公开(公告)号：US20140277722A1

公开(公告)日：2014-09-18

申请号：US14192878

申请日：2014-02-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi NAGAI ,  Tamio NAKAMURA ,  Dai KOUNO ,  Tetsuro IZUMI

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/50033

Abstract: A robot system includes a robot, a tool, a control device, a work table, a calibration jig, a detector, and a calibrator. The tool is mounted to a distal end of the robot and includes a first plane and a second plane orthogonal to each other. The control device controls the robot. On the work table, the robot works. The calibration jig is fixed to the work table. The detector detects a reference position determined by pressing the first plane and the second plane of the tool against at least one of the jig and the work table. Based on the reference position, the calibrator calibrates coordinates of the robot to be used by the control device.

Abstract translation: 机器人系统包括机器人，工具，控制装置，工作台，校准夹具，检测器和校准器。 该工具安装到机器人的远端，并且包括彼此正交的第一平面和第二平面。 控制装置控制机器人。 在工作台上，机器人工作。 校准夹具固定在工作台上。 检测器检测通过将工具的第一平面和第二平面相对于夹具和工作台中的至少一个按压而确定的参考位置。 基于参考位置，校准器校准要由控制装置使用的机器人的坐标。

公开(公告)号：US20140277715A1

公开(公告)日：2014-09-18

申请号：US14201931

申请日：2014-03-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi NAGAI ,  Tamio NAKAMURA ,  Dai KOUNO ,  Tetsuro IZUMI

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/0084 ,  B25J9/1682 ,  B25J9/1692 ,  B25J21/00 ,  Y10S901/08

Abstract: A robot system includes a plurality of robots, a control device, a common work table, and a calibration device. The control device is configured to control the plurality of robots. On the common work table, the plurality of robots are configured to work. Based on a position of a first robot having a calibrated coordinate relative to a position of a second robot among the plurality of robots, the calibration device is configured to calibrate a coordinate of the second robot.

Abstract translation: 机器人系统包括多个机器人，控制装置，公共工作台和校准装置。 控制装置被配置为控制多个机器人。 在公共工作台上，多个机器人被配置为工作。 基于具有相对于多个机器人中的第二机器人的位置的校准坐标的第一机器人的位置，校准装置被配置为校准第二机器人的坐标。

公开(公告)号：US20140277714A1

公开(公告)日：2014-09-18

申请号：US14191432

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro IZUMI ,  Tamio NAKAMURA ,  Dai KOUNO ,  Ryoichi NAGAI

IPC: G05B19/418

CPC classification number: G05B19/41815 ,  B25J9/0084 ,  B25J9/1682 ,  B25J21/00 ,  G05B2219/39109 ,  G05B2219/39135 ,  G05B2219/40307

Abstract: A robot system includes a plurality of robots, a plurality of cells, a detection device, and a changer device. Each of the plurality of robots is configured to operate based on an operation command. The plurality of cells respectively accommodate the plurality of robots and are connectable to each other. The detection device is configured to detect that the plurality of cells are connected to each other. When the detection device detects that the plurality of cells are connected to each other, the changer device is configured to change at least one operation command among operation commands for the plurality of robots respectively accommodated in the connected cells.

Abstract translation: 机器人系统包括多个机器人，多个单元，检测装置和更换器装置。 多个机器人中的每一个被配置为基于操作命令进行操作。 多个单元分别容纳多个机器人并且可彼此连接。 检测装置被配置为检测多个小区彼此连接。 当检测装置检测到多个单元彼此连接时，更换器装置被配置为在分别容纳在连接的单元中的多个机器人的操作命令之间改变至少一个操作命令。

公开(公告)号：US20140188281A1

公开(公告)日：2014-07-03

申请号：US14140520

申请日：2013-12-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi NAGAI ,  Yukiko HASHIGUCHI ,  Tetsuro IZUMI

IPC: B25J9/00

CPC classification number: B25J9/0081 ,  G05B19/425

Abstract: A robot teaching system according to an embodiment includes a robot, a sensor, a screen generator, an adjuster, and a job generator. The sensor measures measured values relating to operations of the robot. The screen generator generates a teaching operation screen that includes guidance information intended for the teacher. The adjuster adjusts parameters for generating a job based on specified values relating to the operations of the robot and input in the teaching operation screen, and the measured values of the sensor associated with the specified values, the parameters defining an operation command including corrections of the operations of the robot. The job generator generates the job in which the parameters adjusted by the adjuster are incorporated.

Abstract translation: 根据实施例的机器人教学系统包括机器人，传感器，屏幕生成器，调节器和作业发生器。 传感器测量与机器人的操作相关的测量值。 屏幕生成器生成包括用于教师的指导信息的教学操作屏幕。 调整器基于与机器人的操作和教学操作画面中的输入相关的指定值以及与指定值相关联的传感器的测量值来调整用于生成作业的参数，定义包括校正的操作命令的操作命令的参数 机器人的操作。 作业发生器生成调整器调整的参数的作业。

公开(公告)号：US20140145458A1

公开(公告)日：2014-05-29

申请号：US14169153

申请日：2014-01-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi NAGAI ,  Hideo NAGATA

IPC: B25J19/02 ,  B25J15/00 ,  G01H17/00

CPC classification number: B25J19/02 ,  B25J9/1612 ,  B25J13/083 ,  B25J15/0028 ,  G01H17/00 ,  G01L5/009 ,  G05B2219/39507 ,  G05B2219/40567 ,  Y10S901/31 ,  Y10S901/46

Abstract: The positional displacement detector includes a contact member, a prohibition member, and a vibration detector. The contact member is configured to make contact with the object and deform with a positional displacement of the object. The prohibition member is configured to make contact with the deformed contact member to prohibit a deformation of a magnitude equal to or more than a predetermined magnitude from being caused to the contact member. The vibration detector is configured to detect a vibration generated when the contact member has made contact with the prohibition member.

Abstract translation: 位置检测器包括接触构件，禁止构件和振动检测器。 接触构件被构造成与物体接触并且随着物体的位置偏移而变形。 禁止构件被构造成与变形的接触构件接触以防止对接触构件造成等于或大于预定大小的大小的变形。 振动检测器被配置为检测当接触构件与禁止构件接触时产生的振动。

公开(公告)号：US20140081460A1

公开(公告)日：2014-03-20

申请号：US14085794

申请日：2013-11-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo ANDO ,  Ryoichi NAGAI ,  Yasuyuki INOUE

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1664 ,  B25J13/085 ,  G05B2219/36429 ,  G05B2219/37357 ,  G05B2219/39188 ,  G05B2219/39325 ,  G05B2219/39343 ,  G05B2219/39347 ,  G05B2219/39348 ,  G05B2219/41387

Abstract: In a method for adjusting parameters of impedance control, an overshoot amount allowable value is set as an allowable maximum value of an overshoot amount of a time response of a force feedback from a force sensor provided for an end effector of a robot manipulator, and a setting time allowable value is set as an allowable maximum value of a setting time of the time response of the force feedback. A viscosity parameter with which the setting time is shortest is calculated while fixing the inertia parameter. An overshoot amount adjustment value and a setting time adjustment value which are obtained from a result of the calculating of the viscosity parameter are compared with the overshoot amount allowable value and the setting time allowable value, respectively, to determine whether a repeating process is finished or continued.

Abstract translation: 在调整阻抗控制参数的方法中，将过冲量允许值设定为来自设置在机器人机械手的端部执行器的力传感器的力反馈的时间响应的过冲量的容许最大值， 设定时间容许值被设定为力反馈的时间响应的设定时间的容许最大值。 在固定惯性参数的同时计算设定时间最短的粘度参数。 将从粘度参数的计算结果得到的过冲量调整值和设定时间调整值分别与过冲量允许值和设定时间容许值进行比较，判断重复处理是否结束， 继续。