公开(公告)号：US09383741B2

公开(公告)日：2016-07-05

申请号：US14135811

申请日：2013-12-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio Nakamura ,  Dai Kouno ,  Takashi Nishimura

IPC: G06F19/00 ,  G05B19/19 ,  B25J5/00 ,  B25J9/00

CPC classification number: G05B19/19 ,  B25J5/007 ,  B25J9/0087 ,  G05B2219/39013 ,  Y10S901/01

Abstract: A mobile robot has a seating part, a moving apparatus to move the seating part, and a robot part with a base part to be attached to the seating part, a body capable of rotating around a vertical axis normal to an attaching surface which the seating part to be attached to the base part, and an arm connected to the body having a plurality of joints. The seating part has a first surface facing a work that is subject to the operation by the robot part and a second surface that is different from the first surface, and the arms are formed such that the positional relationship between the arms and the first surface is substantially identical to the positional relationship between the arms and the second surface according to the rotation of the body around the vertical axis.

Abstract translation: 移动式机器人具有座部，移动装置以移动座部，以及具有要附接到座部的基部的机器人部，能够垂直于垂直于轴线的安装面旋转的主体， 要连接到基部的部分，以及连接到具有多个关节的主体的臂。 座部具有面向受机器人部的操作的工件的第一表面和与第一表面不同的第二表面，并且臂形成为使得臂和第一表面之间的位置关系为 基本上与主体围绕垂直轴的旋转相同于臂和第二表面之间的位置关系。

公开(公告)号：US09278451B2

公开(公告)日：2016-03-08

申请号：US14207656

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai Kouno ,  Tamio Nakamura ,  Takashi Suyama ,  Takashi Nishimura ,  Tomohiro Matsuo ,  Shinichi Ishikawa ,  Tomoki Kawano

IPC: B25J9/16 ,  G05B19/4061

CPC classification number: B25J9/1676 ,  B25J9/1674 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes a robot and a controller configured to control motion of the robot, and the controller includes: a motion mode storage unit storing a plurality of motion modes for controlling the robot to switch a motion state of the robot from a normal motion state to a special motion state when a predetermined first condition is satisfied; and a motion mode switching unit configured to switch the motion mode of the robot to another motion mode when, while a particular motion mode stored in the motion mode storage unit is in execution, a predetermined second condition for the particular motion mode is satisfied with a first condition for the particular motion mode satisfied.

Abstract translation: 本公开的机器人系统包括机器人和控制器，其被配置为控制机器人的运动，并且控制器包括：运动模式存储单元，其存储多个运动模式，用于控制机器人将机器人的运动状态从 当满足预定的第一条件时，向特殊运动状态的正常运动状态; 以及运动模式切换单元，其被配置为当所述运动模式存储单元中存储的特定运动模式正在执行时，将所述机器人的运动模式切换到另一运动模式，对于所述特定运动模式的预定第二条件满足以下条件： 特定运动模式的第一条件满足。