a motor control command. The motor driving device includes a first position detection unit configured to perform a magnetic pole position detection process for the motor to detect a position of the motor. When determining whether miswiring is present between the motor driving device and the motor, the motor driving device controls and drives the motor using a first detection result of the first position detection unit and determines miswiring of the motor based on a second detection result that is a position detection result of the motor by the encoder.

Abstract translation: 本公开公开了一种电动机驱动系统，包括具有编码器的电动机和电动机驱动装置，其被配置为基于电动机控制命令来控制和驱动电动机。 马达驱动装置包括：第一位置检测单元，被配置为执行用于马达的磁极位置检测处理，以检测马达的位置。 当确定电动机驱动装置和电动机之间是否存在接线错误时，电动机驱动装置使用第一位置检测单元的第一检测结果来控制和驱动电动机，并且基于作为第二位置检测结果的第二检测结果来确定电动机的接线错误 编码器对电机的位置检测结果。

公开(公告)号：US09272420B2

公开(公告)日：2016-03-01

申请号：US13603323

申请日：2012-09-04

Applicant: Yoshimitsu Nakahara

Inventor： Yoshimitsu Nakahara

IPC: B25J9/16 ,  B25J9/10 ,  B25J19/02

CPC classification number: B25J9/1697 ,  B25J9/10 ,  B25J9/1684 ,  B25J9/1692 ,  B25J9/1694 ,  B25J19/023 ,  G05B2219/36433 ,  G05B2219/37555 ,  G05B2219/39016 ,  G05B2219/39044

Abstract: A robot system includes: an imaging unit including an imaging device and a distance measuring part; and a robot to which the imaging unit is attached. The imaging device preliminarily images a workpiece. The robot preliminarily moves the imaging unit based on the result of the preliminary imaging. The distance measuring part measures the distance to the workpiece. The robot actually moves the imaging unit based on the result of the measurement. The imaging device actually images the workpiece.

Abstract translation: 机器人系统包括：成像单元，包括成像装置和距离测量部分; 以及附接有摄像单元的机器人。 成像装置预先对工件进行成像。 机器人基于初步成像的结果预先移动成像单元。 距离测量部件测量与工件的距离。 机器人实际上根据测量结果移动成像单元。 成像装置实际上对工件进行成像。

公开(公告)号：US20160037668A1

公开(公告)日：2016-02-04

申请号：US14811943

申请日：2015-07-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasunori YAMANAKA ,  Masafumi Sakai ,  Kenshiro Morishita

IPC: H05K5/03 ,  H02M7/44

CPC classification number: H02J3/383 ,  H02M1/32 ,  H02M7/44 ,  Y02E10/563

Abstract: A power converter apparatus includes a case, a power converter which is in the case and converts input power to predetermined power and output the predetermined power, a first switch positioned in the case and connected to the converter component, a second switch positioned in the case and connected to the converter component, the second switch having a moving component which moves between first and second positions, and a cover which is installed on the case such that the cover covers the first switch and which moves in two mutually different directions relative to the case such that the cover is removed from the case. The cover has a contact portion which makes contact with the moving component of the second switch in the first position and which restricts movement of the cover in one or more of the two directions when the cover is moved in the two directions.

Abstract translation: 电力转换装置包括壳体，功率转换器，在这种情况下，将输入功率转换为预定功率并输出预定功率;定位在壳体中并连接到转换器部件的第一开关，位于壳体中的第二开关 并且连接到转换器部件，第二开关具有在第一和第二位置之间移动的移动部件，以及安装在壳体上的盖，使得盖覆盖第一开关并且相对于第二开关在两个相互不同的方向上移动 使得盖子从外壳中取出。 所述盖具有接触部分，所述接触部分在所述第一位置与所述第二开关的运动部件接触，并且当所述盖沿所述两个方向移动时，所述接触部分在所述两个方向上的一个或多个方向上限制所述盖的运动。