公开(公告)号：US20160008905A1

公开(公告)日：2016-01-14

申请号：US14789906

申请日：2015-07-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamon IZAWA ,  Hiroshi SAITO ,  Atsushi ICHIBANGASE

IPC: B23K9/00 ,  B25J19/00 ,  B23K9/32 ,  B23K9/10 ,  B23K9/12 ,  B25J15/00 ,  B23K9/133

CPC classification number: B23K9/1336 ,  B23K9/287 ,  B25J15/0019 ,  B25J19/0025 ,  B25J19/0029 ,  Y10S901/42

Abstract: A robot includes: a mounting portion on which a welding torch is mountable; an arm portion having a tip portion, the arm portion swingably supporting the mounting portion at the tip portion; an arm supporting portion having a tip portion, the arm supporting portion supporting the arm portion rotatably around a first rotation axis at the tip portion, the first rotation axis being perpendicular to a swinging axis of the mounting portion; and a feeding device arranged in a space to intersect with an axis line of the first rotation axis, the space being formed between the tip portion and a base end portion of the arm portion along an axis line of the first rotation axis, the feeding device being configured to feed a wire to the welding torch mounted on the mounting portion.

Abstract translation: 机器人包括：可安装焊炬的安装部分; 具有尖端部分的臂部分，所述臂部可摆动地将所述安装部分支撑在所述尖端部分; 臂支撑部分，其具有尖端部分，所述臂支撑部分在所述尖端部分围绕第一旋转轴线可旋转地支撑所述臂部分，所述第一旋转轴线垂直于所述安装部分的摆动轴线; 以及馈送装置，其布置在与所述第一旋转轴线的轴线相交的空间中，所述空间沿着所述第一旋转轴线的轴线形成在所述前端部分和所述臂部分的基端部分之间，所述馈送装置 被配置为将电线馈送到安装在安装部分上的焊炬。

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：US20180311834A1

公开(公告)日：2018-11-01

申请号：US15955705

申请日：2018-04-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Atsushi ICHIBANGASE ,  Tsuyoshi ITO

IPC: B25J18/04 ,  B25J9/06 ,  B25J9/00 ,  B23K9/133 ,  B25J19/00

CPC classification number: B25J18/04 ,  B23K9/133 ,  B25J9/0009 ,  B25J9/0027 ,  B25J9/06 ,  B25J17/0283 ,  B25J19/0029

Abstract: A robot includes a first arm rotatable around a first axis and a second arm having an extending direction. The first arm includes a first base and a first extending portion. The first base includes a first through hole passing through the first arm along the first axis. The first extending portion extends from the first base along the first axis. The second arm includes a second base and a second extending portion. The second base includes a connection portion connected to the first extending portion such that the second arm is rotatable around a second axis that is substantially orthogonal to the first axis. The second base includes a second through hole passing through the second arm along the extending direction. The second extending portion is provided opposite to the connection portion in the extending direction and extends from the second base along the extending direction,

公开(公告)号：US20160031093A1

公开(公告)日：2016-02-04

申请号：US14813124

申请日：2015-07-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryuichiro TOMINAGA ,  Atsushi ICHIBANGASE ,  Kentaro TANAKA

IPC: B25J19/00 ,  B25J9/10

CPC classification number: B25J19/0004 ,  B25J9/102 ,  B25J9/126 ,  B25J19/0029 ,  Y10S901/20

Abstract: A robot includes a lower arm, an upper arm, an actuator, and a brake. The upper arm is supported by the lower arm, and includes a bottom portion having a through hole and an arm portion extending from the bottom portion avoiding the through hole. The actuator includes an output shaft and a rotor coupled thereto. The brake is installed on the end surface of the actuator opposite to the side from which the output shaft projects and acts on a part of the rotor to brake the actuator. Virtual space is obtained by parallel displacement of a region corresponding to the through hole in the extending direction of the arm portion. The actuator is installed on the arm portion on the side of the virtual space, with the posture of the actuator being such that the virtual space and the brake do not overlap each other.

Abstract translation: 机器人包括下臂，上臂，致动器和制动器。 上臂由下臂支撑，并且包括具有通孔的底部和从底部延伸而避开通孔的臂部。 致动器包括输出轴和与其连接的转子。 制动器安装在致动器的与输出轴突出的一侧相对的端面上，并作用在转子的一部分上以制动致动器。 通过在臂部的延伸方向上对应于通孔的区域的平行位移获得虚拟空间。 致动器安装在虚拟空间侧的臂部分上，致动器的姿态使得虚拟空间和制动器彼此不重叠。

公开(公告)号：US20160023359A1

公开(公告)日：2016-01-28

申请号：US14788800

申请日：2015-07-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Tamon IZAWA ,  Atsushi ICHIBANGASE

IPC: B25J17/02

CPC classification number: B25J17/0258 ,  B25J17/0241 ,  B25J19/0029 ,  Y10S901/29

Abstract: A robot joint mechanism includes a fixed base, a turnable portion, a first routing member, and a second routing member. The fixed base has a base bottom surface and a side wall. The base bottom surface and the side wall define an inner space. The turnable portion is disposed in the inner space and turnable about a vertical axis approximately perpendicular to the base bottom surface. The first routing member includes a first bent portion bent in a first bending direction along a bottom surface of the turnable portion and routed between the turnable portion and the side wall. The second routing member is routed through a position inner than the first bent portion, and includes a second bent portion bent in a second bending direction different from the first bending direction.

Abstract translation: 机器人关节机构包括固定基座，可转动部分，第一路线构件和第二路线构件。 固定底座具有底部底面和侧壁。 底部底部表面和侧壁限定内部空间。 可转动部分设置在内部空间中并且可绕垂直于基底底面的垂直轴线转动。 第一布线构件包括沿着可转动部分的底表面沿第一弯曲方向弯曲并在可转动部分和侧壁之间布置的第一弯曲部分。 第二布线构件穿过比第一弯曲部分内的位置，并且包括在与第一弯曲方向不同的第二弯曲方向上弯曲的第二弯曲部。

公开(公告)号：US20160023358A1

公开(公告)日：2016-01-28

申请号：US14788799

申请日：2015-07-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Tamon IZAWA ,  Atsushi ICHIBANGASE

IPC: B25J15/00 ,  F16H19/00

CPC classification number: F16H19/005 ,  B23K9/133 ,  B25J19/0029 ,  Y10S901/14 ,  Y10S901/15

Abstract: A robot includes a turnable base, a lower arm, an upper arm, first and second spaces, and first and second routing members. The turnable base is coupled to a base fixed to an installation surface, and is turnable about a first axis. The lower arm includes a first base end coupled to the turnable base and rotatable about a second axis approximately orthogonal to the first axis. The upper arm includes a second base end coupled to the lower arm and rotatable about a third axis approximately parallel to the second axis. The first and second spaces are disposed in the lower arm, and face each other and extend in a length direction of the lower arm. The first and second routing members are respectively routed in the first and second spaces, and each include at least two bent portions bent in the first and second spaces.

Abstract translation: 机器人包括可转动底座，下臂，上臂，第一和第二空间以及第一和第二路线构件。 可转动底座联接到固定到安装表面的基座，并且可围绕第一轴线转动。 下臂包括联接到可转动底座的第一基端并围绕大致正交于第一轴线的第二轴线旋转。 上臂包括联接到下臂并可围绕第三轴线大致平行于第二轴线旋转的第二基端。 第一和第二空间设置在下臂中，并且彼此面对并在下臂的长度方向上延伸。 第一和第二布线构件分别在第一和第二空间中布置，并且每个包括在第一和第二空间中弯曲的至少两个弯曲部分。

公开(公告)号：US20140283642A1

公开(公告)日：2014-09-25

申请号：US14215067

申请日：2014-03-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Osamu HARADA ,  Atsushi ICHIBANGASE

IPC: B25J18/04

CPC classification number: B25J18/04 ,  B25J9/0009 ,  B25J18/00 ,  B25J18/005 ,  Y10T74/20329

Abstract: A robot includes a link having a longitudinal base end rotatably connected to a member so as to rotate about a rotation axis perpendicular to a longitudinal direction of the link. The link is formed into a tubular shape such that a cross section of the link perpendicular to the longitudinal direction has an elliptical shape or a substantially rectangular shape with at least one curvilinear corner portion.

Abstract translation: 一种机器人包括一个连杆，该连杆具有一个可旋转地连接到一个部件上的纵向基端，以便围绕与连杆的纵向方向垂直的旋转轴旋转。 连杆形成为管状，使得垂直于纵向方向的连杆的横截面具有至少一个曲线角部的椭圆形或大致矩形形状。