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。

公开(公告)号：US11433531B2

公开(公告)日：2022-09-06

申请号：US16367518

申请日：2019-03-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro Izumi ,  Shohei Ohno ,  Takashi Nishimura ,  Tamio Nakamura

IPC: G05B19/04 ,  B25J9/10 ,  B25J9/16 ,  B25J13/00 ,  G05B19/423 ,  B25J9/06

Abstract: A robot system includes a robot including leading end, base, and multi-articular arm, and circuitry that controls the atm to move the end based on motion control program specifying transition over time of target position and posture of the end, the transition including correction target portion starting and ending in the transition; controls the arm to move the end in response to guided manipulation applying external force to the robot while the circuitry controls the arm; obtains relative command information based on the target position and posture at start of the correction portion and specifying the target position and posture at points in the correction portion including start and end in the correction portion; and controls the arm to move the end from the position and posture based on the information, beginning at time when movement of the arm controlled by the circuitry in response to the manipulation has ended.

公开(公告)号：US11192244B2

公开(公告)日：2021-12-07

申请号：US16160977

申请日：2018-10-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio Nakamura ,  Tetsuro Izumi ,  Takashi Nishimura ,  Shohei Ohno

IPC: B25J9/16

Abstract: A robot system includes a robot, a sensor, and a processor. The sensor is configured to detect an external force acting on the robot. The processor is configured to move the robot in a forward direction such that a representative point of the robot moves along a motion track in the forward direction; move the robot in a reverse direction such that the representative point moves along the motion track in the reverse direction opposite to the forward direction when the external force satisfies a first condition which includes a condition that the external force is larger than a first threshold force; and move the robot to reduce the external force when the external force satisfies a second condition which includes a condition that the external force is larger than a second threshold force even after the robot has been moved in the reverse direction.

公开(公告)号：US09156160B2

公开(公告)日：2015-10-13

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: G05B19/418 ,  B25J9/00 ,  B25J9/16 ,  B25J21/00

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：US09132554B2

公开(公告)日：2015-09-15

申请号：US14191427

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai Kouno ,  Tamio Nakamura ,  Tetsuro Izumi ,  Ryoichi Nagai

IPC: B25J19/00 ,  B25J15/00 ,  B25J15/08 ,  B25J9/16 ,  H05B33/08

CPC classification number: B25J9/1697 ,  G05B2219/37009 ,  G05B2219/37151 ,  H05B33/0854 ,  Y10S901/47

Abstract: A robot system includes robot, an image capture device, a plurality of illumination devices, and a control device. The robot is configured to perform a predetermined work on a to-be-processed material. The image capture device is configured to capture an image of the to-be-processed material and has a dynamic range. The plurality of illumination devices are configured to illuminate the to-be-processed material. The control device is configured to control at least one illumination device among the plurality of illumination devices to keep an amount of light received by the image capture device within the dynamic range of the image capture device.

Abstract translation: 机器人系统包括机器人，图像捕获装置，多个照明装置和控制装置。 机器人被配置为对要处理的材料执行预定的工作。 图像捕获装置被配置为捕获待处理材料的图像并且具有动态范围。 多个照明装置被配置为照亮被处理材料。 控制装置被配置为控制多个照明装置中的至少一个照明装置，以将由图像捕获装置接收的光量保持在图像拍摄装置的动态范围内。

公开(公告)号：US09037336B2

公开(公告)日：2015-05-19

申请号：US13832354

申请日：2013-03-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai Kouno ,  Tamio Nakamura

IPC: G01S5/00 ,  G05D1/02

CPC classification number: G05D1/0244 ,  G05B2219/39387 ,  G05B2219/40005 ,  G05B2219/40298 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0248 ,  G05D1/0274 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot system includes a planar sign, a robot, a distance direction sensor, and a controller. The controller is configured to control the robot and includes a map data memory and a progress direction determining device. The map data memory is configured to store map data of a predetermined running path including a position of the planar sign. The progress direction determining device is configured to compare a detection result of the distance direction sensor and the stored map data so as to determine a progress direction of the robot.

Abstract translation: 机器人系统包括平面符号，机器人，距离方向传感器和控制器。 控制器被配置为控制机器人，并且包括地图数据存储器和进度方向确定装置。 地图数据存储器被配置为存储包括平面符号的位置的预定行进路径的地图数据。 进度方向确定装置被配置为比较距离方向传感器的检测结果和存储的地图数据，以便确定机器人的进行方向。

公开(公告)号：US08989900B2

公开(公告)日：2015-03-24

申请号：US13749698

申请日：2013-01-25

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Tamio Nakamura ,  Kenji Matsukuma

IPC: G06F19/00 ,  B25J9/00 ,  B25J19/06 ,  F16P3/08 ,  F16P3/14 ,  B25J9/16

CPC classification number: G06F19/00 ,  B25J9/0084 ,  B25J9/1674 ,  B25J19/06 ,  F16P3/08 ,  F16P3/142 ,  F16P3/144 ,  G05B2219/40202

Abstract: A robot system, including one or more robots which are provided to a first area where an entry by a person is restricted, and configured to perform a first work which includes one or more steps in the first area, a controller configured to control an operation of the one or more robots, and a visitor detector configured to detect a visitor to the first area. The controller includes a first work control portion configured to control the one or more robots so that the one or more robots perform the first work in the first area, and a first suspension control portion configured to control a predetermined at least a first robot of the one or more of the robots when one or more of the robots are performing one of the steps in the first area based on control by the first work control portion and the visitor is detected by the visitor detector, so that the first robot performs a predetermined act of suspension after performing the first work up to any predetermined stage, including an intermediate stage of the one step, a successful completion stage of the one step, and a successful completion stage of another step after the one step.

Abstract translation: 一种机器人系统，包括一个或多个机器人，其被提供给被人员进入的第一区域被限制，并且被配置为执行包括在所述第一区域中的一个或多个步骤的第一工作;控制器，被配置为控制操作 的一个或多个机器人，以及访问者检测器，被配置为检测第一区域的访问者。 所述控制器包括第一工作控制部分，其被配置为控制所述一个或多个机器人，使得所述一个或多个机器人在所述第一区域中执行所述第一工作;以及第一悬架控制部分，被配置为控制所述第一机器人的预定的至少第一机器人， 当一个或多个机器人基于第一工作控制部分和访问者的控制执行第一区域中的一个步骤中的一个或多个机器人由访问者检测器检测到，使得第一机器人执行预定的 在执行第一次处理至包括一步的中间阶段，一步的成功完成阶段和一步之后的另一步骤的成功完成阶段的任何预定阶段之后的暂停动作。